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BL20 – USER MANUAL FOR CANopen

1. Drawing No Revision Title 1 Description EZ 2725 0046 0711 04 07299300 30 06 2006 BL20 32DI 24VDC P Layout GZ 2725 0046 0710 01 12396800 D BL20 32DI 24VDC P Placement ZS 2725 0046 0710 01 12396800 BL20 32DI 24VDC P Schematic EZ 2725 0068 0711 03 07257902 A BL20 4DI NAMUR Layout GZ 2725 0068 0710 01 12349700 B BL20 4DI NAMUR Placement ZS 2725 0068 0710 01 12349700 BL20 4DI NAMUR Schematic EZ 2725 0015 0711 03 07296400 06 06 2006 BL20 2DI 24VDC P Layout 12393900 17 08 06 BL20 4DI 24VDC P Placement ZS 2725 0015 0710 01 12393900 BL20 2DI 24VDC P Schematic EZ 2725 0034 07 11 03 07297300 22 06 2006 BL20 2DI 24VDC N Layout GZ 2725 0034 0710 01 12394800 BL20 2DI 24VDC N Placement ZS 2725 0034 0710 01 12394800 BL20 2DI 24VDC N Schematic EZ 2725 0038 07 11 04 07297600 30 08 2006 XN 2AI PT NI 2 3 Layout GZ 2725 0038 0710 01 12395100 XN 2AI PT NI 2 3 Placement ZS 2725 0038 0710 01 12395100 D XN 2AI PT NI 2 3 Schematic EZ 2725 0039 0711 04 07297700 04 09 2006 XN 2AI THERMO PI Layout GZ 2725 0039 0710 01 12395200 F XN 2AI THERMO PI Placement ZS 2725 0039 0710 01 12395200 D XN 2AI THERMO PI Schematic EZ 2725 0069 0711 03 07299800 06 07 2006 BL20 4AI U I Layout GZ 2725 0069 0710 01 12397300 B BL20 4AI U I Placement ZS 2725 0069 0710 01 12397300 c BL20 4AI U I Schematic
2. Table 9 Index Name Page Overview of all objects CANopen Standard Objects 1000 Device type page 4 47 1001 Error register page 4 48 1005 SYNC COB ID page 4 49 1008 Device name page 4 48 1009 Manufacturer hardware version page 4 52 100A Manufacturer software version page 4 53 1000 Guard time page 4 53 100D x Lifetime factor page 4 55 1010 Store parameters page 4 56 1011 44 Restore default parameters page 4 58 1014 Emcy COB ID page 4 60 1016 Consumer heartbeat time page 4 62 1017 Producer heartbeat time page 4 64 1018 Identity object page 4 64 1020 Verify configuration page 4 68 1027 Module list page 4 70 D301087 0308 BL20 CANopen 4 35 BL20 Communication in CANopen Table 9 Index Name Page Overview of all objects 1200 Server SDO parameters page 4 72 to 1203 1400 Receive PDO Communication parame page 4 75 to ters 1600 Receive PDO mapping parameters page 4 79 to 161Fyex 1800 Transmit PDO parameters page 4 83 to 181F 1A00 Transmit PDO mapping parameters page 4 89 to 1F80 startup page 4 92 1F81 Slave assignment page 4 94 1F82 Request page 4 98 1F83 Request guarding page 4 101 Manufacturer specific objects 2000 Serial number page 4 103 2010 Behavior Modifiers page 4 104 Whex System Voltages page 4 108 2401 Sy
3. 3 18 Service Interface 3 20 Setting the bit transfer rate through 8 3 22 Node ID Setting een 3 24 Acceptance of the BL20 Station Configuration 3 26 Status Indicators Diagnostic Messages 3 27 Diagnostic Messages via 3 27 BL20 Communication in CANopen Setting up communication essen 4 6 Minirmu rm BOOt Up u einander 4 6 Identifier for the Standard 4 10 Set up Node Guarding Protocol 4 13 Boot up Message iiisciccassitisessedassciasaccgsaieeaaiaaeajannsdeasipervastiensccaadeatigenaie 4 15 Parameterization through Service Data Objects SDO 4 16 Read Read from Object Dictionary eene 4 17 Write Write to Object 4 18 Commanded Parameter 4 21 Transmission of Process Data Objects 4 22 Communication Parameter COB ID seen 4 22 Transmission Type cioe vetera doe eene ccn 4 23 InhibIE Time s T Rin ena ren 4 24 Event Timer xi
4. TYPgrRS9 516 515 514 513 512 511 510 Slave diagnostics bit field Byte5 50 58 SDerrS7 50 556 SDerrS5 SDerrS4 SDerrS3 SDepeS2 SDepeSt Byte6 SDeprS16 SDegaS15 SDerrS14 50 55513 50 55512 SDerrS11 SDeg S10 0 59 PKZ field Byte7 2 PKZegg PKZer PKZer PKZer PKZer PKZerr 58 57 56 55 54 53 52 51 Byte8 PKZe r 2 PKZer PKZe r PKZe r PKZer PKZerR S16 S15 514 513 512 811 510 59 0301087 0308 20 CANopen 4 265 BL20 Communication in CANopen The following table shows the meanign of the diagnostic bits Byte Design Status Comment 1 SWg SWIRE MASTER The configuration was accepted according to the parameter setting and the SWIRE bus is in data exchange mode 0 Data The bus is in data exchange mode exchange 1 Offline The configuration was not accepted the bus does not switch to data exchange mode SW LED flashing RDY SPS SLAVE Parameter setting is faulty The ACTUAL configuration was accepted according to the SET configuration and the data exchange with the higher level is o k 0 Data The bus is in data exchange mode exchange 1 Offline The configuration was not accepted the bus does not switch to data exchange mode Rdy LED flashing COM pr Communication SWIRE A communication error is present such as a slave is no longer reached its internal timeout has elapsed or communica
5. een 8 Earth Free 8 Protect against high frequency interference signals 9 Mounting 4 0404 0000000 9 Compliant Cabinet Installation 10 Shielding of cables 11 Potential Compensation 13 Switching Inductive Loads 15 Protection against Electrostatic Discharge ESD 15 Bus Connection nun nun 16 Two Pole Shield 17 D301087 0308 BL20 CANopen 7 1 Guidelines for Electrical Installation General Notes 7 2 General Cables should be grouped together for example signal cables data cables heavy current cables power supply cables Heavy current cables and signal or data cables should always be routed in separate cable ducts or bundles Signal and data cables must always be routed as close as possible to ground potential surfaces for example support bars cabinet sides etc Cable Routing Correct cable routing prevents or suppresses the reciprocal influ encing of parallel routed cables Cable Routing Inside and Outside of Cabinets To ensure EMC compatible cable routing the cables should be grouped as follows Various types of cables within the groups ca
6. Table 46 Object description Object 1F82 INDEX 1 82 Query Object code ARRAY Data Type Unsigned8 Access ro rw Value description Sub index Description Supported number of slaves Access ro PDO mapping No Value 128 Sub index 01 Description Request NMT Service for slave with Node ID 1 Access rw PDO mapping No Value range BL20 Unsigned8 Defaultvalue BL20 No 4 98 D301087 0308 BL20 CANopen Object Dictionary Table 46 Object description Object 1F82pex Sub index 7Fh Description Request NMT Service for slave with Node ID 127 Access rw PDO mapping No Value range BL20 Unsigned8 Default value BL20 No Sub index 80 Description Request NMT Service for all slaves Access wo PDO mapping No Value range BL20 Unsigned8 Defaultvalue BL20 No For a write access to this object the value corresponds to the state for the node to which the query is directed For read access the object contains the present state of the node Table 47 Status Value for write Value for read Value ranges access access Stopped 4 4 Operational 5 5 Reset Node 6 Reset Communica 7 tion Pre Operational 127 127 D301087 0308 BL20 CANopen 4 99 BL20 Communication in CANopen Table 47 Status Value for write Value for read Value ranges access access unkno
7. Default Default Communication Mapping Parameter Parameter Fixed 1400h 1600n B Relation m h 8 Byte 0 1 Entry nn gt into 2 0 17 Single 6200h gt gt Digital Output Error Mode 6206h vu foh 1h Switch if Error Value device 0 1 i 6207h failure EN _ D301087 0308 BL20 CANopen Objects Object 6200 Write Output 8 Bit The object presents the values for the digital output modules in 8 bit groups A total of 36 groups each 8 bit can be defined 288 digital output channels A PDO mapping of this object is always made automatically as a default for the first 8 Sub indices This corresponds to 64 digital output channels If more than 64 output channels are present then the PDO mapping must be carried out by the user Table 67 Feature Description Value Objects 6200 Write output 8 Bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 24 Data Type Unsigned8 Access rw Default value BL20 0 D301087 0308 BL20 CANopen 4 123 BL20 Communication in CANopen Object 6220 Write Output Bit 1 to 128 Object 6221 Write Output Bit 129 to 256 Object 6222 Write Output Bit 257 to 288 The objects are a bit wise representa
8. Objects Objects for Digital Output Modules General Overview for Digital Output Objects Table 66 Object Name Page General overview for digital output 6200 Write output 8 bit 4 123 objects 6220 Write output 8 bit 1 to 128 4 124 6221 hex Write output 8 bit 129 to 256 4 124 6222 Write output 8 bit 257 to 288 4 124 6300 Write output 16 bit 4 125 6320 Write output 32 bit 4 126 6206 Error mode output 8 Bit 4 127 6207 Error state output 8 Bit 4 128 6250 Error mode output Bit 1 to 128 4 129 6251 Error mode output Bit 129 to 256 4 129 6252 0x Error mode output Bit 257 to 288 4 129 6260 Error state output Bit 1 to 128 4 131 6261 Error state output Bit 129 to 256 4 131 6262 Error state output Bit 257 to 288 4 131 6306 x Error mode output 16 bit 4 133 6307 Error state output 16 bit 4 134 6326 Error mode output 32 Bit 4 135 6327 hex Error state output 32 Bit 4 136 D301087 0308 BL20 CANopen 4 121 BL20 Communication in CANopen The following figure shows the relationship between the digital output objects for an 8 bit access Figure 3 Relationship be tween the digital output objects according to CiA Draft Standard DS401 4 122 Communication Objects RPDO1 CAN Reception Hardware Objects
9. 128 080 4 Synchronization SYNC Broadcast object 129 to 081 0 Emergency Message 255 256 100 Message Broad cast object 257 to 101 4 to free 384 180 4 D301087 0308 BL20 CANopen Setting up communication Table 2 COB ID Function Application Identifiers for basic objects dec hex 385 to 181 t0 Transmit PDO 1 Digital input 511 1FF ex 512 200 4 free 513 to 201 to Receive PDO 1 Digital output 639 27F ex 640 280 nex free 641 to 281 0 Transmit PDO 2 Analog input 767 2 768 300 4 free 769 to 301 4 to Receive PDO 2 Analog output 895 896 380 free 897to 381 to Transmit PDO Analog input 1023 1024 400 free 1025 401 to Receive PDO Analog output 1151 47 F 1152 480 ex free 1153to 481 exto Transmit PDO 4 Analog input 1279 4FF hex 1280 500 free 1281 to 501 to Receive PDO 4 Analog output 1407 57 Fhex 1408 580nex free 1409 581 to Transmit SDO 1535 5FFhex 1536 600 free D301087 0308 BL20 CANopen 4 11 BL20 Communication in CANopen Table 2 COB ID Function Application Identifiers for basic objects dec hex 1537to 601 to Receive SDO 1663 67F hex 1664 680 to free 1772 6EC ex 1793 701 4 to Error Node 1919 7 Guarding Heartbeat Boot up hex
10. Encoder status Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes Structure of Byte 6 of the process input Bit 7 Bit 6 Bit5 Bit4 Bit2 Bit1 Bito Byte 6 STS UP STS DN O 0 0 0 0 0 Table 114 Designation Value Description Meaning of the status data bits STS UP 0 The SSI encoder values are decremented LED UP or the values are constant 1 The SSI encoder values are incremented STS DN 0 The SSI encoder values are incremented or LED DN the values are constant 1 The SSI encoder values are decremented 4 180 D301087 0308 BL20 CANopen Objects Object 5803 Encoder Flags On the BL20 1SSI module bits 3 to 6 of the Encoder flags object are emulated as much as possible for the counter The object comprises the bits FLAG_CMP1 FLAG_CMP2 STS_OFLW and STS_UFLW Unlike the counter module the bits STS_OFLW and STS_UFLW SSI module are non retentive status bits All other bits are 0 Writing the object with any value will reset the markers FLAG_CMP1 and FLAG_CMP2 Exception if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Table 115 Feature Description Objects 58031 Encoder flags Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping Yes Bit7 Bit6 Bit5 Bit 4 Bit 3 Bit2 Bit1 0 STS_ 515 FLAG_ FLAG
11. Industrial Automation BL2O USER MANUAL FOR CANopen All brand and product names are trademarks or registered trade marks of the owner concerned Edition 03 2008 Hans Turck GmbH M lheim an der Ruhr All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed dupli cated or distributed by means of electronic systems without written permission of Hans Turck GmbH amp Co KG M lheim an der Ruhr Subject to alterations without notice Industri A Safety Notes Before starting the installation Disconnect the power supply of the device Ensure that devices cannot be accidentally restarted Verify isolation from the supply Earth and short circuit Cover or enclose neighboring units that are live Follow the engineering instructions AWA of the device concerned Only suitably qualified personnel in accordance with EN 50 110 1 2 VDE 0 105 Part 100 may work on this device system Before installation and before touching the device ensure that you are free of electrostatic charge The functional earth FE must be connected to the protective earth PE or to the potential equalization The system installer is responsible for implementing this connection Connecting cables and signal lines should be installed so that inductive or capacitive interference do not impair the automat
12. iV W Stoll Ort und Datum der Austellung Name und Unterschrift des Befugten Place and date of issue Name and signature of authorized person 7 3112a doc Stand 001 vom 01 08 06 D301087 0308 BL20 CANopen 8 11 BL20 Approvals for Zone 2 Division 2 Zertifikate f r Europa Baumusterpr fbescheinigung Baumusterpr fbescheinigung 2 Ger te und Schutzsysteme zur bestimmungsgem en Verwendung in explosionsgef hrdeten Bereichen Richtlinie 94 9 EG Baumusterpr fbescheinigungsnummer FMO7ATEX0040X 4 Gerat BL20 Modulares I O Bus Klemmen System Baumusterbezeichnung und Name 5 Hersteller Hans Turck GmbH amp Co KG 6 Anschrift Witzlebenstrasse 7 DE 45472 Milheim an der Ruhr GERMANY 7 Die Bauart dieses Ger tes sowie die verschiedenen zul ssigen Ausf hrungen sind in der Anlage zu dieser Baumusterpr fbescheinigung festgelegt 8 FM Approvals Ltd bescheinigt dass das Ger t die grundlegenden Sicherheits und Gesundheitsanforderungen f r die Konzeption und den Bau von Ger ten und Schutzsystemen zur bestimmungsgem en Verwendung in explosionsgef hrdeten Bereichen gem Anhang Il der Richtlinie erf llt Die Ergebnisse der Pr fung sind im vertraulichen Pr fbericht Nr 3030839EC vom 21 Januar 2008 festgehalten 9 Die grundlegenden Sicherheits und Gesundheitsanforderungen mit Ausnahme der in Punkt 15 der Anlage zu dieser Bescheinigung genannten werden erf llt durch bereinstimmung mit EN 60079 0 20
13. 6411 analog values Table 35 Object 1600 to 161F hex Object description INDEX 1600 to 161Fhex Name Receive PDO mapping parameter Object code RECORD Data Type PDO mapping Value description Sub index 00 x Description highest sub index used Access rw PDO mapping No Value range BL20 01064 D301087 0308 BL20 CANopen 4 79 BL20 Communication in CANopen Table 35 Object description Object 1600 to 161F rex Default value BL20 see Table 12 Sub index Ot hex Description 1st mapping object Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 see Table 12 Sub index 40 Description 64th mapping object Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No 4 80 D301087 0308 BL20 CANopen Object Dictionary Note The number of mapping objects which are automatically generated by the gateway during start up depends on the actual physical structure of the BL20 station Possible default values for objects 1600 t0 1603 Table 36 Object Sub Default Description applies Possible default index value BL20 to values for objects 1600 t0 1603 1600 01 6200 0108 1st mapping object RPDO1 digital output 08 62000808 8th mapping object digital output 1601 01 6411 0110
14. 72 4 106 0301087 0308 BL20 CANopen Object Dictionary After the next Reset Node or the next Reset Communication command the operating mode will in all cases be reset to normal Reset Node The Index Save current module list Sub index 03 determines that in the event of a Reset Node command the present BL20 module list Objects 3090 3091 will be saved non vola tile memory and then followed by a hard processor reset This hard ware reset is necessary because changes to the BL20 reference module list cannot be dynamically accepted in the CANopen I O mirror If the module list is altered all the CANopen parameters will be reset to the default values For writing the value that is transferred in Unsigned32 format will be interpreted as a string Table 54 MSB LSB Save and Hard ware Reset selec tion 5 76 61 T9 63 x Table 55 MSB LSB Normal Reset selection t S r S TA rex 73 72 73 hex hex hex After the next Reset Node or the next Reset Communication command the operating mode will in all cases be reset to normal Reset Node D301087 0308 BL20 CANopen 4 107 BL20 Communication in CANopen Object 2400 System Voltages The object System Voltages allows the reading of up to 4 system voltages from the gateway At present the BL20 GW CO supports reading of U to sub index 1 Sub indices 2 4 return the const
15. 124 Object 6221hex Write Output Bit 129 to 256 124 Object 6222hex Write Output Bit 257 to 288 124 Object 6300 Write Output 16 Bit 125 Object 6320hex Write Output 32 Bit 126 Object 6206hex Error Mode Output 8 Bit 127 Object 6207hex Error State Output 8 Bit 128 Object 6250hex Error Mode Output Bit 1 to 128 129 Object 6251hex Error Mode Output Bit 129 to 256 129 Object 6252hex Error Mode Output Bit 257 to 288 129 Object 6260hex Error State Output Bit 1 to 128 131 Object 6261hex Error State Output Bit 129 to 256 131 Object 6262hex Error State Output Bit 257 to 288 131 Object 6306hex Error Mode Output 16 Bit 133 Object 6307hex Error State Output 16 Bit 134 Object 6326hex Error Mode Output 32 Bit 135 Object 6327hex Error State Output 32 136 Objects for Analog Input 1 0 137 Genera
16. 6 5 Module Bus Refreshing 6 5 Creating Potential 6 11 Protecting the Service Interface on the 6 12 C Rail Cross Connection eese 6 13 Direct Wiring of Relay Modules sse 6 15 D301087 0308 BL20 CANopen iii iv Plugging and Pulling Electronics 6 16 Extending an Existing Station 6 17 Firmware Download anne 6 18 Guidelines for Electrical Installation General Notes r ees N Generals ee fairen lied Cable Routing Cable Routing Inside and Outside of 7 2 Lightning Protection ssi iugi e teen 7 3 Transmission Cables weai icit testen skip 7 3 eri NATI IMPER 7 4 Potential Relationships 7 5 General Ens eu inteni deat 7 5 Potential Free Installation cesses eene 7 6 Non isolated 7 6 Electromagnetic Compatibility 7 7 Ensuring Electromagnetic Compatibility 7 7 Grounding of Inactive Metal Components 7 7 PE G nnection aka bien IH Bl 7 8 Earth Free Operation e ue to el 7 8 Mounting T
17. BL20 32DO 24VDC 0 5A P 32 channel digital output 0 5A pnp BL20 2A0 1 0 4 20MA 2 channel analogue output module current BL20 2AO U 10 0 10VDC 2 channel analogue output module voltage BL20 1CNT 24VDC Counter BL20 1RS232 RS232 interface BL20 1RS485 422 RS485 422 interface BL20 1SSI SSI interface BL20 BR 24VDC D Power Supply Module with internal 5V DC Bus BL20 PF 24VDC D Power Feed Module Field Supply 24V BL20 E 8DI 24VDC P 8 channel digital input module pnp Economy BL20 E 16DI 24VDC P 16 channel digital input module pnp Economy BL20 E 8DO 24VDC 0 5A P 8 channel digital output module 0 5A pnp Economy BL20 E 16DO 24VDC 0 5A P 16 channel digital output module 0 5A pnp Economy BL20 GWBR PBDP Gateway for Profibus DP with internal 5V DC Bus THIS CERTIFICATE MAY ONLY BE REPRODUCED IN ITS ENTIRETY AND WITHOUT CHANGE FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK SL4 IRS T 44 0 1753 750 000 44 0 1753 868 700 E mail atex fmapprovals com www fmalobal com FM F ATEX 029 Feb 07 D301087 0308 BL20 CANopen Page 2 of 6 8 5 BL20 Approvals for Zone 2 Division 2 14 15 16 lt SCHEDULE to Type Examination Certificate No FMO7ATEX0040X Module Description BL20 GW DPV1 Gateway for Profibus DPV1 BL20 GW EN Gateway for Modbus TC
18. BL20 station Table 30 Object description Object 1027 INDEX 1027 Module list Object code ARRAY Data Type Unsigned16 Access ro Value description Sub index Description Number of modules connected Access ro PDO mapping No Value range BL20 00 to 4A Defaultvalue BL20 No Sub index 01 Description Module 1 Access ro PDO mapping No Value range BL20 Unsigned16 Defaultvalue BL20 No 4 70 D301087 0308 BL20 CANopen Object Dictionary Table 30 Object description Object 1027 nex Sub index 4Anex Description Module 74 Access ro PDO mapping No Value range BL20 Unsigned16 Default value BL20 The sequential Sub indices 01 to 4A describe the corre sponding BL20 modules in the sequence in which they are installed in the BL20 station Each entry contains a number that identifies the particular module Note re here is one identifier for each type of BL20 module In the EDS file the individual extensions to object 1027 for all the optional BL20 module types are listed in the section Supported Modules The default values correspond to the identifiers for the particular module types D301087 0308 BL20 CANopen 4 71 BL20 Communication in CANopen Objects for the Transfer of Service Data Object 1200 1203 Server SDO Default Parameters Objects 1200 to 1203
19. 1 Note The object 5810 hex IS only valid if the counter module is operating in count mode Table 153 Feature Description Object 5810 Encoder Load Value Object code ARRAY PDO mapping No Sub index 00 x Data type Unsigned8 Access ro Default value No D301087 0308 BL20 CANopen 4 223 BL20 Communication in CANopen Table 153 Feature Description Object 5810 Sub index O14 nex 47 Data type Integer32 Access rw Default value No Object 5811 Encoder Pulse Width Object 5811 is used to set the pulse duration for digital outputs DO1 and DO2 A pulse is generated at outputs DO1 and DO2 in count mode if Function DO1 Function DO2 Pulse on count value Comp value is set see Object 5801hex Encoder Config and the values are equal Write accesses initiate a parameter update on the BL20 internal module bus The parameter is stored retentively in the gateway and is restored with every node reset In object 5811 the time is entered milliseconds The value range can be set in 2 ms increments between 0 ms to 510 ms Note 1 he object 5811 is only valid if the counter module is operating in count mode Table 154 Feature Description Object 5811 hey Name Encoder Pulse Width Object code ARRAY PDO mapping No 4 224 D301087 0308 BL20 CANopen Objects Table 1
20. 4 114 digital outputs 4 121 general I O objects 4 113 modules 4 110 RSxxx modules 4 163 SSI modules 4 176 SWIRE modules 4 255 P parameter assignment 3 2 Parameterization 4 16 PDOs BL20 specific 4 28 PE connection 7 8 pl nning oats ee 6 2 potential relationships 7 5 potential compensation cable 7 13 power distribution 1 6 power supply 6 5 Process Data Objects PDO 4 22 Process data objects PDOs 2 4 product overview 1 1 R Rotary encoding switches decimal eee 3 25 hexadecimal 3 25 RPDOs BL20 specific 4 29 S Service Data Objects SDO 4 16 service interface 3 20 shielding 7 11 status displays 3 2 status indicators 3 26 Supply voltage 3 11 T transmission cables 7 3 Transmission Type 4 23 10 2 D301087 0308 BL20 CANopen Hans Turck GmbH amp
21. 6422 Analog input interrupt source page 4 148 6423 Analog input global interrupt enable page 4 149 hex D301087 0308 BL20 CANopen 4 111 BL20 Communication in CANopen Table 58 Overview of all BL20 I O module objects Index Name Page 6424 Analog input interrupt upper limit Integer page 4 150 6425 Analog input interrupt lower limit Integer page 4 151 6426 Analog input interrupt delta Unsigned page 4 152 6427 Analog input interrupt negative delta page 4 153 Unsigned 6428 Analog input interrupt positive delta page 4 154 Unsigned 6443 Analog output error mode page 4 157 6444 Analog output error value Integer page 4 160 67FF ex Device type page 4 113 6800 Operating parameters page 4 193 6810 Preset value for multi sensor devices page 4 193 6820 Position value for multi sensor devices 4 194 6 00 State register page 4 195 6 10 Low limit 4 198 6820 High limit 4 198 4 112 0301087 0308 BL20 CANopen Objects General I O Objects Object 67FFh Device Type The object Device type sends the type of the first supported device profile It contains the value 000x0191 The low word 0191 specifies the device profile 401 I O modules the high word 000xh the I O types see CANopen standard DS401 Table 5
22. DANGER D EXPLOSION NE PAS FAIRE FONCTIONNER LES INTERRUPTEURS OU CONNECTER OU DECONNECTER LES MODULES ET LE CABLAGE SILE CIRCUIT EST SOUS TENSION SAUF SI LA ZONE EST DECLAREE NON DANGEREUSE tmexo051 7 5 2007 10 09 BL20 Installation drawing Canada DWG No Scale NONE Sheettof2 8 36 D301087 0308 BL20 CANopen Certificates for Canada In Class Division 2 installations the BL20 Modular I O Bus Terminal Systems shall be mounted within a tool secured enclosure installed in accordance with the enclosure mounting spacing and segregation requirements of the ultimate application which is capable of accepting one or more of the Class Division 2 wiring methods specified in the Canadian Electrical Code CSA 22 1 Dans la classe installations de la division 2 les systemes de bornes de bus E S modulaires BL20 sont monter dans une armoire s curis e install e conform ment aux exigences d armoire de montage d espacement et de s gr gation de l application respective qui doit tre capable d accepter une ou plusieurs m thodes de c blage de la classe I division 2 comme sp cifie le CSA C22 1 du Canadian Electrical Code Norme de s curit relative aux installations lectriques au Canada In Class Zone 2 installations the BL20 Modular I O Bus Terminal Systems shall be mounted within a tool secured enclosure which meets the requirements of ISA 60079 0 and ISA 60079
23. Default Default Communication Mapping Parameter Parameter Fixed 1401h 1601h Relation to to 1603h RPDO2 4 Entry 2 D A MA RPDO2 24 77 7 Converter gt CAN gt gt Single Reception Analog Error Mode Output Switch 6443h gt IF Oh 1h Switch if Error Value ay failure N 1 Integer32 gt 2 Integer16 left justified with default value of 0 4 156 D301087 0308 BL20 CANopen Objects Object 6411 Write Analog Output 16 Bit The object represents the values for the analog output modules with 16 bits for each channel The representation of the current and voltage values as numerical values is described in detail from a page 126 onward for each value range Table 97 Feature Description Value Objects 6411 Write analog output 16 bit Object code ARRAY PDO mapping Yes Sub index OOnex Data Type Unsigned8 Access ro Default value BL20 No Sub index 01 4 to 8E Data Type Integer16 Access rw Default value BL20 00 hex D301087 0308 BL20 CANopen 4 157 BL20 Communication in CANopen Object 6443 Analog Output Error Mode It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The Sub indices of O1 x 7 8E define the mode of the ana
24. Note he information in byte 0 SCS can optionally contain the length information for the transmitted data bytes see CiA DS 301 Page 9 21 ff The information in byte 0 SCS 22 means that no length information is present A Attention f an incorrect data length is given the error code Abort SDO Trans fer Service will be generated see CiA DS 301 Page 9 26 4 18 D301087 0308 BL20 CANopen Parameterization through Service Data Objects SDO Table 3 Abort codes for errors in SDO transfer Abort code Description 0503 0000 Toggle bit not altered 0504 0001 Client server command specifier not valid hex or unknown 0601 0000 Unsupported access to an object 0601 0001 Attempt to write a read only object 0601 0002 Attempt to read a write only object 0602 0000 Object does not exist in the object dictionary 06040041 Object cannot be mapped to the 06040042 ex The number and length of objects exceeds PDO length 06040043 x General parameter incompatibility reason 06040047 General internal incompatibility in the device 06070010 Data type does not match wrong length 0607 0012 Data type does not match length too high 0607 0013 Data type does not match length too low 0609001 1 x Sub index does not exist 06090030 x Value range of parameter exceeded 06090031
25. Area State Register The object 6C00 corresponds to object 6400 in accordance with CiA DS 406 contains two status bits that indicate the count value going below the lower count limit object 6C01 pex Work Area Low Limit and above the upper count limit object 6C02 Work Area High Limit The status bit are stored in a non volatile memory All status messages are reset by writing object 5803 with any value Object 5803 contains the two redundant status bits STS_OFLOW STS_UFLOW Note The object 6C00 is only valid if the counter module is operating in count mode Table 170 Feature Description Object 6 00 Name Area State Register Object code ARRAY PDO mapping No Sub index 00 4 Data type Unsigned8 Access ro Default value No Sub index Ot nex 47 hex Data type Unsigned8 Access ro Default value No D301087 0308 BL20 CANopen 4 241 BL20 Communication in CANopen Structure of the data byte Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 x x x X X STS 55 X UFLW X reserved Table 171 Designation Description Meaning of the data bits STS UFLW Status lower count limit Set ifthe count value goes below the lower count limit This bit must be reset by writing object 5803 x with any value STS OFLW Status upper count limit Set if the counter goes above the upper count limit This bit must be reset by writing object 5803 w
26. Encoder flags page 4 181 5804 Encoder diag page 4 183 5805 SSI Native status page 4 185 5806 SSI Optional encoder status page 4 189 5808 Encoder control page 4 190 5840 951 Diag mapping page 4 191 6000 Read input 8 bit page 4 117 6020 Read input bit 1 to 128 page 4 118 6021 Read input bit 129 to 256 page 4 118 6022 Read input bit 257 to 288 page 4 118 D301087 0308 BL20 CANopen Objects Table 58 Index Name Page Overview of all BL20 I O module objects 6100 Read input 16 bit page 4 119 6120 Read input 32 bit page 4 120 6200 Write output 8 bit page 4 123 6206 ex Error mode output 8 bit page 4 127 6207 Error state output 8 bit page 4 128 6220 Write output bit 1 128 to Write output bit page 4 124 to 257 288 6222 5 6250 Error mode output bit 1 128 to Error page 4 129 to mode output bit 257 288 6252 6260 Error value output bit 1 to Error value page 4 131 to output bit 257 288 6262 x 6300 Write output 16 bit page 4 125 6306 Error mode output 16 bit page 4 133 6307 Error value output 16 bit page 4 134 6320 Write output 32 bit page 4 126 6326 Error mode output 32 bit page 4 135 6327 Error value output 32 bit page 4 136 6401 Read analog input 16 bit page 4 144 6411 Write analog output 16 bit page 4 157 6421 Analog input interrupt trigger selection page 4 145
27. contain the parameters for the SDOs Table 31 Object description Object 1200 to 1203 hex INDEX 1200 to 1203 Name Server SDO parameters Object code RECORD Number of Elements 3 Data Type SDO parameters Value description Sub index Description Number of entries Access ro PDO mapping No Defaultvalue BL20 02 hex Sub index 01 Description COB ID Client gt Server rx Access Index 1200 Index 1201 to 12031 PDO mapping No Value range BL20 Unsigned32 Default value BL20 Index 1200 0000 0600 Node ID Index 1201 10 1203 No 4 72 D301087 0308 BL20 CANopen Object Dictionary Table 31 Object description Object 1200 to 1203 hex Sub index 02 Description COB ID Server gt Client rx Access Index 1200 Index 1201 to 1203 PDO mapping No Value range BL20 Unsigned32 Default value BL20 Index 1200 0000 0580 Node ID Index 1201 to 1203 D301087 0308 BL20 CANopen 4 73 BL20 Communication in CANopen 4 74 Objects for the Transfer of Process Output Data The objects 1400 to 141F define together with objects 1600 to 161F ex which output data have to be transferred via RPDO In addition to that the priority and the transmission type for the RPDO transfer are defi
28. 10000 frequency measurement A 10001 revolutions measurement 10010 period duration measure ment Digital input DI 0 Normal 1 Inverted Function DI 5800 00 Input A 01 Hardware release HW gate Measuring range limits Lower limit 5821 OAto Lower measuring limit for 16777214 10 channel x Upper limit 5822 Oto Upper measuring limit for 16777215 10 channel x A Integration time 5820 x 110 1000 10 Integration time n 10 ms frequency measurement 1 to 1000 10A Integration time n 10 ms frequency measurement 1 to 1000 10A Number of periods for periods duration measure ment Sensor pulses per revo 5823 lution 1A to 65535 Sensor pulses for channel x 4 252 D301087 0308 BL20 CANopen Objects Module Parameter Object Value Meaning Configuration Substitute value DO1 5801 0 OA 1 1 Diagnostics DO1 0 OnA 1 Off Function DO1 000 Output A 001 Outside of the set limits 010 Below the lower limit 011 Above the upper limit Signal evaluation A B 00 Pulse and direction A 01 Single evaluation rotary sensor Sensor Input filter A 0 2 5 us 200 kHz A 1 25 us 20 kHz Sensor Input filter B 0 2 5 us 200 kHz A 1 25 us 20 kHz Sensor Input filter DI 0 2 5 us 200 kHz A 1 25 us 20 kHz Sensor A 00 Normal A 01 Inverted Direction input B 0 Normal A 1 Inverted
29. 1st mapping object RPDO2 analog output 04 6411 0410 4th mapping object analog output 1602 01 6411 0510 1st mapping object RPDOS analog output hex 04 6411 0810 4th mapping object analog output 1603 O1nex 6411 0910 1st mapping object RPDO4 analog output 04 6411 0 10 4th mapping object analog output D301087 0308 BL20 CANopen 4 81 BL20 Communication in CANopen The following structure applies to the parameters for sub index 01 40 40 Structure of the PDO mapping entries MSB LSB Index 16 bit Sub index 8 bit Object Length 8 bit change the number mapping entries follow the instructions in Section Procedure for Altering PDO Mappings 4 82 D301087 0308 BL20 CANopen Object Dictionary Objects for the Transfer of Process Input data Objects 1800 to 181 define together with objects 1A00 to 1A1F ex which input data are transferred Additionally they define the priority and the mode for the data transfer via TPDO Object 1800 defines the priority the minimum inhibit time the event timer and the transmission type for TPDO1 object 1A00 defines the object index the sub index and the data length for the data which have to be transferred via TPDO1 The object 1801hex together with object 1A01hex provides this information accordingly for the TPDO2 etc The priority of the data is define
30. 4 39 BL20 Communication in CANopen Commands for Parameter Save and Restore Defaults Parameter changes that are made through SDO access are only stored in volatile memory All alterations that are made by the user will be replaced by default values at the next Reset Communication Reset Node or Power ON Boot Up With BL20 it is possible to use a command to make a permanent save of the communication and or application parameters This is done through the Store parameters command Object 1010 sub index 1 to 3 The command is executed by using an SDO to write the data contents 0x6576 6173 save to one of the following entries 1010 sub index 1 saves all parameters 1010 sub index 2 saves all communication parameters hex 1010 sub index saves all device parameters see CiA DS 301 V4 01 Table 10 Data contents 0x6576 6173 save MSB LSB ASCII e V a S HEX 65 TO 61 hex 73 Since in some circumstances it may not be possible to restore the original memory contents after a lot of alterations BL20 supports the Restore default Parameter command Object 1011 SUb index 1 to 3 with the following data contents 0x6461 6F6C load Table 11 Data contents 0x6461 6F6C load MSB LSB ASCII d a 64hex 61 hex 6F nex 6Chex The division of the Sub entries corresponds to that for the Store parameters command 4 40 D301087 0308 BL20 CANopen Objec
31. BL20 Communication in CANopen Object 6320 Write Output 32 Bit The object presents the values for the digital output modules in 32 bit groups A total of 9 groups each 32 bit can be defined 288 digital output channels Table 70 Feature Description Value Objects 6320nex Name Write output bit Object code ARRAY PDO mapping Yes Sub index 00 Data Unsigned8 Access ro Default value BL20 No Sub Index O1 hex to 09 Data Type Unsigned32 Access rw Default value BL20 0000 0000 4 126 D301087 0308 BL20 CANopen Objects Object 6206 Error Mode Output 8 Bit The object defines values in 8 bit groups A total of 36 groups each 8 bit can be defined 288 digital output channels It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The rule is 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by the Error state output object e g 6207 Table 71 Feature Description Value Objects 6206 Name Error mode output 8 Bit Object code ARRAY PDO mapping Yes Sub index Unsigned8 Access ro Default value BL20 No Sub index 01 4 to 24 Data Type
32. Manufacturer and address TURCK D 45466 M lheim an der Ruhr country Made in Germany Type Type label other side of module Type of protection Ex nA nC II T4 respective Ex nA T4 Approval number FM 07 ATEX 0040 X FME 07 0004 X E bol and ATEX identifi symbol jentifier 136 Allowed ambient temperature 0 C 55 C CE symbol with PTB No as supervising CE 0102 notified body of manufacturing control Serial no production year it s a code no Type label other side of module Instructions for safe use in zone 2 BL20 devices of category 3 have to be installed in a suitable housing according IEC EN 60079 15 in such way that a degree of protection of at least IP 54 according EN 60529 is reached Using switches e g at front side of the gateway as well as the connecting and disconnecting of any circuits is only permitted if no explosion hazardous atmosphere exists BL20 devices are to keep under normal operation conditions The limits of the data sheets have to be observed The UL connector of the gateway supplies all field devices up to 30V d c and 10A d c To supply more modules additional Power feeding modules BL20 PF 24VDC D resp Bus refreshing modules BL20 BR 24VDC D may be necessary The Usys connector of the gateway feeds an internal supply circuit of the gateway and that provides 5V module bus supply up 1 5 d c for gateway and modules To supply more modules additional Bus refresh
33. Object 2401hex System Currents 109 Objects uuaunn0nnaunnunnunnannnnnnunnnnn ann nunnann ann nun nnnnann nun nun 110 Overview of the I O Module 110 Gerieral O Objects na een 113 Object 67FFh Device Type cessent 113 Objects for Digital Input 114 General Overview for Digital Input Objects 114 Object 3064hex Param DWord 115 Object 6000hex Read Input 8 Bit 117 Object 6020hex Read Input Bit 1 to 128 118 Object 6021hex Read Input Bit 129 to 256 118 Object 6022hex Read Input Bit 257 to 288 118 Object 6100hex Read Input 16 Bit 119 Object 6120hex Read Input 32 Bit 120 Objects for Digital Output 121 General Overview for Digital Output Objects 121 Object 6200 x Write Output 8 Bit 123 D301087 0308 BL20 CANopen Object 6220hex Write Output Bit 1 to 128
34. Status Comment 2 Group configuration error field Activate slave diagnostics As soon as only one slave on the bus is incorrectly configured this is indicated as an error depending on the parameter setting OA Inactive Group diagnostics is activated 1 Active Group diagnostics is not activated Unuxerr Error message U ux Activate system diagnostics UAUX pr UAUXere will generate an error message as soon as the power supply goes below a level at which the function of the relays is not guaranteed 0A Inactive Error message UAUX epp activated 1 Active Error message not activated Byte 3 reserved Byte 4 Life guarding Lifeguarding time of the SWIRE slaves 0 02 Setting of lifeguarding time timeout time up to auto OxFF matic reset of the slaves in the event of communica 0x64 tion failure x 10ms Default 1s OxFF Lifeguarding off Byte 5 6 5 Input bit communication error slave x Slave diagnostics message from Byte 1 Bit 7 is accepted the feedback interface as Bit4 OA Inactive SDpiagSx is accepted 1 Active SDpjagSX is not accepted D301087 0308 BL20 CANopen 4 279 BL20 Communication in CANopen Byte Design Status Comment Byte Device 9 24 ID slave x TYPE setting for the LIN slave at position x on the SWIRE bus 0x20 SWIRE DIL MTB OxFF O
35. Zone 2 Group and Nonsparking and sealed AEx nA nC for Class Zone 2 Group Hazardous Classified Locations Temperature Class T4 at an ambient of 0 C to 55 C FM Approved for Hans Turck GmbH amp Co KG M lheim an der Ruhr Germany Page 3 of 4 8 28 D301087 0308 BL20 CANopen Certificates for the USA FM Approvals Mens of Wor EM Gh n This certifies that the equipment described has been found to comply with the following Approval Standards and other documents Class 3600 1998 Class 3611 2004 Class 3810 2005 ANSI ISA 60079 15 2003 Original Project ID 3030839 Approval Granted November 26 2007 Subsequent Revision Reports Date Approval Amended ReportNumber Date Report Number Date 080116 Februanyzz 200 Approvals LLC 2 22 Febrtepy 206 Marquedant Date Group Manager Electrical 607 3030839 Page 4 of 4 D301087 0308 BL20 CANopen 8 29 BL20 Approvals for Zone 2 Division 2 Installation Drawings Installation drawing US NON HAZARDOUS LOCATION Class Division 2 Class Zone 2 Class Division 2 Installation drawing US Class Zone 2 Installation drawing US WARNING EXPLOSION HAZARD DO NOT OPERATE SWITCHES OR CONNECT OR DISCONNECT MODULES AND WIRING WHEN THE CIRCUIT IS ENERGIZED UNLESS THE AREA IS KNOWN TO BE NON HAZARDOUS In Class Division
36. ssssssssssssssseseesseeennnennn nennen neret nnne nennen nnns 25 Mapping Objects in 25 Default PDOs and PDO Mappings eee 26 Default PDOs as per CiA 05 301 and DS 401 26 BL20 Specific Default PDOs Mappable Objects Procedure for Altering PDO Mappings 34 Object Overview of all Objects Commands for Parameter Save and Restore Defaults 40 Objects for the Communication Profile 42 Object 1000hex Device Type 47 Object 1001hex Error Register 48 Object 1005hex SYNC 49 Object 1008hex Device 2 51 Object 1009hex Manufacturer Hardware Version 52 Object 100Ahex Manufacturer Software Version 53 Object 100Chex Guard Time 53 Object 100Dhex Lifetime Factor 55 Object 1010hex Store Parameters 56 D301087 0308 BL20 CANopen 4 1 BL20 Communication in CANopen 4 2 Object 1011hex Restore Default Parameters 58 Object 1014hex Emcy COB ID 60 Object 1016hex Consumer Heartbeat Time 62 Object 1017hex Producer
37. 1920to 800 free hex 2014 7DE hex 201510 7DF to NMT LMT DBT 2031 hex 4 12 D301087 0308 BL20 CANopen Setting up communication Set up Node Guarding Protocol Note Further information on Node Guarding can be found in CiA DS 301 Node Guarding is the name for the monitoring of network nodes by a network manager In addition the CANopen network nodes check that their network manager is operating correctly and that the network is functioning reliably In the default state Node Guarding is inactive To activate the Node Guarding protocol for a node various parameters must be set for the Object Dictionary 100C Guard time Given in milliseconds the query interval polling that is to be expected by the network slave Default 0 100D Lifetime factor This factor multiplied by the Guard time is the time that should elapse after a Node Guarding protocol error before the network slave generates an error message via EMCY In this way a temporary communication problem such as may be caused by heavy bus loading can be bridged without a Guarding Error Default 0 Guard ID This is fixed and cannot be changed Guarding is initiated with the first Guard Remote frame Guarding RTR from the CANopen network manager The Guarding Frame of the network manager has the COBID 1793 1 Node ID and does not have a data field Furthermore the RTR bit in the message header
38. A with the moun ting rails 6 GND Page 3 16 7 CAN_H non inverted data signal dominant high 8 not used 9 CAN_V D301087 0308 BL20 CANopen 3 15 BL20 Gateway for CANopen Fieldbus connection through direct wiring For making connections to the fieldbus you can choose between a SUB D connection and direct wiring Direct wiring of the BL20 GW CANOPEN to the CANopen fieldbus can be made through the two terminal blocks with tension spring connectors The passive bus termination must be applied externally if the BL20 gateway is the last station in the bus structure Table 7 Designation Meaning List of connecting leads for direct CAN_L Inverted data signal dominant low wiring GND Ground optional SHLD Shielding see below CAN_H Non inverted data signal dominant high A Attention fthe gateway is wired up directly then the bus connection must be shielded e g with the help of a BL20 SCH 1 clamp Figure 5 Shielding connec tion for an BL20 GW CANOPEN 3 16 D301087 0308 BL20 CANopen Connections for data cables to BL20 GW CANOPEN Attention No compensating current should flow through the shielding To achieve this a reliable system of equipotential bonding must be installed Note Equipotential bonding impedance lt 1 10 shielding impedance D301087 0308 BL20 CANopen 3 17 BL20 Gateway for CANopen Connections of the data cables to BL20 GWBR
39. A potential compensation cable must be routed to the potential compensation Warning Never use the shield as a potential compensation Connection 1 Connection 2 CAN_H 0 0 CAN_H CAN_L 0 0 CAN_L GND 0 0 GND Potential compensation cable Reference potential Reference potential D301087 0308 BL20 CANopen 7 13 Guidelines for Electrical Installation A potential compensation cable must have the following character istics Low impedance In the case of compensation cables that are routed on both sides the compensation line impedance must be considerably smaller than that of the shield connection max 10 of shield connection impedance Should the length of the compensation cable be less than 200 m then its cross section must be at least 16 mm 0 025 inch If the cable length is greater than 200 m then a cross section of at least 25 mm 0 039 inch is required The compensation cable must be made of copper or zinc coated steel The compensation cable must be connected to the protective conductor over a large surface area and must be protected against corrosion Compensation cables and data cables should be routed as close together as possible meaning the enclosed area should be kept as small as possible Figure 16 Potential com pensation be tween switchgear cabinets Potential compensation
40. BL20 2DO 24VDC 0 5A P 2 channel digital output 0 5A pnp BL20 2DO 24VDC 0 5A N 2 channel digital output 0 5A npn BL20 2DO 24VDC 2A P 2 channel digital output 2 0A pnp BL20 4DO 24VDC 0 5A P 4 channel digital output 0 5A pnp BL20 16DO 24VDC 0 5A P 16 channel digital output 0 5A pnp BL20 32DO 24VDC 0 5A P 32 channel digital output 0 5A pnp BL20 2AO I 0 4 20MA 2 channel analogue output module current BL20 2A0 U 10 0 10VDC 2 channel analogue output module voltage BL20 1CNT 24VDC Counter BL20 1RS232 RS232 interface BL20 1RS485 422 RS485 422 interface BL20 1SSI SSI interface BL20 BR 24VDC D Power Supply Module with internal SV DC Bus BL20 PF 24VDC D Power Feed Module Field Supply 24V BL20 E 8DI 24VDC P 8 channel digital input module pnp Economy BL20 E 16DI 24VDC P 16 channel digital input module pnp Economy BL20 E 8DO 24VDC 0 5A P 8 channel digital output module 0 5A pnp Economy BL20 E 16DO 24VDC 0 5A P 16 channel digital output module 0 5A pnp Economy BL20 GWBR PBDP Gateway for Profibus DP with internal 5 DC Bus Diese Baumusterpr fbescheinigung darf nur unver ndert weiterverbreitet werden Diese dokument ist eine bersetzung im Zweifelsfall gilt der englishe Originaltext FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK 514 1 RS 44 0 1753 750 000 44 0 1753 868 7
41. Byte 0 function DO2 function DO1 diag substi nostic tute DO1 value DO1 Byte 1 direction sensor A sensor sensor sensor signal input B input input input evaluation A B filter DI filter B filter A Byte 2 X behavior CPU X group master stop diagnos tics Byte 3 X X reserved Structure of the data bytes for measurement mode Bit7 Bit6 Bit5 Bit4 Bit2 Biti Bito Byte 0 X function DO1 diag substitute nostic value DO1 DO1 Byte 1 direction sensor A sensor sensor sensor signal evaluation input B input input input A B filter DI filter B filter A Byte 2 x behavior CPU x group diag master stop nostics Byte 3 X X reserved 4 206 D301087 0308 BL20 CANopen Objects Table 143 Designation Value Designation of the values Meaning of the Value range data bits A default settings Output parameters byte O substitute value OA DO1 1 This value determines the state of output DO1 in the event of a failure if behaviour CPU Master STOP 10 diagnostic DO1 OA on The short open circuit DO diag nostics message is not blocked 1 off The short open circuit DO diag nostics message is blocked function DO1 000 A output count mode 001 on when cnt value 2 ref value 010 on when cnt value ref value 011 pulse when cnt value ref value function DO1 000 A output measurement mode 001 measured value outside of the set limit
42. D301087 0308 BL20 CANopen Potential Compensation Switching Inductive Loads In the case of inductive loads a protective circuit on the load is recommended Protection against Electrostatic Discharge ESD Attention Electronic modules and base modules are at risk from electrostatic discharge when disassembled Avoid touching the bus connections with bare fingers as this can lead to ESD damage D301087 0308 BL20 CANopen 7 15 Guidelines for Electrical Installation Bus Connection 7 16 An Open Style Connector 5 pole is available for connecting the BL20 GWBR CANopen to the CANopen fieldbus The shield connection is made via the shielding braid of the cable For detailed information about the bus connection of the gateway please refer to Chapter 3 Section Connections of the data cables to BL20 GWBR CANopen D301087 0308 BL20 CANopen Two Pole Shield Connection Two Pole Shield Connection The 2 pole shield connection can be used to connect signal cable shielding to the base modules of analog input and output modules A special tension clamp operating tool BL20 ZBW5 2 is required to mount the shield connection onto the base module Figure 17 Two pole shield connection for an alog modules The following cable diameters are permissible for the shield connec tion Diameter of the shielding braid max 4 9 mm 0 19 inch Outer diameter of the cable max 6 5 mm 0 26 inch D301
43. EZ 2725 0048 0711 04 07298200 07 06 2006 BL20 2AI I 0 4 20mA Layout GZ 2725 0048 0710 01 12395700 D BL20 2AI I 0 4 20mA Placement ZS 2725 0048 0710 01 12395700 H BL20 2AI I 0 4 20mA Schematic EZ 2725 0047 0711 04 07298100 06 06 2006 BL20 4DO 24VDC 0 5A P Layout GZ 2725 0047 0710 01 12395600 BL20 4DO 24VDC 0 5A P Placement ZS 2725 0047 0710 01 12395600 D BL20 4DO 24VDC 0 5A P Schematic EZ 2725 0017 0711 03 07296500 07 06 2006 BL20 2D0 24VDC 0 5A P Layout GZ 2725 0017 0710 01 12394000 A BL20 2DO 24VDC 0 5A P Placement ZS 2725 0017 0710 01 12394000 B BL20 2DO 24VDC 0 5A P Schematic EZ 2725 0036 0711 03 07297400 23 06 2006 BL20 2DO 24VDC 05A N Layout GZ 2725 0036 0710 01 12394900 D BL20 2DO 24VDC 05A N Placement ZS 2725 0036 0710 01 12394900 E BL20 2DO 24VDC 05A N Schematic EZ 2725 0018 0711 03 07296600 07 06 2006 BL20 2DO 24VDC 2A P Layout GZ 2725 0018 0710 01 12394100 A BL20 2DO 24VDC 2A P Placement ZS 2725 0018 0710 01 12394100 B BL20 2DO 24VDC 2A P Schematic EZ 2725 0063 0711 04 07299700 06 06 2006 BL20 32DO 24VDC 0 5A P Layout GZ 2725 0063 0710 01 12397200 D BL20 32DO 24VDC 0 5A P Placement ZS 2725 0063 0710 01 12397200 BL20 32DO 24VDC 0 5A P Schematic IS CERTIFICATE MAY ONLY BE REPRODUCED IN ITS ENTIRE FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK SL4 1RS T 44 0 1753 750 000 F 44 0 1753 868 700 E mail atex fmapprovals com www fmglobal com FM F ATEX 029 F
44. End Plate BL20 installation instructions ATEX IEC 1 BL20 MODULAR I O BUS TERMINAL SYSTEM IN ZONE 2 icheinigung darf nur unver ndert weiterverbreitet werden Diese dokument ist eine bersetzung im Zweifelsfall gilt der englishe Originaltext FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK SL4 1 RS 44 0 1753 750 000 F 44 0 1753 868 700 E Mail atex fmapprovals com www fmalobal com FM ATEX 029 Feb 07 D301087 0308 BL20 CANopen Seite 6 von 6 BL20 Approvals for Zone 2 Division 2 8 18 ATEX IEC Rev 1 doc BL20 MODULAR I O BUS KLEMMEN SYSTEM IN ZONE 2 Betriebsanleitung f r den Gebrauch zugelassener BL20 Ger te der Kategorie 3 in der Zone 2 entsprechend der Richtlinie 94 9 EG bzw der Normen IEC EN 60079 15 2006 Ex Kennzeichnung Typenschildmaterial von 3M 7815 CSA anerkannt Datei 99316 Details siehe CSA Liste Hersteller und Adresse TURCK D 45466 M lheim an der Ruhr Land Made in Germany ran siehe andere Modulseite Z ndschutzart Ex nA nC 11 T4 bzw Ex nA 1174 Zulassungsnummer FM 07 ATEX 0040 X IECEx FME 07 0004 X Ex Symbol und ATEX Bezeichner 136 Zul ssige Umgebungstemperatur 0 C 55 C CE Symbol mit PTB Nr als Hersteller CE 0102 kontrolleur Seriennr Produktionsjahr als Kodenummer Typenschild siehe andere Modulseite Anweisungen f r den sicheren Gebrauch in der Zone 2 BL20 Ger te der Kategorie 3
45. Group diagnostics 0 Release A 1 Block D301087 0308 BL20 CANopen 4 253 BL20 Communication in CANopen Module Parameter Object Value Meaning Behaviour CPU Master 5801 00 turn off DO1 A STOP 01 Proceed with operating mode 10 Switch substitute value DO1 11 DO1 hold last value A default settings 4 254 D301087 0308 BL20 CANopen Objects Objects for SWIRE modules General Overview for SWIRE Objects Table 176 Object Name Page General overview for SWIRE Inputdata objects 6000 Read input 8 bit 4 117 6120 Read input 32 bit 4 120 Outputdata 6200 Write output 8 bit 4 123 6320 Write output 32 bit 4 126 Diagnostic data 3040 Diag Byte 4 264 3042 XBI Diag Word 3044 x XBI Diag Dword 3045 Diag Dword2 3046 Diag Dword3 3047 hex XBI Diag Dword4 D301087 0308 BL20 CANopen 4 255 BL20 Communication in CANopen Parameter data 3060 XBI Param Byte 4 273 3062 XBI Param Word 3064 XBI Param DWord 3065 DWord2 3066 DWord3 3067 ex XBI Param DWord4 3068 Param DWord5 3069hyex XBI Param DWord6 306A nex XBI Param DWord7 306 XBI Param Dword8 4 256 D301087 0308 BL20 CANopen Objects Representation of process input data T
46. If more than 256 output channels are present then object 6252 is used Since the number of digital input channels in a station is limited to 288 itis not possible to make use of the complete range of the array in object 6522 ex It is possible to define for each digital output channel whether or not the output should take on a substitute value in the event of an error The rule is 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by the Error state output objects e g 6260 6261 and 6262 Table 73 Objects 6250 6251 hex 6252hex Feature Description Value Name Error mode output Bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No D301087 0308 BL20 CANopen 4 129 BL20 Communication in CANopen Table 73 Feature Description Value Objects 6250 6251 hex 6252 hex Sub index 01 to 80 Data Type Boolean Access rw Default value BL20 1 4 130 D301087 0308 BL20 CANopen Objects Object 6260 Error State Output Bit 1 to 128 Object 6261 Error State Output Bit 129 to 256 Object 6262 Error State Output Bit 257 to 288 The objects defined the values bit wise Each sub index for these objects is a Bool
47. Name Slave assignment Object code ARRAY Data Type Unsigned32 Access rw Value description Sub index 00 Description Maximum number of slaves Access rw PDO mapping No Value range 1 to 127 Default value 127 4 94 D301087 0308 BL20 CANopen Object Dictionary Table 44 Object description Object 1F81 nex Sub index 01 hex Description Slave with Node ID 1 Access rw PDO mapping No Value range BL20 Unsigned32 Sub index 7Fh Description Slave with Node ID 127 Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No ach sub index corresponds to the slave with the particular Node ID The Sub Index with the Node ID of the NMT Master will be ig nored D301087 0308 BL20 CANopen 4 95 BL20 Communication in CANopen Table 45 Byte Bit Structure of object 1F81 Slave assignment Value Meaning The node with this ID is not a slave The node with this ID is a slave After config uration the node will be put into the Opera tional state An error event or other event detection by a slave during boot up leads to information from the application An error event or other event detection by a slave during boot up leads to information from the application and to automatic start of Error Control Services An error event or other event detection by a slave during boot
48. Object code VAR Data Type Visible String Value range Access const PDO mapping No Value range BL20 Default value BL20 1 01 Note he value description corresponds to the state as delivered at the time this manual was printed Object 100C Guard Time Object 1000 contains the Guard time in ms The product of Life time factor Object 100D and Guard time is the Lifetime for Node Guarding Table 20 Object description Object 100Cyex INDEX 100 Name Guard time Object code VAR Data Type Unsigned16 D301087 0308 BL20 CANopen 4 53 BL20 Communication in CANopen Table 20 Object 100 Object description Value range Access rw PDO mapping No Value range BL20 Unsigned16 Default value BL20 0 4 54 D301087 0308 BL20 CANopen Object Dictionary Object 100D Lifetime Factor If the Lifetime factor is multiplied by the Guard time the result is the Lifetime for Node Guarding Example Guard time 100 ms Lifetime factor 3 The Guard time of 100 ms means that the network nodes expect a Guard Frame from the master every 100 ms The Lifetime factor enables a setting to be made in the BL20 CANopen gateway for how often a Guard Frame from the Master can be missed before an error condition is recognized In this example the relevant time would be 300 ms The evaluation would only become active after th
49. Objects 6401 Read analog input 16 Object code ARRAY PDO mapping Yes Sub index OOnex Data Type Unsigned8 Access ro Default value BL20 No Sub index 014 to 8E Data Type Integer16 Access ro Default value BL20 No 4 144 D301087 0308 BL20 CANopen Objects Object 6421 Analog Input Interrupt Trigger Selection Warning The behavior of the analog inputs is now adapted to the actuall CANopen standard DS401 This means that the firmware versions gt 4 02 for BL20 GW CANO PEN and version gt 2 02 for BL20 GWBR CANOPEN are thus not compatible with older firmware versions relating to the behavior of the analog inputs Note Objects 6421 6428 can be used to control the event triggered transmission of the process input data As well as these event trig gered control objects the transmission frequency of the process in put data is also controlled by means of objects 1800 to 181F N Attention R emember that the object a 6423 Analog input global interrupt enable page 4 149 must be used in order to enable the possibility of transmitting the process input data using an interrupt signal The object defines which event is to trigger the transmitting of the analog input data TPDOs by means of an interrupt signal The triggering event is defined for each input channel using a corre sponding sub index of the object D301087 0308 BL20 CANopen 4 145
50. Shield Connection 2 Pole for Analog Modules 15 D301087 0308 BL20 CANopen 1 1 BL20 Philosophy The Basic Concept BL20 is a modular I O system for use in industrial automation It connects the sensors and actuators in the field with the higher level master BL20 offers modules for practically all applications Digital input and output modules Analog input and output modules Technology modules counters RS232 interface A complete BL20 station counts as one station on the bus and therefore occupies one fieldbus address in any given fieldbus struc ture A BL20 station consists of a gateway power distribution modules and I O modules The connection to the relevant fieldbus is made via the bus specific gateway which is responsible for the communication between the BL20 station and the other fieldbus stations The communication within the BL20 station between the gateway and the individual BL20 modules is regulated via an internal module bus Note 1 he gateway is the only fieldbus dependent module on 20 sta tion All other BL20 modules are not dependent on the fieldbus used 1 2 D301087 0308 BL20 CANopen The Basic Concept Figure 1 Example of a BL20 station A Gateway B Power distri bution module Electronics module in block design D Electronics module in slice design E End plate F Base module in slice design G Base module in
51. Sub index 0044 Data type Unsigned8 Access ro Default value No Sub index O14 nex 47 hex Data type Unsigned16 Access rw Default value No D301087 0308 BL20 CANopen 4 229 BL20 Communication in CANopen Object 6800 Operating Parameters Note Object 6800 ex corresponds to object 6000 in accordance with CiA DS406 has no meaning with BL20 and only exists because it is a mandatory object in accordance with 05406 Object 6810 Load Value For Multi Sensor Devices Object 6810 corresponds to object 6010 in accordance with CiA DS 406 writes the direct load value for the counter module The output values in the subindices of object 6820 are set to the values of the corresponding subindices of object 6810 Note he object 6810 is only valid if the counter module is operating in count mode Table 159 Feature Description Object 6810 Name Preset value for multi sensor devices Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value No Sub index 01 4 47 nex Data type Integer32 Access rw Default value No 4 230 D301087 0308 BL20 CANopen Objects Object 6820 Position value for multi sensor devices Object 6820 corresponds to object 6020 as per 05406 contains the count value or measured value of the counter module
52. The input voltage for the BL20 2 channel digital relay modules shall be limited to 30 Vac or max contact voltage Essential Health and Safety Requirements The relevant EHSRs that have not been addressed by the standards listed in this certificate have been identified and assessed in the confidential report identified in item 8 Test and Assessment Procedure and Conditions This Type Examination Certificate is the result of testing of a sample of the product submitted in accordance with the provisions of the relevant specific standard s and assessment of supporting documentation It does not imply an assessment of the whole production Whilst this certificate may be used in support of a manufacturer s claim for CE Marking FM Approvals Ltd accepts no responsibility for the compliance of the equipment against all applicable Directives in all applications This Certificate has been issued in accordance with FM Approvals Ltd s ATEX Certification Scheme THIS CERTIFICATE MAY ONLY BE REPRODUCED IN ITS ENTIRETY AND WITHOUT CHANGE FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK 514 185 44 0 1753 750 000 F 44 0 1753 868 700 E mail alex mapprovals com www fmalobal com FM F ATEX 029 Feb 07 8 6 Page 3 of 6 D301087 0308 BL20 CANopen Certificates for Europe 17 SCHEDULE fois to Type Examination Certificate No FMO7ATEX0040X Approved Drawings
53. determines the maximum interval between two transmissions of a TPDO The expiry of the interval set for the Event timer is detected as an event If any other event occurs the Event timer is reset and restarted The value of the object is interpreted as a multiple of 1 ms D301087 0308 BL20 CANopen Object Dictionary Object 1A00 to 1A1Fh Transmit PDO Mapping Param Objects 1A00 to 1A1F define which data have to be transferred with TPDO1 to TPDO32 The data content here process input data is represented by product specific mappable objects Mappable Objects page 4 32 For example the process input data for the digital channels are entered in objects 6000 6020 etc The description of these objects can be found in section Module Objects page 4 110 ff Sub indices 01 to 40hex of the objects 1A00 to 1 contain the object number the sub index and the length of the data that have to be transferred via the respective TPDO can transfer a maximum number of 8 bytes 64 bit The number of sub indices depends on the data length and must be calculated and entered by the user for larger projects see below 8 sub indices are required for a data length of 8 bits in order to represent a total of 64 bits A data length of 1 bit requires 64 sub indices for a total of 64 bits Objects 1A00 to 1A03 TPDO1 to TPDO4 references by default the values for the firs
54. modules de rafraichissement de bus BL20 BR 24VDC D peut s imposer The Usys connector feeds an internal supply circuit of the gateway and that provides 5V module bus supply up to 1 5A d c for gateway and modules To supply more modules additional Bus refreshing modules BL20 BR 24VDC D may be necessary The rated current consumption of the module bus shows a table in BL20 catalogue Le connecteur Usys alimente un circuit d alimentation interne de la passerelle et permet d augmenter l alimentation 5V du module de bus jusqu 1 5 A DC pour la passerelle et les modules Pour alimenter plus de modules l utilisation du module rafraichissement de bus BL20 BR 24VDC D peut s imposer La consommation de courant nominale du module de bus figure au tableau du catalogue BL20 Primary power and secondary wiring external to the enclosure shall be in accordance with Class Division 2 or Class Zone 2 wiring practices per the Canadian Electrical Code CSA C22 1 En premier lieu l alimentation et en deuxi me lieu le c blage externe l armoire doivent tre conformes aux prescriptions de c blage de la classe I division 2 ou de la classe zone 2 Suivant le Canadian Electrical Code CSA C22 1 norme de s curit relative aux installations lectriques au Canada Terminal blocks shall be installed on an EN 50022 NS35 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets Type
55. receive buffer TXBUF FLUSH 0 1 The TXBUF FLUSH bit is used for clearing the transmit buffer If STATRES 1 A request with TXBUF FLUSH 1 will be ignored If STATRES TXBUF FLUSH 1 will clear the receive buffer D301087 0308 BL20 CANopen 4 175 BL20 Communication in CANopen Objects for SSI Modules General Overview for SSI Objects Table 110 Object Name Page General overview for SSI objects 5801 Encoder config 4 177 5802 hex Encoder status 4 180 58031 Encoder flags 4 181 5804 Encoder diag 4 183 5805 SSI Native status 4 185 5806 x SSI Optional encoder status 4 189 5808 Encoder control 4 190 5840 SSI Diag mapping 4 191 6800 Operating parameters 4 193 6810 Preset values for multi sensor 4 193 devices 6820 Position value 4 194 6B00 CAN State register 4 195 6B01 ex CAM Enable register 4 196 6BO2 CAM Polarity register 4 197 6 10 Low limit 4 198 6B20 CAM High limit 4 198 6 02 Polarity register 4 197 6BO2 CAM Polarity register 4 197 6BO2 CAM Polarity register 4 197 4 176 D301087 0308 BL20 CANopen Objects Object 5801 Encoder Config The Encoder config object has an effect on parameter bytes 0 to 3 of the BL20 1SSI module and is used for setting the configuration Write accesses initiate a parameter update on the
56. und Funktionserde herstellbar Bei nicht vorgebohrten Tragschienen achten Sie bitte auf einen Lochabstand von max 150 mm Wenn zur Verdrahtung feindr htige Adern verarbeitet werden dann ist es erforderlich die abisolierten Leitungsenden mit Aderendh lsen zu verpressen Die Ger te sind wartungsfrei Eine trockene Reinigung ist zul ssig Reparaturen d rfen nur vom Hersteller durchgef hrt werden D301087 0308 BL20 CANopen Zertifikate f r Europa Declaration of Conformity Konformit tserkl rung TR Konformit tserkl rung Nr 3245 M sls Declaration of Conformity Diese Konformit tserkl rung entspricht der Europ ischen Norm EN 45014 Allgemeine Kriterien f r Konformit tserkl rungen von Anbietern Die Grundlage der Kriterien sind internationale Dokumente insbesondere ISO IEC Leitfaden 22 1982 Information on manufacturer s declaration of conformity with standards or other technical specifications This Declaration of Conformity complies with the European Standard EN 45014 General criteria for a supplier s declaration of conformity These criteria are based on the relevant international documentation particularly the ISO IEC Guide 22 1982 Information on the manufacturer s declaration of conformity with standards or other technical specifications Wirrwe HANS TURCK GMBH amp COKG WITZLEBENSTR 7 D 45472 M LHEIM A D RUHR erkl ren in alleiniger Verantwortung dass die Produkte declare under o
57. 0 5 to 1 5 mm 0 0008 to DIN 46228 1 ferrules crimped 0 0023 inch 20 to 16 AWG gas tight Plug gauge according to 1 IEC 947 1 1988 connection technology Tension clamp or screw connection 3 10 D301087 0308 BL20 CANopen Technical Data Structure Diagram of a Gateway The BL20 CANopen gateway has the following structure Figure 3 Gateway structure Fieldbus Service Controller External RAM Module bus External interface Internal internal RAM External ROM flash WDG CAN Ctr Technical Data BL20 GW CANOPEN Table 4 Designation Value Technical data BL20 GW Supply voltage as per EN 61131 2 CANOPEN Nominal value supply from 5 V DC 4 8 to 5 2 V DC bus refreshing module Restriction on The supply energy required to EN 61131 2 bridge a supply interruption up to 10 ms is not stored Please secure the for BL20 BR 24VDC D modules by using an appropriate power supply unit Current drawn from the module bus Without service without 280 mA fieldbus Without service with 410 mA fieldbus 1 Mbps With service without 300 mA fieldbus Maximum 350 mA Dimensions Width length height mm 50 6 x 114 8 x 74 4 mm D301087 0308 BL20 CANopen 3 11 BL20 Gateway for CANopen Designation Value Service Connections PS 2 socket Fieldbus terminations 1x 9 pole SUB D socket 1x 9 pole SUB D plug 2 x tension spring c
58. 0001 type B 100 1820 C 0010 type E 270 1000 C 0011 type J 210 1200 C 0100 type N 270 1300 C 0101 type R 50 1760 C 0110 type S 50 1540 C 0111 type T 270 400 C 1000 50 mV 1001 100 mV 1010 500 mV 1011 1000 mV 7 reserved 4 142 D301087 0308 BL20 CANopen Objects BL20 4AI U I Table 85 Byte Bit Parameter Value Meaning Parameters BL20 4Al U l n 0 Range 0 0 10 V 0 20 MAA A default setting 1 10 10 V 4 20 mA 1 Value representation 0 Integer 15 bit sign A 1 reserved 2 Diagnostic 0 release 1 block 3 Channel 0 activate 1 2 deactivate 4 Operation mode 0 voltage 1 current 5to reserved 7 D301087 0308 BL20 CANopen 4 143 BL20 Communication in CANopen Object 6401 Read Analog Input 16 Bit The object represents the measured values for the analog input modules with 16 bits for each channel Attention A T he process data traffic for the analog input values is not started un til the object 6423 TRUE hex is switched from the default setting FALSE to Attention N T he possibility of 12 bit value representation left justified is not useful for CANopen since all reference values upper limit lower lim it must be defined with 16 bits Table 86 Feature Description Value
59. 0081 0710 01 12383800 22 112005 BL20 GW DPV1 Placement GZ 2725 0081 0720 01 12383900 18 11 2005 BL20 GW DPV1 Placement ZS 2725 0081 0710 01 12383800 22 11 2005 BL20 GW DPV1 Schematic ZS 2725 0081 0720 01 12383900 18 11 2005 BL20 GW DPV1 Schematic EZ 2725 0082 0721 01 07289500 A BL20 GW EN Layout EZ 2725 0082 0711 01 07289600 A BL20 GW EN Layout THIS CERTIFICATE MAY ONLY BE REPRODUCED IN ITS ENTIRETY WITHOUT CHANGE Page 5 of 6 D301087 0308 BL20 CANopen Certificates for Europe lt SCHEDULE to Type Examination Certificate No FMO7ATEX0040X Drawing No Revision Title Description GZ 2725 0082 0720 01 12386300 20 12 2005 BL20 GW EN Placement GZ 2725 0082 0710 01 12386400 23 12 2005 BL20 GW EN Placement ZS 2725 0082 0720 01 12386300 20 12 2005 BL20 GW EN Schematic ZS 2725 0082 0710 01 12386400 23 12 2005 BL20 GW EN Schematic EZ 2725 0077 0711 01 07279300 A BL20 2RFID A Layout GZ 2725 0077 0710 01 12374300 02 11 2005 BL20 2RFID Placement ZS 2725 0077 0710 01 12374300 01 06 2006 BL20 2RFID Schematic EZ 2725 0019 0711 03 07296700 22 06 2006 BL20 2DO R NC Layout EZ 2725 0020 071 1 04 07296800 06 06 2006 BL20 2DO R NO Layout EZ 2725 0021 0711 04 07299200 07 06 2006 BL20 2DO R CO Layout GZ 2725 0019 0710 01 12394200 B BL20 2DO R NC Placement GZ 2725 0020 0710 01 12394300 BL20 2D
60. 15 and is capable of accepting one or more of the Class Zone 2 wiring methods specified in the Canadian Electrical Code CSA C22 1 Where installed in outdoor or potentially wet locations the enclosure shall at a minimum meet the requirements of IP54 Where installed in dry indoor locations the enclosure shall at a minimum meet the requirements of IP4X Dans la classe installations de la zone 2 les syst mes de bornes de bus E S modulaires BL20 sont monter dans une armoire s curis e remplissant les exigences des normes ISA 60079 0 et ISA 60079 15 et doit tre capable d accepter une ou plusieurs m thodes de c blage de la classe zone 2 comme sp cifi dans le CSA C22 1 du Canadian Electrical Code norme de s curit relative aux installations lectriques au Canada En cas d installation l ext rieur ou dans des localisations potentiellement humides l armoire doit poss der au moins l indice de protection IP54 En cas d installation l int rieur l armoire doit au moins r pondre aux exigences de l indice de protection IP4X The UL connector supplies all field devices up to 30V d c and 10A d c To supply more modules additional Power feeding modules BL20 PF 24VDC D resp Bus refreshing modules BL20 BR 24VDC D may be necessary Le connecteur UL alimente tous les appareils de terrain jusqu 30 VDC et 10 A DC Pour alimenter plus de modules l utilisation de modules d alimentation additionnels BL20 PF 24VDC D et resp
61. 227 BL20 Communication in CANopen Object 5822 Measuring High Limit Object 5822 is used to set the upper measuring limit for the BL20 counter module Permissible value range 1 to 16777215 Write accesses initiate a parameter update on the BL20 internal module bus The parameter is stored retentively in the gateway and is restored with every node reset Note he object 5822 is only valid if the counter module is operating in measurement mode Table 157 Feature Description Object 5822 Measuring High Limit Object code ARRAY PDO mapping No Sub index 0044 Data type Unsigned8 Access ro Default value No Sub index O14 nex 47 hex Data type Unsigned32 Access rw Default value No 4 228 D301087 0308 BL20 CANopen Objects Object 5823 Measuring Units Per Revolution Object 5823 is used to set the sensor pulses per revolution for the BL20 counter module Write accesses initiate a parameter update on the BL20 internal module bus The parameter is stored retentively in the gateway and is restored with every node reset Permissible value range 1 to 65535 Note The object 5823 is only valid if the counter module is operating in measurement mode Table 158 Feature Description Object 5823 Measuring Units Per Revolution Object code ARRAY PDO mapping No
62. 5A d c for gateway and modules To supply more modules additional Bus refreshing modules BL20 BR 24VDC D may be necessary The rated current consumption of the module bus shows a table in BL20 catalogue Primary power and secondary wiring external to the enclosure shall be in accordance with Class Division 2 or Class Zone 2 wiring practices per the National Electrical Code ANSI NFPA 70 Article 500 or Article 505 as appropriate Terminal blocks shall be installed on an EN 50022 NS35 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets Type BL20 WEW 35 2 SW Ident no 6827124 tmex0050 5 2007 10 9 BL20 Installation drawing US OWG No Draft Date Scale NONE Sheet 2 of 2 D301087 0308 BL20 CANopen 8 31 BL20 Approvals for Zone 2 Division 2 Certificates for Canada Certificate Of Compliance FM Approvals he uf hr FM hil range FM Approvals 1151 Boston Providence Tumpike P O Box 9102 Norwood MA 02062 USA T 781 762 4300 F 781 762 9375 www fmglobal com CERTIFICATE OF COMPLIANCE HAZARDOUS LOCATION ELECTRICAL EQUIPMENT PER CANADIAN REQUIREMENTS This certificate is issued for the following equipment BL20 Modular I O Bus Terminal System NI 1 2 ABCD T4 Ta 0 C to 55 C 1 21 Ex nA T4 Ta 0 C to 55 C Description DCP BL20 2DI 24VDC N 2 channel digital input modules npn
63. A comparison of the register contents has produced the following result REG 851 POS lt CMP1 1 A comparison of the register contents has produced the following result REG SSI POS REG D301087 0308 BL20 CANopen 4 187 BL20 Communication in CANopen Table 120 Designation Value Description Meaning of the data bits FLAG_CMP1 0 Default status i e the register contents have not yet matched REG_SSI_POS since the last reset 1 The contents of the registers match REG_SSI_POS REG This marker must be reset when CMP1 1 in the process output data STS_CMP1 0 A comparison of the register contents has produced the following result REG_SSI_POS 1 1 A comparison of the register contents has produced the following result SSI POS 4 188 0301087 0308 BL20 Objects Object 5806 SSI Optional Encoder Status The SSI Optional encoder status object reads byte 2 ofthe process input of the BL20 1SSI module Bits 6 and 7 are masked out Table 121 Feature Description Objects 5806 551 Optional encoder status Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes Bit 7 Bit 6 Bit5 Bit4 Bit3 Bit2 Biti BitO Byte 2 masked masked X X SSI SSI SSI SSI 0 0 5153
64. A total of 36 groups each 8 bit can be displayed 288 digital input channels A PDO mapping of this object is always made automatically as a default for the first 8 Sub indices This corresponds to 64 digital input channels If more than 64 input channels are present then the PDO mapping must be carried out by the user Table 62 Feature Description Value Object 6000 Read input 8 bit Object code ARRAY PDO mapping Yes Sub index 00 Data Type Unsigned8 Access ro Default value BL20 No Sub index 24 x Data Type Unsigned8 Access ro Default value BL20 No D301087 0308 BL20 CANopen 4 117 BL20 Communication in CANopen Object 6020 Read Input Bit 1 to 128 Object 6021 Read Input Bit 129 to 256 Object 6022 Read Input Bit 257 to 288 The objects are a bit wise representation of the values of the digital input modules Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital input channels If more than 128 input channels are present then object 6021 is used If more than 256 input channels are present then object 6022 is used Since the number of digital input channels in a station is limited to 288 itis not possible to make use of the complete range of the array in object 6022 hex Table 63 Feature Description Value Objects 602
65. BL20 Communication in CANopen Table 87 Feature Description Value Objects 6421 Analog input interrupt trigger selec tion Object code ARRAY PDO mapping No Sub index 00 Data Unsigned8 Access ro Default value BL20 No Sub index 01 4 to BE ex Data Type Unsigned8 Access rw Default value BL20 Firmware syersion 4 02 2 02 0 gt version 4 02 2 02 7 4 146 D301087 0308 BL20 CANopen Objects Table 88 Bit Triggering event Triggering events A The upper 0 1 upper limit A exceeded the value at the input has lower limit va exceeded the upper limit lues and delta values are defi 1 1 Input below lower limit A the value at the input is ned with the below the lower limit objects 6424 6425 2 1 Input changed by more than delta A the value at 6426 hex 6427 hex the input has changed by a defined Delta value and 6428 3 1 Input reduced by more than negative delta A the value at the input has reduced by a defined Delta value 4 1 Input increased by more than positive delta A the value at the input has increased by a defined Delta value 5 7 reserved Note T by means of an he transmitting of the analog input data TPDOs interrupt signal is triggered repeatedly with every change of the an alog input value if the value stays above the upper limit or below the lo
66. BL20 2DI 24VDC N Placement ZS 2725 0034 07 10 01 12394800 BL20 2DI 24VDC N Schematic EZ 2725 0038 0711 04 07297600 30 08 2006 XN 2AI PT NI 2 3 Layout GZ 2725 0038 0710 01 12395100 XN 2AI PT NI 2 3 Placement ZS 2725 0038 07 10 01 12395100 D XN 2AI PT NI 2 3 Schematic EZ 2725 0039 0711 04 07297700 04 09 2006 XN 2AI THERMO PI Layout GZ 2725 0039 0710 01 12395200 F XN 2AI THERMO PI Placement ZS 2725 0039 0710 01 12395200 D XN 2AI THERMO PI Schematic EZ 2725 0069 0711 03 07299800 06 07 2006 BL20 4AI U I Layout GZ 2725 0069 0710 01 12397300 B BL20 4AI U I Placement ZS 2725 0069 0710 01 12397300 BL20 4Al U l Schematic EZ 2725 0048 0711 04 07298200 07 06 2006 BL20 2AI I 0 4 20mA Layout GZ 2725 0048 0710 01 12395700 D BL20 2Al I 0 4 20mA Placement ZS 2725 0048 0710 01 12395700 H BL20 2AI I 0 4 20mA Schematic EZ 2725 0047 0711 04 07298100 06 06 2006 BL20 4DO 24VDC 0 5A P Layout GZ 2725 0047 0710 01 12395600 BL20 4DO 24VDC 0 5A P Placement ZS 2725 0047 0710 01 12395600 D BL20 4DO 24VDC 0 5A P Schematic EZ 2725 0017 0711 03 07296500 07 06 2006 BL20 2DO 24VDC 0 5A P Layout GZ 2725 0017 0710 01 12394000 A BL20 2DO 24VDC 0 5A P Placement ZS 2725 0017 0710 01 12394000 B BL20 2DO 24VDC 0 5A P Schematic EZ 2725 0036 0711 03 07297400 23 06 2006 BL20 2DO 24VDC 05A N Layout GZ 2725 0036 0710 01 12394900 D BL20 2DO 24VDC 05A N Placement ZS 2725 0036 0710 01 12394900 E BL20 2DO 24VDC 05A N Sche
67. BL20 WEW 35 2 SW Ident no 6827124 Les borniers doivent tre install s sur un rail EN 50022 NS35 dont chaque groupe est compl t par une plaquette d obturation Type BL20 ABPL No d identit 687123 et bloqu par deux querres Type BL20 WEW 35 2 SW No d identit 6827124 tmexoo NSch 2007 10 09 BL20 Installation drawing Canada Rev DWGNo Dra Scale NONE Sheet 2 of 2 D301087 0308 BL20 CANopen 8 37 BL20 Approvals for Zone 2 Division 2 8 38 D301087 0308 BL20 CANopen Glossary Acknowledge Acknowledgment of a signal received Active metal component Conductor or conducting component that is electrically live during operation Address Identifier of e g amemory position a system or a module within a network Addressing Allocation or setting of an address g for a module a network Analog Infinitely variable value e g voltage The value of an analog signal can take on any value within certain limits Attribute Attributes represent the data that a device makes available via the DeviceNet fieldbus e g status of an object serial number of the device process data Automation device A device connected to a technical process with inputs and outputs for control Programmable logic controllers PLC are a special group of automation devices Baud Baud is a measure for the transmission speed of data 1 Baud corresponds to the transmissi
68. Bit3 Bit2 Bit1 Bit O Byte 0 X measurement mode Byte 1 function DI digital x input DI Byte 2 x Byte 3 x X reserved Table 141 Designation Value Designation of the values Meaning of the Value range data bits measurement mode A default settings measurement 100000 A frequency measurement mode 100001 revolutions measurement 100010 period duration measurement 100011 reserved To 111111 digital input DI 0A normal 1 inverted function DI 00A input 01 HW gate 10 reserved to 11 4 204 D301087 0308 BL20 CANopen Objects Object 5801 Encoder Config Object 5801 controls the configuration parameters of the BL20 counter module Output parameters Sensor and input filter Sensor parameters Behaviour on failure of the higher level PLC Write accesses initiate a parameter update via the internal BL20 module bus The parameter is stored retentively in the BL20 gateway and is restored with every node reset Table 142 Feature Description Objects 5801 Encoder config Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index 01 nex 47 hex Data type Unsigned32 Access rw Default value No D301087 0308 BL20 CANopen 4 205 BL20 Communication in CANopen Structure of the data bytes for count mode Bit 7 Bit5 Bit4 Bit3 Bit2 Biti Bito
69. CANopen Fieldbus connection via Open Style connector An Open Style Connector 5 pole is available for connecting the BL20 GWBR CANOPEN to the CANopen fieldbus The passive bus termination must be applied externally if the BL20 gateway is the last station in the bus structure Table 8 1 2 red Pinassignment for the socket 3 4 white Non inverted data signal dominant high 5 6 grey Shield Shielding braid not insulated 7 8 blue CAN_L Inverted data signal dominant low 9 10 black GND Ground reference optional Figure 6 Open Style con nector female top Figure 7 zs Open Style con nector female e bottom m a a 3 18 D301087 0308 BL20 CANopen Connections of the data cables to BL20 GWBR CANopen Figure 8 L Open Style con nector male CANH SHIELD CANL GND Figure 9 Shielding connec tion for an BL20 GWBR CAN OPEN N Attention No compensating current should flow through the shielding To achieve this a reliable system of equipotential bonding must be installed D301087 0308 BL20 CANopen 3 19 BL20 Gateway for CANopen Service Interface Connection The following cable can be used to connect the service interface female PS 2 connector to a PC for the purpose of using l O ASSISTANT project planning and diagnostic software special l O ASSISTANT connection cable
70. CANopen 3 5 BL20 Gateway for CANopen Technical Data General Technical Data Relating to a Station Note 1 he auxiliary power supply must comply with the stipulations of SELV Safety Extra Low Voltage according to IEC 364 4 41 Table 1 Supply voltage auxiliary voltage General technical data station Nominal value provision for other modules 24V DC Permissible range according to EN 61 131 2 18 to 30 V DC Residual ripple according to EN 61 131 2 Potential isolation Yes via optocoupler Ambient conditions Ambient temperature T Ambient to 55 C 32 to 131 F T Store 25 to 85 C 13 to 185 F Relative humidity according to IEC 61 131 2 EN 50 178 Climatic tests according to IEC 61131 2 Noxious gas SO 10 ppm rel humidity 75 non condensing H S 1 0 ppm rel humidity lt 75 non condensing D301087 0308 BL20 CANopen Technical Data Resistance to vibration according to IEC 61131 2 10 to 57 Hz Constant Yes amplitude 0 075 mm 0 003 inch 1g 57 to 150 Hz Constant Yes acceleration 1 9 Mode of vibration Frequency sweeps with a change in speed of 1 Octave min Period of oscillation 20 frequency sweeps per axis of coordinate Shock resistant according to IEC 68 2 27 18 shocks sinusoidal half wave 15 g peak value 11 ms in each case in di
71. Co KG 45472 M lheim an der Ruhr Germany Witzlebenstra e 7 Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com Industr A
72. DO1 and DO2 DO2 for channel x n 2 ms Configuration Substitute value DO1 5801 0 1A 1 1 Diagnostics DO1 0 OnA 1 Off Function DO1 000 Output A 001 On when cnt value 2 ref value 010 On when cnt value ref value 011 Pulse if cnt value ref value Function DO2 000 Output A 001 On when cnt value 2 ref value 010 On when cnt value ref value 011 Pulse if cnt value ref value A default settings 4 250 D301087 0308 BL20 CANopen Objects Module Parameter Object Value Meaning Signal evaluation A B 5801 00 Pulse and direction A 01 Single evaluation rotary sensor 10 Double evaluation rotary sensor 11 Fourfold evaluation rotary sensor Sensor Input filter A 0 2 5 us 200 kHz A 1 25 us 20 kHz Sensor Input filter B 58018 0 2 5 us 200 kHz 1 25 us 20 kHz Sensor Input filter Dl 0 2 5 us 200 kHz A 1 25 us 20 kHz Sensor A 00 Normal A 01 Inverted Direction input B 0 Normal A 1 Inverted Group diagnostics 0 Release A 1 Block Behaviour CPU Master 00 turn off DO1 A STOP 01 Proceed with operating mode 10 Switch substitute value DO1 11 DO1 hold last value A default settings D301087 0308 BL20 CANopen 4 251 BL20 Communication in CANopen Module Parameter Object Value Meaning Measurement mode Operating mode Operating mode 5800
73. Dictionary Manufacturer Specific Objects Object 2000 Serial Number Object 2000 corresponds to the sub index 04 of object 1018 and contains the serial number of the BL20 gateway that is used Note We recommend using object 1018 number sub index 04 _ for the serial hex hex D301087 0308 BL20 CANopen 4 103 BL20 Communication in CANopen Object 2010 Reset Node Modifiers Object 2010 is used for a temporary volatile modification to the module behavior Table 49 Object description Object 2010 INDEX 2010 Reset Node Modifiers Object code ARRAY Data Type Unsigned32 Value description Sub index Description Number of entries Access ro PDO mapping No Value range BL20 Unsigned8 Defaultvalue BL20 No Sub index 01 Description Reset Node Identifier Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No 4 104 D301087 0308 BL20 CANopen Object Dictionary Table 49 Object description Object 2010 Sub index 02 Description Save reference module list Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No Sub index Description Save current module list Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No The Reset Node Identifier Sub inde
74. End plate D301087 0308 BL20 CANopen 1 11 BL20 Philosophy End Bracket second end bracket to the left of the gateway is necessary as well as the one mounted into the end plate to secure the station Figure 10 End bracket Note he end plate an the end bracket are delivered together with each gateway 1 12 D301087 0308 BL20 CANopen BL20 Components Jumpers Jumpers QVRs are used to bridge connection level of a 4 wire base module They can be used to connect potentials in relay modules bridging the relay roots thus considerably reducing the amount of wiring Figure 11 Jumpers D301087 0308 BL20 CANopen 1 13 BL20 Philosophy Marking Material Labels for labeling BL20 electronics modules Markers for colored identification of connection levels of BL20 base modules Dekafix connector markers for numbering the mounting slots on BL20 base modules Figure 12 IF 1 14 0301087 0308 20 CANopen BL20 Components Industri A Shield Connection 2 Pole for Analog Modules The 2 pole shield connection can be used to connect signal cable shielding to the base modules of analog input and output modules A special tension clamp operating tool BL20 ZBW5 2 is required to mount the shield connection onto the base module Figure 13 Shield connection D301087 0308 BL20 CANopen 1 15 BL20 Philosophy 1 16 D3010
75. Error value output 16 bit page 4 134 6320 Write output 32 bit page 4 126 6326 Error mode output 32 bit page 4 135 6327 Error value output 32 bit page 4 136 6401 X Read Analog Input 16 bit page 4 144 6411 Write analog Output 16 bit page 4 157 6421 Analog input interrupt Trigger Selection 4 145 6422 Analog input interrupt source page 4 148 6423 Analog input global interrupt enable page 4 149 6424 Analog input interrupt upper limit Integer page 4 150 6425 Analog input interrupt lower limit Integer page 4 151 6426 Analog input interrupt delta Unsigned page 4 152 6427 Analog input interrupt negative delta page 4 153 Unsigned 6428 Analog input interrupt Positive Delta page 4 154 Unsigned 6443 Analog output error mode page 4 157 6444 Analog output error value Integer page 4 160 67 Device type page 4 113 6800 Operating parameters page 4 193 4 38 D301087 0308 BL20 CANopen Object Dictionary Table 9 Index Name Page Overview of all objects 6810 Preset value for multi sensor devices page 4 193 6820 Position value for multi sensor devices 4 194 6B00 CAM State register page 4 195 6B01 Enable register page 4 196 6 02 Polarity register page 4 197 6B10 Low limit page 4 198 6820 High limit 4 198 0301087 0308 BL20
76. Number of invalid bits on the MSB MSB side of the position value supplied by Number of the SSI encoder The meaningful invalid bits word width of the position value MSB transferred to the module bus master is as follows SSI FRAME LEN INVALID BITS MSB INVALID BITS LSB The invalid bits on the MSB side are zeroed by masking the position value INVALID BITS MSB INVALID BITS LSB must always be less than SSI FRAME LEN Default 0 0 D301087 0308 BL20 CANopen Objects Table 112 Designation Value Meaning of the data bits for SSI modules Description SSI BIT RATE 0 1000000 bps Bit transmis sion rate 1A 500000 bps 2 250000 bps 3 125000 bps 4 100000 bps 5 83000 bps 6 71000 bps 7 62500 bps 8t0 15 reserved SSI FRAME LE 1 to 32 Number of bits of the SSI data frame N SSI FRAME LEN must always be Number of data greater than INVALID BITS frame bits Default 25 19 hex SSI CODE G D Data format SSI encoder sends data in binary code SSI encoder sends data in Gray code D301087 0308 BL20 CANopen 4 179 BL20 Communication in CANopen Object 5802 Encoder Status On the BL20 1SSI module bits 6 and 7 of the Encoder status object are emulated for the counter The bits describe the up down direc tion of the current values Table 113 Feature Description Objects 5802
77. STS2 5151 5150 Table 122 Designation Value Description Meaning of the data bits SSI_STS3 0 These four bits transfer the status bits of the SSI encoder with the status messages of the SSI module With some SSI encoders the status bits are trans 5152 0 ferred together with the position value SSI_STS1 0 SSI_STSO 0 D301087 0308 BL20 CANopen 4 189 BL20 Communication in CANopen Object 5808 Encoder Control The object Encoder control writes and reads byte 0 of the control interface of the SSI module and serves for influencing the module during operation At the moment only bit 7 STOP is used Table 123 Feature Description Objects 5808 Encoder control Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping Yes 4 190 D301087 0308 BL20 CANopen Objects Object 5840 SSI Diag Mapping The SSI Diag mapping object writes and reads register 51 REG_SSI_MASK of the BL20 1SSI module The REG SSI contains the SSI encoder diagnostics trans ferred Some SSI encoders not only transfer the position value in the data frame that they transfer to the module but also supply additional status messages It is advisable to include these status messages in the application in order to analyze the measured value Writing the REG SSI MASK register allows up to four individual bits to be taken
78. Table 160 Feature Description Object 6820 Name Position value for multi sensor devices Object code ARRAY PDO mapping Yes Sub index 00 Data type Unsigned8 Access ro Default value No Sub index Ot nex 47 hex Data type Integer32 Access ro Default value No D301087 0308 BL20 CANopen 4 231 BL20 Communication in CANopen Object 6B00 CAM State Register Object 6B00 ex corresponds to object 6300 in accordance with CiA DS 406 indicates whether the current counter status is within a specified range This range is limited by CAM1 Low Limit object 6B10 and High Limit object 6B20 On the BL20 counter module the behaviour is only defined in accor dance with CiA DS 406 by means of the appropriate configuration and operating mode selection Operating mode is set to Counting The operating mode for DO1 is set to Switch on when counter status lt reference value1 The operating mode for DO2 is set to Switch on when counter status gt reference value2 The release bits for DO1 and DO2 are set The following should be observed 8 The object 6B10 Low Limit corresponds to reference value2 of the BL20 counter module The object 6B20 High Limit corresponds to reference value1 of the BL20 counter module These two reference values 1 2 are assigned to outputs DO1 and DO2 8 The object 6BO0 CAM 1 State Register supplies the result of the AND operation
79. Value range of parameter written too high 06090032 Value range of parameter written too low 06090036 Maximum value is less than minimum value 08000000 x Other error 08000020 Data cannot be stored to the application D301087 0308 BL20 CANopen 4 19 BL20 Communication in CANopen Table 3 Abort code Description Abort codes for errors in SDO transfer 08000021 ex Data cannot be stored to the app because of local control 08000022 ex Data cannot be stored to the app because of device state Example Write new COB ID for RxPDO 1 ID 258 Client Byte 0 Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte 7 22h 1400h 1h 258h COB ID 1537 Node ID 1 w Server ByteO Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 COB ID 1409 Node ID 1 yd Client 4 20 D301087 0308 BL20 CANopen Parameterization through Service Data Objects SDO Commanded Parameter Storing Restoring Saving of communication and application parameters is executed byacommand This means that the parameters transferred through an SDO are held in volatile memory until they are saved by using the command Store parameters Object 1010 Sub indices 0 to 3 All the communication and application parameters that are supported by the gateway will be saved The command Restore Default parameters Object 1011 SUb indices 0 to 3 is also supported This command resets all the commun
80. assignment of electronics modules to base modules Gateways The gateway connects the fieldbus to the I O modules It is respon sible for handling the entire process data and generates diagnostic information for the higher level master and the software tool l Oassistant Gateways with integrated power supply The BL20 gateway BL20 GWBR CANOPEN offers an integrated power supply unit for feeding the gateway and the connected I O modules It is not necessary to supply each individual module with a separate voltage Figure 2 Gateway BL20 GWBR CANOPEN D301087 0308 BL20 CANopen 1 5 BL20 Philosophy Gateways without power supply Note he gateways without integrated power supply unit need an additi onal power supply module bus refreshing module which feeds the gateway an the connected I O modules Power Distribution Modules The power supply for gateways and I O modules is fed to the power distribution modules therefore it is not necessary to supply each individual module with a separate voltage Figure 3 Power distribution module 1 6 D301087 0308 BL20 CANopen BL20 Components Electronics Modules Electronics modules contain the functions of the BL20 modules power distribution modules digital and analog input output modules and technology modules Electronics modules are plugged onto the base modules and are not directly connected to the wiring The assignment table in the Secti
81. basic rules are adhered to Correct and large surface grounding of inactive metal compo nents Correct shielding of cables and devices Proper cable routing correct wiring Creation of a standard reference potential and grounding of all electrically operated devices Special EMC measures for special applications Grounding of Inactive Metal Components All inactive metal components for example switchgear cabinets switchgear cabinet doors supporting bars mounting plates tophat rails etc must be connected to one another over a large surface area and with a low impedance grounding This guarantees a stan dardized reference potential area for all control elements and reduces the influence of coupled disturbances In the areas of screw connections the painted anodized or isolated metal components must be freed of the isolating layer Protect the points of contact against rust Connect all free moving groundable components cabinet doors separate mounting plates etc by using short bonding straps to large surface areas D301087 0308 BL20 CANopen 7 7 Guidelines for Electrical Installation Avoid the use aluminum components as its quick oxidizing properties make it unsuitable for grounding Warning A T he grounding must never including cases of error take a dan gerous touch potential For this reason always protect the ground potential with a protective cable PE Connect
82. block design D301087 0308 BL20 CANopen Flexibility All BL20 stations can be planned to accommodate the exact number of channels to suit your needs because the modules are available in block and slice design 1 20 station can contain modules any combination which means it is possible to adapt the system to practically all applica tions in automated industry Compactness The slim design of the BL20 modules gateway 50 4 mm 1 98 inch slice 12 6 mm 0 49 inch and block 100 8 mm 3 97 inch and their low overall height favor the installation of this system in confined spaces BL20 Philosophy 1 4 Easy to handle All BL20 modules with the exception of the gateway consist of a base module and an electronics module The gateway and the base modules are snapped onto a mounting rail The electronics modules are plugged onto the appropriate base modules The base modules are designed as terminal blocks The wiring is secured by tension clamp or screw connection The electronics modules can be plugged or pulled when the station is being commissioned or for maintenance purposes without having to disconnect the field wiring from the base modules D301087 0308 BL20 CANopen BL20 Components BL20 Components For a detailed explanation of the individual BL20 components please refer to chapter 2 and chapter 4 The Appendix to this manual contains amongst others a list of all BL20 components and the
83. commu nication then a special bus connector with a built in or add on ter mination resistor is absolutely necessary Figure 14 Rotary hex encod ing switch for the CANopenadaress setting of the BL20 GW CANO PEN 3 24 D301087 0308 BL20 CANopen Node ID Setting Attention A maximum of 127 Node IDs 1 to 127 can be assigned in a CANopen structure Each Node ID can only be assigned once in the complete bus structure ei The Node ID 000 must not be assigned It is reserved for telegrams that are directed to all the other bus nodes The rotary encoding switches are marked with H for High more significant digit and L f r Low less significant digit BL20 GW CANOPEN The L switch is used to set L x 16 L 0 to The switch is used to set L x 16 to F BL20 GWBR CANOPEN The L switch is used to set L x 10 L 0 to 9 The switch is used to set L x 10 H 0 to 9 Note he NODE ID switch on the BL20 GWBR CANOPEN can be used to assign Node IDs from 1 to 99 Note After setting the Node ID the protective cover over the switches must be closed again See Chapter 6 Maximum System Extension Page 6 2 ce Note B L20 does not support the assignment of Node IDs across the bus network D301087 0308 BL20 CANopen 3 25 BL20 Gateway for CANopen Acceptance of the BL20 Station Configuration When making a new configuration of the BL20 station or an alter ati
84. cycle time should be longer than the corre sponding cycle time for the transmitter see object 1017 The monitoring of the Heartbeat starts when the first Heartbeat Frame is received If the Consumer heartbeat time 0 then the corre sponding entry will not be used The time is set as a multiple of 1 ms Structure of the entry for Consumer heartbeat time Unsigned32 MSB LSB Bits 31 to 24 23 to 16 15100 Value reserved default 00 Node ID Heartbeat Time Data Unsigned8 Unsigned16 Table 26 Object description Object 1016 4 62 INDEX 1016 Consumer heartbeat time Object code ARRAY Data Type Unsigned32 Value description Sub index Description Number of entries Category Mandatory Access ro D301087 0308 BL20 CANopen Object Dictionary Table 26 Object description Object 1016 PDO mapping No Value range BL20 1 Defaultvalue BL20 1 Sub index 01 hex Description Consumer heartbeat time Category Mandatory Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 0 D301087 0308 BL20 CANopen 4 63 BL20 Communication in CANopen Object 1017 Producer Heartbeat Time The object 1017 defines the cycle time for the Heartbeat of the generating device If the cycle time 0 then Heartbeat will not be used The content of the object is interpret
85. devices The handshake procedure software hardware can be selected The number of data bits embedded in the telegram the type of parity the number of stop bits the bit transmission rate and the XON XOFF character used must be configured in the module with the appropriate para meters in order to adapt it to the data format of the data terminal device 4 bytes are used for the module parameters Table 104 Feature Description Objects 5600 RS232 RS4xx Parameters Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No Bit 7 Bit 6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 Disable Disable X Select Bit Rate Diag Reduced RS485 nostics Control Byte 1 x x Flow Control Data Parity Stop Byte 2 XONChar Byte 3 XOFFChar 4 164 D301087 0308 BL20 CANopen Objects E Parameter BL20 1RS232 Table 105 Parameters Parameter Value Meaning BL20 1RSxxx DisableDiagnostics A Default settings 0 Diagnostics activated 1 Diagnostics deactivated This controls the separate fieldbus specific diagnostics signal not the diagnostics signal embedded in the process input data object 5601hex Disable ReducedCtrl 0 The diagnostics messages are not part of the process input data object 5601hex Bytes1 to 7 can therefore be used for the user data 1 The diagnostics messages are contained in byte 1 of the obj
86. execution of this command is confirmed by a boot up message This is in the form of a guard frame with the data contents 00 12 13 14 Reset Communication reset communication for the CAN node Master Byte 0 Byte 1 Node cs 130 ID COB ID 0 Slave The execution of this command is confirmed by a boot up message This is in the form of a guard frame with the data contents 00 D301087 0308 BL20 CANopen 4 9 BL20 Communication in CANopen Identifier for the Standard Objects Node ID The identifier for each device in aCANopen network is the Node ID The CANopen slaves can be assigned the Node IDs 1 to 127 Node ID Setting page 3 24 COB ID Communication Object Identifier The identifier for each communication object CANopen network is the COB ID The COB IDs for the standard objects digital input digital output analog input analog output are assigned automatically The ranges for the COB IDs are defined by the Predefined Master Slave Connection Set Each range for the COB IDs has 127 numerical values The COB IDs are calculated according to the following rule COB ID Base ID Node ID Base ID decimal 128 384 512 640 768 896 1024 1152 1280 1408 1536 1792 Node ID decimal 1 to 127 Table 2 Identifiers for basic objects 4 10 COB ID Function Application dec hex 0 000 4 Network Management Broadcast object NMT 0110127 001 to free
87. for measurement mode 100000 Frequency measurement 100001 Revolutions measurement 100010 Period duration measure ment 7 Measurement This message is always shown in mode conjunction with other diagnostics messages and indicates that measu rement mode is active This message never occurs in count mode D301087 0308 BL20 CANopen 4 217 BL20 Communication in CANopen Meaning of the data bits in measurement mode Table 150 Bit Diagnostics Meaning of the message data bits in measurement mode Meaning 0 Short open circuit Short open circuit 1 short open circuit ERR_DO Short circuit sensor supply 2 Bit 2 Parameter error This error signal refers to the param eter value Sensor pulses per revolu tion The latest configuration tools prevent an incorrect value from being entered 3 Bit 3 Parameter error The value for the integration time is incorrect The permissible value range is 1 to 1000 This enables permissible integration times frequency measurement revo lutions measurement from 10 ms to 10 000 ms in 10 ms increments and for period duration measurement averaging over 1 to 1000 periods 4 Bit 4 Parameter error The value for the upper limit is incor rect Permissible value range 1 to 16777215 5 Bit 5 Parameter error The value for the lower limit is incor rect Permissible value range 0 to 16777214 4 218 D301087 0308 BL2
88. given value Should a reference value be within this fluctuating range then the relevant output would be turned on and off in rhythm with the fluctuating signal m 1 0 Input output Impedance Total effective resistance that a component or circuit has for an alternating current at a specific frequency Inactive metal components Conductive components that cannot be touched and are electrically isolated from active metal components by insulation but can adopt voltage in the event of a fault Inductive coupling Magnetic inductive couplings occur between two cables through which an electrical current is flowing The magnetic effect caused by the electrical currents induces an interference voltage Typical sources of interference are for example transformers motors parallel routed network and HF signal cables Instance An Instance is defined as being an Object that is actually set up in a device E Load value Predefined value for the counter module with which the count process begins Lightning protection All measures taken to protect a system from damage due to overvoltages caused by lightning strike D301087 0308 BL20 CANopen 9 5 Glossary Low impedance connection Connection with a low AC impedance LSB Least Significant Bit Mass All interconnected inactive components that do not take on a dangerous touch potential in the case of a fault Module bus The module bus is the internal bus in a BL20 sta
89. group diagnostics OA release 1 block Behaviour on failure of the higher level PLC behavior CPU 00 turn off DO1 master STOP 01 proceed with operating mode 10 DO1 switch substitute value 11 DO1 hold last value D301087 0308 BL20 CANopen 4 209 BL20 Communication in CANopen Object 5802 Encoder Status Object 5802 supplies the following status messages Direction forwards Direction backward Status DO2 Status Status DI Counting measuring running Table 144 Feature Description Objects 5802 Encoder status Object code ARRAY PDO mapping No Sub index 0044 Data type Unsigned8 Access ro Default value No Sub index O1 47 hex Data type Unsigned8 Access ro Default value No Structure of the data bytes in count mode Bit 7 Bit 6 Bit5 Bit4 Bit2 Bit1 Byte 0 STS_ STS_ X STS_ STS_ X SIS 515 Status DN UP DO2 DI GATE X reserved 4 210 D301087 0308 BL20 CANopen Objects Structure of the data bytes in measurement mode Bit 7 Bit 6 Bit5 Bit4 Bit2 Biti Byte 0 STS_ STS_ x x STS_ X STS 515 Status DN UP DO1 DI GATE X reserved Table 145 Designation Description Meaning of the status data bits STS_DN 1 Status direction down STS_UP 1 Status direction up STS_DO2 Only count mode The DO2 status bit indicates the status of digi
90. m ssen in einem passenden Geh use gem IEC EN 60079 15 eingebaut werden Dabei ist mindestens die Schutzart IP 54 nach EN 60529 einzuhalten Das Bedienen der Schalter z B an der Frontseite des Gateways sowie der Verbinden und Trennen von irgendeinem Stromkreis ist nur zul ssig wenn keine explosionsgef hrliche Atmosph re vorhanden ist BL20 Ger te m ssen innerhalb normaler Bedingungen betrieben werden Die Grenzen der Datenbl tter sind zu beachten ber den UL Anschluss des Gateways werden alle Feldger te bis zu 30V DC und 10A DC versorgt Um mehr Module zu versorgen sind zus tzliche Power Feeding Module BL20 PF 24VDC D bzw Bus Refreshing Module BL20 BR 24VDC D erforderlich Der Usys Anschluss des Gateways versorgt die interne Elektronik des Gateways und liefert die 5V Modulbus Versorgung bis 1 5A f r Gateway und die angef gten Module Um mehr Module zu versorgen sind zus tzliche Power Feeding Module BL20 PF 24VDC D erforderlich Die Nennstromaufnahmen der Module stehen in einer Tabelle im BL20 Katalog Endwinkel m ssen auf den Tragschienen EN 50022 NS35 geschraubt werden Jede Gruppe wird rechts mit einer Abschlussplatte Typ BL20 ABPL Ident Nr 6827123 versehen und ist festgesetzt zwischen zwei Endwinkel Typ BL20 WEW 35 2 SW Ident Nr 6827124 Die f r BL20 verwendete Tragschiene sollte auf einem leitenden Montageblech mit einer Dicke von mindestens 2 mm montiert werden Damit ist ein Bezugspotenzial f r Schutz
91. must be set and the Data Length code 1 D301087 0308 BL20 CANopen 4 13 BL20 Communication in CANopen The node answers the telegram sent out by the network manager within the preset time Guard time in the Operational state with the data contents 5 The gateway answers the next polling query with the contents 133 The following response from the gateway is with 5 again and so on This means that the gateway changes the state of the most significant bit after every query i e the bit is toggled If the node is in the Pre Operational state then the value of the data contents of the response telegram toggles between 127 and 255 If the node is in the Stop state the value toggles between 4 and 132 If there is no query from the network manager within the preset time then the gateway changes to the state Guard Fail If output modules are fitted in the BL20 station then their outputs will be put into defined states depending on the objects Error mode output and Error state output or will retain the last state that was received Any RxPDOs that are received will still be processed and output again If the Guarding starts up again the BL20 gateway leaves the Guard Fail state but remains in the Pre Operational state A Start Node command must be generated by the network manager in order to restart the BL20 gateway see CiA DS 301 If the setting is Guard time 0 then passive Guarding will occur This means
92. of the module in the BL20 station 4 274 D301087 0308 BL20 CANopen Objects The structure of the parameter data of the BL20 1SWIRE module is described in the following Bit6 Bit5 Bit4 Bits Bit2 Bit 1 Byte 1 reserved free free free MNA Confi Disable free guration Cfg Byte 2 free UauxeRR TYPepr TYP ino PKZwro SDerr SDinro Byte 3 reserved Byte 4 Life guarding time Byte 5 SDpiac SDpiac SDpiac SDpiac SDpiac SDouc SDpiac SDouc 58 57 56 55 54 53 52 51 Byte 6 SDpiac SDpiac SDpiac SDpacS SDouc SDpiac SDouc S16 S15 S14 S13 12 11 10 59 Byte 7 reserved Byte 8 reserved Byte 9 Type designation slave 1 16 24 D301087 0308 BL20 CANopen 4 275 BL20 Communication in CANopen The following table shows the meaning of the parameter bits Byte Design Status Comment Byte 1 Disable Automatic SWIRE configuration Cfg Disabling of the acceptance of the physically present configu ration as ACTUAL configuration on manual pushbutton actua tion OA Inactive The physically present configuration of the SWIRE bus is only accepted as the ACTUAL configuration by pressing the CFG button The comparison with the SET configura tion is then carried out 1 Active The physically present configuration is automatically accepted as the ACTUAL configuration and then compared with the SET configuration Configu PLC configu
93. of the two outputs DO1 and DO2 The object 6 00 is only valid if the counter module is operating in count mode 4 232 D301087 0308 BL20 CANopen Objects Table 161 Feature Description Objects 6 00 Name CAM State register Object code ARRAY PDO mapping Yes Sub index Data type Unsigned8 Access ro Default value No Sub index Ot nex 47 hex Data type Unsigned8 Access ro Default value No D301087 0308 BL20 CANopen 4 233 BL20 Communication in CANopen Structure of the data byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO x x x X X X X STAT X reserved Table 162 Designation Description Meaning of the data bits A Thevaluescan STAT_CAM1 0 A The counter status is in the following range be inverted Reference value2 lt counter status gt reference using object value 6B02 hex or the conditions for activating this status message have not been fulfilled 1A The counter status is outside the following range Reference value2 lt counter status gt reference value1 4 234 D301087 0308 BL20 CANopen Objects Object 6B01 CAM 1 Enable Register The object CAM Enable register releases or blocks the status message for the comparison result object 6B00 Reference value2 counter status gt reference value1 Other configuration settings are required in or
94. result REG_SSI_POS gt REG_UPPER_LIMIT ERR_SSI 0 SSI encoder signal present SSI encoder signal faulty e g due to a cable break SSI_DIAG 0 No enabled status signal is active SSI_STSx 0 At least one enabled status signal is active SSI_STSx 1 4 186 D301087 0308 BL20 CANopen Objects Table 120 Designation Value Description Meaning of the data bits STS_UP 0 The SSI encoder values are decremented LED UP or the values are constant 1 The SSI encoder values are incremented STS_DN 0 The SSI encoder values are incremented or LED DN the values are constant 1 The SSI encoder values are decremented REL_CMP2 0 A comparison of the register contents has produced the following result REG_SSI_POS lt REG_CMP2 1 A comparison of the register contents has produced the following result REG_SSI_POS 2 REG_CMP2 FLAG_CMP2 0 Default status i e the register contents have not yet matched REG_SSI_POS 2 since the last reset 1 The contents of the registers match REG_SSI_POS 2 This marker must be reset with CLR_CMP2 1 the process output data STS_CMP2 0 A comparison of the register contents has produced the following result REG_SSI_POS z REG CMP2 1 A comparison of the register contents has produced the following result SSI POS CMP2 REL CMP1 0
95. sensor supply gt sensor supply is switched off Automatic restart when debugging Off No voltage supply Check the wiring of the voltage supply D301087 0308 BL20 CANopen 3 29 BL20 Gateway for CANopen Table 11 LED Status Meaning Remedy LED indicators ERR Off No errors in communi cation between the BL20 CANopen gateway and other CANopen nodes Red Faulty or interrupted Check that the fieldbus communication ends with a termination between BL20 resistor if the BL20 CANopen gateway and CANopen gateway is other CANopen the last node in the bus Possible causes topology CAN BusOff Check the seating of Heartbeat error the CANopen bus Guarding error connector or the joints Transmit timeout in the case of direct wiring All connections must be correct and properly seated Check the CANopen cable for possible damage and for correct connections Check that the correct bit rate has been set Check that the NMT master is still func tioning properly 3 30 D301087 0308 BL20 CANopen Status Indicators Diagnostic Messages Gateway Meaning Remedy Fieldbus not operating Wait until the firmware download is finished If the download is finished hardware error replace the gateway NMT slave state of the BL20 CANopen gateway is Stopped NMT slave state of the BL20 CANopen gateway is Pre Opera tional NMT slave
96. state of the BL20 CANopen gateway is Opera tional Table 11 LED Status LED indicators Bus OFF red orange green ERR red blinking BUS alter nately 4 Hz Invalid Node ID has been set Set the correct Node ID with the rotary hexadec imalor decimal encoding switches D301087 0308 BL20 CANopen 3 31 BL20 Gateway for CANopen 3 32 D301087 0308 BL20 CANopen BL20 Communication in CANopen Setting up communication 1 eerie eiie rie nun nun ann ann nunnannann nn 6 Minimum BOO aU o 6 Identifier for the Standard Objects 10 e m 10 COB ID Communication Object Identifier 10 Set up Node Guarding Protocol eee 13 Boot up 15 Parameterization through Service Data Objects SDO 16 Read Read from Object Dictionary 17 Write Write to Object 18 Commanded Parameter 21 Transmission of Process Data Objects 22 Communication Parameter COB ID esses 22 Eu ines iSt 23 Inhibit 24 aU ENIM 24 Available PDOSs
97. supplied by the gateway or a separate Bus Refreshing module via the internal module bus depends on the respective nominal current consumption of the indi vidual modules on the module bus Attention A T he sum total of the nominal current consumption of the connected BL20 modules must not exceed 1 5 A The following examples show the calculation for the required number of Bus Refreshing modules Example 1 The BL20 station consists of 20 BL20 1Al I 0 4 20MA modules The number of additional Bus Refreshing modules required is calcu lated as follows Gateway 430 mA 20 BL20 1Al I 0 4 20MA 20x41 mA 820 mA Total 1250 mA Maximum permissible current via module bus 1500 mA D301087 0308 BL20 CANopen 6 5 Guidelines for Station Planning The calculation shows that no further Bus Refreshing module is required Example 2 The BL20 station comprises 15 BL20 1Al U 10 0 10VDC modules 10 BL20 2AO U 10 0 10VDC modules 10 BL20 2DI 24VDC P modules 5 BL20 2DO 24VDC 0 5A P modules The required number of Bus Refreshing modules is calculated as follows Gateway 430 mA 15 BL20 1AI U 10 0 10VDC 15 x41 615 mA 10 BL20 2AO U 10 10 x 48 mA 430 mA 0 10VDC 10 BL20 2DI 24VDC P 10 x 28 280 mA 5 BL20 2DO 24VDC 0 5A P 5 x 32 mA 160 mA Total 1915 mA Maximum permissible current via module bus 1 500 mA The calculation shows that an additional further Bus Refreshing module is required at
98. the latest following the last BL20 2AO module This Bus Refreshing module is sufficient to supply the remaining modules Note 1 he power requirements of the BL20 gateway is to be considered when calculating the required number of Bus Refreshing modules 6 6 D301087 0308 BL20 CANopen Power Supply The following table offers an overview of the nominal current consumption of the individual BL20 modules on the module bus Table 193 Nominal current consumption of the BL20 modules on the module bus Module Supply Nominal current consumption Gateway 1 500 mA lt 430 BL20 PF 24VDC D 28 mA BL20 PF 120 230VAC D 25 mA BL20 2DI 24VDC P 28 mA BL20 2DI 24VDC N 28 mA BL20 2DI 120 230VAC 28 mA BL20 4DI 24VDC P 29 BL20 4DI 24VDC N 28 mA BL20 E 8DI 24VDC P 15 mA BL20 16DI 24VDC P 45 mA BL20 E 16DI 24VDC P 15 mA BL20 32DI 24VDC P 30 mA BL20 1Al I 0 4 20MA 41 mA BL20 2AI I 0 4 20MA 35 mA BL20 1Al U 10 0 10VDC 41 mA BL20 2Al U 10 0 10VDC 35 mA BL20 2AI PT NI 2 3 45 mA BL20 2AI THERMO PI 45 mA BL20 4AI U I 50 mA D301087 0308 BL20 CANopen 6 7 Guidelines for Station Planning Module Supply Nominal current consumption BL20 2DO 24VDC 0 5A P 32 mA BL20 2DO 24VDC 0 5A N 32 mA BL20 2DO 24VDC 2A P 33 mA BL20 4DO 24VDC 0 5A P 30 mA BL20 E 8DO 24VDC P 15 mA BL20 16DO 24VDC 0 5
99. which is made of one or more CAN frames Any infor mation transmitted via CANopen has to be mapped into COBs Source CiA DS 401 V2 1 D301087 0308 BL20 CANopen COB ID COB Identifier Identifies COB uniquely in CAN network The identifier determines the priority of that COB in the data link layer too Source CiA DS 401 V2 1 Coding elements Two piece element for the unambiguous assignment of electronic and base modules Configuration Systematic arrangement of the I O modules of a station CPU Central Processing Unit Central unit for electronic data processing the processing core of the PC Cyclic Messages are triggered time controlled in Cyclic I O connections by means of a time generator Digital A value e g a voltage which can adopt only certain statuses within a finite set mostly defined as 0 and 1 DIN German acronym for German Industrial Standard EDS Electronic Device Data Sheet which contains standardized DeviceNet station descriptions They simplify the planning of the DeviceNet nodes EIA Electronic Industries Association association of electrical companies in the United States Electrical components All objects that produce convert transmit distribute or utilize electrical power e g conductors cable machines control devices D301087 0308 BL20 CANopen 9 3 Glossary EMC Electromagnetic compatibility the ability of an electrical part to operate in a specifi
100. 0 6021 and 6022 Read input bit Object code ARRAY PDO mapping Yes Sub index OOnex Data Type Unsigned8 Access ro Default value BL20 No Sub index 014 to 80 Data Type Boolean Access ro Default value BL20 No 4 118 D301087 0308 BL20 CANopen Objects Object 6100 Read Input 16 Bit The object presents the values for the digital input modules in 16 bit groups A total of 18 groups each 16 bit can be displayed 288 digital input channels Table 64 Feature Description Value Objects 6100 Read input 16 bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 4 to 12 Data Type Unsigned16 Access ro Default value BL20 No D301087 0308 BL20 CANopen 4 119 BL20 Communication in CANopen Object 6120 Read Input 32 Bit The object presents the values for the digital input modules in 32 bit groups A total of 9 groups each 32 bit can be displayed 288 digital input channels Table 65 Feature Description Value Objects 6120nex Name Read input 32 bit Object code ARRAY PDO mapping Yes Sub index OOnex Data Type Unsigned8 Access ro Default value BL20 No Sub index 01 hex to 09 Data Type Unsigned32 Access ro Default value BL20 No 4 120 D301087 0308 BL20 CANopen
101. 0 0 0 UFLW OFLW CMP2 CMP1 Table 116 Designation Value Description Meaning of the encoder flags FLAG_CMP1 0 Default status i e the register contents have not yet matched REG_SSI_POS REG CMP1 since the last reset 1 The contents of the registers match REG 851 POS This marker must be reset when CLR CMP 1 1 in the process output data D301087 0308 BL20 CANopen 4 181 BL20 Communication in CANopen Table 116 Meaning of the encoder flags Designation Value Description FLAG_CMP2 Default status i e the register contents have not yet matched REG_SSI_POS REG_CMP2 since the last reset The contents of the registers match REG_SSI_POS 2 This marker must be reset with CLR_CMP2 1 in the process output data STS_UFLW A comparison of the register contents has produced the following result REG_SSI_POS 2 REG_LOWER_LIMIT A comparison of the register contents has produced the following result REG_SSI_POS lt REG_LOWER_LIMIT STS_OFLW A comparison of the register contents has produced the following result REG_SSI_POS REG_UPPER_LIMIT A comparison of the register contents has produced the following result REG_SSI_POS gt REG_UPPER_LIMIT 4 182 D301087 0308 BL20 CANopen Objects Object 5804 Encoder Diag The Encoder diag object reads the diagnostics byte o
102. 0 CANopen Objects Table 150 Bit Meaning of the data bits in measurement mode Diagnostics message Meaning 6 operating mode wrong The value XXXX11 for selecting the operating mode is incorrect Permissible values for count mode 000000 Continuous count 000001 Single action count 000010 Periodical count Permissible values for measurement mode 100000 Frequency measurement 100001 Revolutions measurement 100010 Period duration measure ment 7 Measurement mode This message is always shown in conjunction with other diagnostics messages and indicates that messages refer to an active measure ment mode D301087 0308 BL20 CANopen 4 219 BL20 Communication in CANopen Object 5808 Encoder Control The object 5808 has the following control functions Release set the digital outputs Start stop counting measuring Release synchronization Table 151 Feature Description Object 5808 Encoder control Object code ARRAY PDO mapping Yes Sub index 00 4 Data type Unsigned8 Access ro Default value No Sub index Ot nex 47 hex Data type Unsigned8 Access rw Default value No Structure of the data bytes in count mode Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 x CTRL_ SET_ SET X CTRL_ SW_ DO2 DO1 DO1 SYN GATE X reserved 4 220 D301087 0308 BL20 CANopen
103. 00 E Mail atex fmapprovals com www fmglobal com FM F ATEX 029 Feb 07 Seite 2 von 6 D301087 0308 BL20 CANopen 8 13 BL20 Approvals for Zone 2 Division 2 Anlage zur Baumusterpr fbescheinigung 07 0040 lt Module Beschreibung BL20 GW DPV1 Gateway for Profibus DPV1 BL20 GW EN Gateway for Modbus TCP BL20 GW EN IP Gateway for Ethernet IP BL20 PG EN IP Programmable Gateway for Ethernet IP BL20 PG EN Programmable Gateway for Modbus TCP BL20 GWBR DNET Gateway for DeviceNet with internal 5V DC Bus BL20 GWBR CANOPEN Gateway for CANopen with internal 5V DC Bus BL20 2RFID A 2 Channel RFID module asynchronous BL20 2RFID C 2 Channel RFID module cyclic BL20 2DO R NC 2 channel digital output relay normally closed BL20 2DO R NO 2 channel digital output relay normally open BL20 2DO R CO 2 channel digital output relay change over 14 15 16 Besondere Bedingungen f r die sichere Anwendung 2 Zone 2 Installationen Das BL20 modulare I O Bus Klemmen System soll in einem mit Werkzeug zu ffnenden Geh use montiert werden dass den Anforderung der EN 60079 0 und EN 60079 15 entspricht und bei dem ein oder mehrere Zone 2 Verdrahtungsmethoden gem EN 60079 14 m glich sind Bei Installationen im Freien oder an feuchten Orten soll das Geh use mindestens IP54 Schutz bieten Bei Inst
104. 0000000 hex Note he appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL20 I O modules 0300529 4 152 D301087 0308 BL20 CANopen Objects Object 6427 Analog Input Interrupt Negative Delta Unsigned The object 6427 defines a Delta value Values lesser than the input value by this Delta value can be defined as the condition for generating an interrupt signal 6421 Analog input interrupt trigger selection page 4 145 Table 94 Feature Description Value Objects 6427 Analog input interrupt negative delta Unsigned Object code ARRAY PDO mapping No Sub index 00 Data Type Unsigned8 Access ro Default value BL20 No Sub index 01 8E Data Unsigned32 Access rw Default value BL20 0000 0000 he appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL20 I O modules 0300529 D301087 0308 BL20 CANopen 4 153 BL20 Communication in CANopen Object 6428 Analog Input Interrupt Positive Delta Unsigned The object 6428 defines a Delta value Values greater than the input value by this Delta value can be defined as the condition for generating an interrupt sig
105. 0308 BL20 CANopen 4 65 BL20 Communication in CANopen Table 28 Object 1018 Object description Sub index 01 Description Manufacturer ID Category Mandatory Access ro PDO mapping No Value range BL20 Unsigned32 Default value BL20 0000 0003 Sub index 02 Description Product Code Category Option Access ro PDO mapping No Value range BL20 Unsigned32 Default value BL20 6827200 Value description Sub index Description Revision Number Category Option Access ro PDO mapping No Value range BL20 Unsigned32 Default value BL20 4 66 D301087 0308 BL20 CANopen Object Dictionary Table 28 Object description Object 1018 2 Sub index 04 Description Serial number Category Option Access ro PDO mapping No Value range BL20 Unsigned32 Default value BL20 6827200 D301087 0308 BL20 CANopen 4 67 BL20 Communication in CANopen Object 1020 Verify Configuration Object 1020 is used to check the station configuration after a device reset The BL20 CANopen gateway supports the non volatile storage of parameters A network configuration tool or an CANopen Manager can use object 1020 to test the station configuration after a reset and so check whether a reconfiguration is necessary The configu ration tool saves the time and date simultaneously in object 1020 and the correspond
106. 06 und EN 60079 15 2005 10 Falls das Zeichen X hinter der Bescheinigungsnummer steht wird in der Anlage zu dieser Bescheinigung auf besondere Bedingungen f r die sichere Anwendung des Ger tes hingewiesen 11 Diese Baumusterpr fbescheinigung bezieht sich nur auf die Konzeption und Pr fung des festgelegten Ger tes gem Richtlinie 94 9 EG Weitere Anforderungen dieser Richtlinie gelten f r die Herstellung und das Inverkehrbringen dieses Ger tes Diese Anforderungen werden nicht durch diese Bescheinigung abgedeckt 12 Die Kennzeichnung des Ger tes muss die folgenden Angaben enthalten amp 13G ExnAII T4 Ta 0 to 55 C 136 ExnAnCII T4 0 to 55 C Nur Relaismodule PP FM Approvals Generaldirektor FM Approvals Ltd Ausstellungsdatum 21 Januar 2008 Diese Baumusterpr fbescheinigung darf nur unver ndert weiterverbreitet werden Dieses dokument ist eine bersetzung im Zweifelsfall gilt der englishe Originaltext FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK 514 1 RS 44 0 1753 750 000 F 44 0 1753 868 700 E Mail atex fmapprovals com www fmalobal com FM F ATEX 029 Feb 07 Seite 1 von 6 8 12 D301087 0308 BL20 CANopen Zertifikate f r Europa Anlage FM Approvals zur Baumusterpr fbescheinigung FMO7ATEX0040X 13 Beschreibung des Ger tes Das BL20 I O Bus Klemmen System ist modular und kommuniziert ber Gateways mit Bus Systemen wie PROFIBUS DeviceNetT und
107. 08 BL20 CANopen 4 137 BL20 Communication in CANopen The following figure shows the relationship between the analog input objects for an Integer16 access Figure 4 Relationship between the analog input objects according to CiA Draft Standard DS401 Hardware Objects d Communication Objects Default Default Mapping Communication Parameter Parameter Fixed 1A01h 2 180h1 Relation to 1A03h to 1803h d Single A D a ENTRY z Analog Converter into IL ae Sl Econ Input MA 6401h E 8 Byte 2 4 Wy 6424h e U Limit 1 134 amp T F Close pper m XOR AND if TRUE 6425h e TM Lower Limit i Value Difference 6426h 6423h ot TO Negative Positive Value 6427h 6428h Value 2 Difference Difference T true 1 up to 16 bit F false 2 Integer32 E enabled 3 Unsigned32 D diaabled 4 Integer16 left justified 4 138 D301087 0308 BL20 CANopen Objects Object 5420 Manu Spec Analog Input Range The object Manu spec analog input range defines the parameters of the analog input channels Write accesses initiate a parameter update on the BL20 module bus The parameter is stored retentively in the gateway and
108. 087 0308 BL20 CANopen 7 17 Guidelines for Electrical Installation 7 18 D301087 0308 BL20 CANopen Industri A 8 BL20 Approvals for Zone 2 Division 2 Certified 20 2 Certificates for Europe 4 Type Examination Certificate 4 ATEX IEG Rev 14068 einen 10 Declaration of Conformity Konformitatserkl rung 11 Zertifikate f r Europa 11 eee eie ie reir eser ane ann nun ann annnunnannannnn 12 Baumusterpr fbescheinigung 12 ATEX IEG 40 18 Declaration of 19 Certificates 20 IECEx Certificate of Conformity 20 ATEX IEC Rev 1 eve a 25 Certificates for the USA uunnuunaunnunnunnannaunnunnnnnnnnnunnannnnnnunnannannnnnnenn 26 Certificate Of 26 Installation Drawings v perdas 30 Certificates for Canada 32 Certificate Of 32 Installation Drawings eite tette 36 D301087 0308 BL20 CANopen 8 1 BL20 Approvals for Zon
109. 1 Note A I the nodes a CANopen network must be set to the same trans fer rate 3 22 D301087 0308 BL20 CANopen Setting the bit transfer rate through DIP switches To set a bit transfer rate that is supported by CANopen proceed as follows Switch off the supply voltage for the BL20 gateway Set the DIP switches for the required transfer rate according to the following table Table 10 Bit transfer DIP switches setting Setting the rate kbps transfer rate 1 2 3 4 1 000 0 0 0 0 800 1 0 0 0 500 0 1 0 0 250 1 1 0 0 125 0 0 1 0 50 1 0 1 0 20 0 1 1 0 10 1 1 1 0 reserved x x x 1 Note he DIP switches are in the 1 position when they are set to the right as viewed from the front Switch on the supply voltage for the gateway again D301087 0308 BL20 CANopen 3 23 BL20 Gateway for CANopen Node ID Setting A Node ID is assigned to every BL20 gateway in the CANopen structure The setting for the Node ID of the BL20 GW CANOPEN ina CANopen structure is made through the two rotary hex encoding switches The setting for the Node ID of the BL20 GWBR CANOPEN is made through the two rotary decimal encoding switches The switches can be found beneath a cover below the service interface The BL20 gateway can be used as a CANopen node at any point in the bus structure A Attention f the BL20 gateway is used as the the last node in the bus
110. 1 to 74 corre sponds to the module number of the BL20 module Table 179 Feature Description Object 3044 Diag Dword Object code ARRAY PDO mapping No Data type Unsigned32 Access ro Default value No D301087 0308 BL20 CANopen 4 271 BL20 Communication in CANopen Object 3045hex XBI Diag Dword2 The object XBI Diag Dword2 reads the second Diag Dword Bytes 4 7 of a module on the BL20module bus The sub index 1 to 74 corresponds to the module number of the BL20 module Table 180 Feature Description Object 3045 Name XBI Diag Dword2 Object code ARRAY PDO mapping No Data type Unsigned32 Access ro Default value No 4 272 D301087 0308 BL20 CANopen Objects Representation of parameter data The 24 bytes of parameter data for the BL20 E 1SWIRE module are represented by the manufacturerspecific objects of the CANopen gateway The following manufacturer specific objects for repre senting the parameter data are used 3060 Param Byte ARRAY Unsigned8 3062hex Param Word ARRAY Unsigned16 3064hex XBI Param Dword ARRAY Unsigned32 3065hex XBI Param Dword2 ARRAY Unsigned32 3066hex XBI Param Dword3 ARRAY Unsigned32 3067hex XBI Param Dword4 ARRAY Unsigned32 3068hex XBI Param Dword5 ARRAY Unsigned32 3069hex XBI Param Dword6 ARRAY Unsigned32 306Ahex X
111. 1087 0308 BL20 CANopen Object Dictionary Table 38 Bit Value Description Description of the number COB ID entry Sub index 01 PDO exists is valid PDO does not exist is invalid RTR is possible with this PDO RTR is not possible with this PDO 11 bit ID CAN 2 0A 29 bit ID CAN 2 0B if bit 29 0 if bit 29 1 bits 28 to 11 of the COB ID 31 MSB 0 3 30 0 29 0 281011 0 X 10100 X LSB Bit 10 to 0 of the COB ID The Transmission type Sub index 02 can have the following values Table 39 Transmis PDO transmission Transmissiontype sion type of BL20 cyclic acyclic synchr asynchr only with RTR 0 x x 1 55 210252 reserved 253 x x 254 reserved 255 x D301087 0308 BL20 CANopen 4 87 BL20 Communication in CANopen 4 88 Inhibit time The setting of an Inhibit time for the PDOs Object 1800 ff Sub Index 03 is only supported for TPDOs Unlike the other time values which are given as multiples of 1 ms the Inhibit time is defined as a multiple of 100 us However since the time resolution of the system clock in the BL20 CANopen gateway is 1 ms Inhibit time values below 10 x 100 us are pointless Event timer The Event timer Object 1800 ff Sub Index 05 defines the maximum interval after which a TPDO will be transmitted even though no event has occurred This means that the Event timer
112. 2 deactivate 4to reserved 7 4 140 D301087 0308 BL20 CANopen Objects BL20 2AI PT NI 2 3 Table 83 Byte Bit Parameter Value Meaning Parameter data BL20 2AI PT NI n 0 Mains 0 50HzA 2 3 suppression 1 60Hz eraut setting 1 Value 0 Integer 15 bit sign A representation 1 reserved 2 Diagnostic 0 release A 1 block 3 Channel Kx 0 activate A 1 deactivate 4to Element 0000 Pt100 200 850 C A 0001 Pt100 200 150 C 0010 Ni100 60 250 C 0011 Ni100 60 150 C 0100 Pt200 200 850 C 0101 Pt200 200 150 C 0110 Pt500 200 850 C 0111 Pt500 200 150 C 1000 Pt1000 200 850 C 1001 Pt1000 200 150 C 1010 Ni1000 60 250 C 1011 Ni1000 60 150 C 1100 Resistance 0 100 Q 1101 Resistance 0 200 Q 1110 Resistance 0 400 Q 1111 Resistance 0 1000 Q n 1 0 measurement mode 0 2 wire 1 3 wire D301087 0308 BL20 CANopen 4 141 BL20 Communication in CANopen BL20 2AI THERMO PI Table 84 Byte Bit Parameter Parameters BL20 2AI THERMO PI A default setting Value Meaning 0 50HzA 1 60Hz n 0 Mains suppression 1 Value representation 0 Integer 15 bit sign 1 reserved 2 Diagnostic 0 release 1 block 3 Channel 0 activate 12 deactivate 6to Element 4 0000 type K 270 1370 C A
113. 2 installations the BL20 Modular I O Bus Terminal Systems shall be mounted within a tool secured enclosure installed in accordance with the enclosure mounting spacing and segregation requirements of the ultimate application which is capable of accepting one or more of the Class I Division 2 wiring methods specified in the National Electrical Code ANSI NFPA 70 Article 500 In Class Zone 2 installations the BL20 Modular Bus Terminal Systems shall be mounted within a tool secured enclosure which meets the requirements of ISA 60079 0 and ISA 60079 15 and is capable of accepting one or more of the Class I Zone 2 wiring methods specified in the National Electrical Code ANSI NFPA 70 Article 505 Where installed in outdoor or potentially wet locations the enclosure shall at a minimum meet the requirements of IP54 Where installed in dry indoor locations the enclosure shall at a minimum meet the requirements of 4 tmex0050 N Sch 2007 10 09 BL20 Installation drawing US DWG No Draft Date Scale NONE Sheet 1 of 2 8 30 D301087 0308 BL20 CANopen Certificates for the USA The UL connector supplies all field devices up to 30V d c and 10A d c To supply more modules additional Power feeding modules BL20 PF 24VDC D resp Bus refreshing modules BL20 BR 24VDC D may be necessary The Usys connector feeds an internal supply circuit of the gateway and that provides module bus supply up to 1
114. 20 BR 24VDC D Layout GZ 2725 0026 0710 01 12394700 A BL20 BR 24VDC D Placement ZS 2725 0026 0710 01 12394700 B BL20 BR 24VDC D Schematic EZ 2725 0073 0711 04 07299900 06 06 2006 BL20 E 8DI 24VDC P Layout EZ 2725 0075 0711 04 07300100 07 06 2006 BL20 E 16DI 24VDC P Layout GZ 2725 0073 0710 01 12397400 BL20 E 8DI 24VDC P Placement GZ 2725 0075 0710 01 12397600 BL20 E 16DI 24VDC P Placement ZS 2725 0073 0710 01 12397400 BL20 E 8DI 24VDC P Schematic ZS 2725 0075 0710 01 12397600 BL20 E 16DI 24VDC P Schematic EZ 2725 0074 0711 05 07300000 06 06 2006 BL20 E 8DO 24VDC 0 5A P Layout EZ 2725 0076 0711 03 07300200 07 06 2006 BL20 E 16DO 24VDC 0 5A P Layout GZ 2725 0074 0710 01 12397500 BL20 E 8DO 24VDC 0 5A P Placement GZ 2725 0076 0710 01 12397700 B BL20 E 16DO 24VDC 0 5A P Placement ZS 2725 0074 0710 01 12397500 c BL20 E 8DO 24VDC 0 5A P Schematic ZS 2725 0076 0710 01 12397700 B BL20 E 16DO 24VDC 0 5A P Schematic EZ 2725 0061 0711 06 07300500 A BL20 GWBR CANopen Layout EZ 2725 0061 0721 02 07300900 A BL20 GWBR CANopen CPU Layout GZ 2725 0061 0710 01 12398000 E BL20 GWBR CANopen Placement GZ 2725 0061 0720 01 12398400 B BL20 GWBR CANopen CPU Placement ZS 2725 0061 0710 01 12398000 B BL20 GWBR CANopen Schematic ZS 2725 0061 0720 01 12398400 B BL20 GWBR CANopen CPU Schematic EZ 2725 0081 0711 02 07286801 A BL20 GW DPV1 BASIS Layout EZ 2725 0081 0721 02 07286901 A BL20 GW DPV1 CPU Layout GZ 2725
115. 230 Devices 6820 x Position Value For Multi Sensors 4 231 Devices 6B00 Cam State Register 4 232 6 01 1 Enable Register 4 235 D301087 0308 BL20 CANopen 4 199 BL20 Communication in CANopen Table 138 Object Name Page 6 02 1 Polarity Register 4 236 6 10 Cam 1 Low Limit 4 237 6 20 Cam 1 High Limit 4 238 6 30 1 Hysteresis 4 240 6 00 Area State Register 4 241 6C01 Work Area Low Limit 4 243 6C02 ex Work Area High Limit 4 244 Diagnostics 6DOO ex Operating Status 4 245 6001 nex Single Turn Resolution 4 245 6DO2 nex Number Of Distinguishable Revolu 4 245 tions 6FFF Device Type 4 245 4 200 D301087 0308 BL20 CANopen Objects Object 5800 Encoder Basic Object 5800 controls the operating mode parameters of the BL20 counter module Its uses include the setting of count mode or measurement mode Write accesses initiate a parameter update via the internal BL20 module bus The parameter is stored retentively in the BL20 gateway and is restored with every node reset Table 139 Feature Description Object 5800 Encoder Basic Mode Object code ARRAY PDO mapping No Sub index 00 4 Data Type Unsigned8 Access ro Default value BL20 No Sub index 01 nex 47 nex Data Type Unsigned32 Access rw Default value BL20 No D301087 0308 BL20 C
116. 26 PDO mapping of object 6200hex is always executed by default and automatically for the first 8 subindexes This corresponds to the 64 bits of the SWIRE command interface If more than 64 process output data items are present the PDO mapping must be carried out by the user A total of 36 groups of 8 bits each can be displayed 288 bits If the representation of the data bits is not required with the object 6200hex or if a different arrangement of the mapped objects is required PDO mapping must be carried out by the user D301087 0308 BL20 CANopen 4 261 BL20 Communication in CANopen Process output Field output data is output from an BL20 E 1SWIRE module to a field device The process output data is the data that is transferred by the PLC via a gateway to the BL20 E 1SWIRE module The transfer is carried out in 8 byte format 4 bits are reserved for each SWIRE slave The following information is transferred Switch status of contactor coil on off Bit6 Bit5 Bit2 Bit1 Bito ByteO SWIRE Slave 2 SWIRE Slave 1 Byte 1 SWIRE Slave 4 SWIRE Slave 3 Byte2 SWIRE Slave 6 SWIRE Slave 6 Byte3 SWIRE Slave 8 SWIRE Slave 7 Byte4 SWIRE Slave 10 SWIRE Slave 9 Byte 5 SWIRE Slave 12 SWIRE Slave 11 Byte6 SWIRE Slave 14 SWIRE Slave 13 Byte 7__SWIRE Slave 16 SWIRE Slave 15 The data of SWIRE slave 1 is the data of the first physical slave on the SWIRE bus The remaining slaves are assigne
117. 3 F duration 96 h not in use D301087 0308 BL20 CANopen Technical Data Dry heat DIN IEC 68 2 2 temperature 85 C 185 F duration 96 h device not in use Damp heat cyclic DIN IEC 68 2 30 temperature 55 C 131 F duration 2 cycles every 12 h device in use Temperature change DIN IEC 68 2 14 temperature 0 to 55 C 32 to 131 F duration 2 cycles temperature change per minute device in use Pollution severity according to IEC 664 EN 61 131 2 Protection class according to 20 IEC 529 Warning A T his device can cause radio disturbances in residential areas and in small industrial areas residential business and trading In this case the operator can be required to take appropriate measures to sup press the disturbance at his own cost Approvals Table 2 CE Approvals CSA UL D301087 0308 BL20 CANopen 3 9 BL20 Gateway for CANopen Base Modules Table 3 Protection class IP 20 Technical data for base modules Measurement data according to VDE 0611 Part 1 8 92 IEC 947 7 1 1989 Insulation stripping length 8 mm 0 32 inch Max wire range 0 5 to 2 5 mm 0 0008 to 0 0039 inch 20 to 12 AWG Crimpable wire solid core H 07V U 0 5 to 2 5 mm 0 0008 to 0 0039 inch 20 to 12 AWG f flexible core 07V K 0 5 to 1 5 mm 0 0008 to 0 0023 inch 20 to 16 AWG f with ferrules according to
118. 4 channel digital input modules pnp BL20 2AI U 10 0 10VDC BL20 2AI PTINI 2 3 gital output 0 5A pnp BL20 2AO U 10 0 10VDC BL20 1CNT 24VDC gt 1 1 jJ 8 32 D301087 0308 BL20 CANopen Certificates for Canada FM Approvals Am of the EM Cibo rcm Module 2 Description RS232 interface 551 R 24VDC D 120 1 20 20464 SSi interface BL20 8R 24VDC D Power Supply Module with intemal SV DC Bus L21 L2 L2 L20 4 1 1 BL20 B BL20 PF 24VDC D 7 Module Field Supply 24V channel digital input module pnp Economy BL20 E 6DI 24VDC P 16 channel digital input module pnp Economy 0 E 8 channel digital output module 0 5A pnp Econo BL20 E 1600 24VDC 0 5A P _ 16 channel digital output module 05 pnp Economy B20GW EN Gateway forModbus _ Special Conditions of Use 1 In Class Division 2 installations the BL20 Modular I O Bus Terminal Systems shall be mounted within a tool secured enclosure installed in accordance with the enclosure mounting spacing and segregation requirements of the ultimate application which is capable of accepting one or more of the Class I Division 2 wiring methods specified in the Canadian Electrical Code CSA 22 1 2 In Class Zone 2 installations the BL20 Modular Bus Terminal
119. 406 which defines an upper switch limit for the count range The reference value1 must be an upper limit if evaluation is to be carried out using object 6B00 Object 6B20 is assigned to output DO1 Note The object 6B20 is only valid if the counter module is operating in count mode 4 238 D301087 0308 BL20 CANopen Objects Table 168 Feature Description Object 6B20 Name CAM1 High Limit Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index 01 47 hex Data type Integer32 Access rw Default value 0000 ex D301087 0308 BL20 CANopen 4 239 BL20 Communication in CANopen Object 6B30 CAM1 Hysteresis The object 6B30 corresponds to object 6330 in accordance with CiA DS 406 defines a hysteresis value for reference value2 Low Limit Object 6B10 and reference value1 High Limit Object 6B20 1 Note The object 6B30 hex IS only valid if the counter module is operating in count mode Table 169 Feature Description Object 6B30 Name CAM1 Hysteresis Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index 01 47 hex Data type Unsigned16 Access rw Default value No 4 240 D301087 0308 BL20 CANopen Objects Object 6 00
120. 54 Object 5811 Feature Description Sub index Data type Unsigned8 Access ro Default value No Sub index 1 47 nex Data type Unsigned16 Access rw Default value No Object 5820 Measuring Integration Time Object 5820 is used to set the Integration time for measurement mode Permissible values 1 to 1000 In Frequency measurement mode the module counts the pulses that are received in the defined integration time and calculates an average frequency from this The value range for the integration time can be set in 10 ms increments between 10 ms to 10000 ms In revolutions measurement mode the counter module counts the pulses received from a rotary sensor within a predefined integration time The number of sensor pulses per revolution must be defined beforehand by parameters in the system The number of sensor pulses per revolution and the pulses counted determines the speed of the connected motor The value range for the integration time can be set in 10 ms increments between 10 ms to 10000 ms D301087 0308 BL20 CANopen 4 225 BL20 Communication in CANopen In period duration measurement mode the counter module measures the time between two rising edges of the counter signal in ms by counting the pulses of an exact internal quartz crystal refer ence frequency 1 MHz An averaging operation can be carried out over 1 to 1 000 periods The number of p
121. 5601 x The STAT bit is reset from 0 to 1 with the transition from 1 to 0 falling edge If this bit is 0 all changes in the data fields TX_BYTE_CNT TX_CNT and RX_CNT_ACK are ignored The clearing of the receive and transmit buffer by RXBUF FLUSH TXBUF FLUSH is possible The value 1 or the transition from 0 to 1 disables the clearing of the receive and transmit buffer by the RXBUF FLUSH TXBUF FLUSH 0 3 The value is a copy of the value RX_CNT The value RX_CNT was transferred together with the last data segment of the process input data object 5601 The value RX_CNT_ACK is a confir mation of successful acceptance of the data segment using RX_CNT TX_CNT 0 3 The value TX_CNT is transferred together with every data segment of the process output data The sequence of the TX_CNT values is 00 gt 01 gt 10 gt 11 gt 00 decimal 0 gt 1 gt 2 gt 3 gt 0 A faulty sequence indicates that data segments are missing TX_BYTE_CNT 0 7 Number of valid user data bytes in this data segment 4 174 D301087 0308 BL20 CANopen Objects Table 109 Designation Value Description Meaning of the data bits for RS232 485 modules RXBUF FLUSH 0 1 The RXBUF FLUSH bit is used for clearing the receive buffer If STATRES 1 A request with RXBUF FLUSH 1 will be ignored If STATRES 0 RXBUF FLUSH 1 will clear the
122. 6DO 24VDC 0 5A P Schematic EZ 2725 0061 0711 06 07300500 A BL20 GWBR CANopen Layout EZ 2725 0061 0721 02 07300900 A BL20 GWBR CANopen CPU Layout GZ 2725 0061 0710 01 12398000 E BL20 GWBR CANopen Placement GZ 2725 0061 0720 01 12398400 B BL20 GWBR CANopen CPU Placement ZS 2725 0061 0710 01 12398000 B BL20 GWBR CANopen Schematic ZS 2725 0061 0720 01 12398400 B BL20 GWBR CANopen CPU Schematic EZ 2725 0081 07 11 02 07286801 A BL20 GW DPV1 BASIS Layout EZ 2725 0081 0721 02 07286901 A BL20 GW DPV1 CPU Layout GZ 2725 0081 0710 01 12383800 22 11 2005 BL20 GW DPV1 Placement Diese Baumusterpr fbescheini nur unv weiterverbrei n Diese dokument ist eine bersetzung im Zweifelsfall gilt der englishe Originaltext FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK SL4 1 RS 44 0 1753 750 000 F 44 0 1753 868 700 E Mail atex fmapprovals com vaww fmglobal com FM F ATEX 029 Feb 07 Seite 5 von 6 D301087 0308 BL20 CANopen Zertifikate f r Europa Anlage zur Baumusterpr fbescheinigung FMO7ATEX0040X iol Diese Baumusterpr fl Zeichnung Nr Rev Titel Beschreibung GZ 2725 0081 0720 01 12383900 18 11 2005 BL20 GW DPV1 Placement ZS 2725 0081 0710 01 12383800 22 11 2005 BL20 GW DPV1 Schematic ZS 2725 0081 0720 01 12383900 18 11 2005 BL20 GW DPV1 Schematic EZ 2
123. 725 0082 0721 01 07289500 A BL20 GW EN Layout EZ 2725 0082 0711 01 07289600 A BL20 GW EN Layout GZ 2725 0082 0720 01 12386300 20 12 2005 BL20 GW EN Placement GZ 2725 0082 0710 01 12386400 23 12 2005 BL20 GW EN Placement ZS 2725 0082 0720 01 12386300 20 12 2005 BL20 GW EN Schematic ZS 2725 0082 0710 01 12386400 23 12 2005 BL20 GW EN Schematic EZ 2725 0077 0711 01 07279300 A BL20 2RFID A Layout GZ 2725 0077 0710 01 12374300 02 11 2005 BL20 2RFID Placement ZS 2725 0077 0710 01 12374300 01 06 2006 BL20 2RFID Schematic EZ 2725 0019 0711 03 07296700 22 06 2006 BL20 2DO R NC Layout EZ 2725 0020 0711 04 07296800 06 06 2006 BL20 2DO R NO Layout EZ 2725 0021 0711 04 07299200 07 06 2006 BL20 2DO R CO Layout GZ 2725 0019 0710 01 12394200 B BL20 2DO R NC Placement GZ 2725 0020 0710 01 12394300 BL20 2DO R NO Placement GZ 2725 0021 0710 01 12396700 B BL20 2DO R CO Placement ZS 2725 0019 0710 01 12394200 BL20 2DO R NC Schematic ZS 2725 0020 07 10 01 12394300 BL20 2DO R NO 5 25 2725 0021 0710 01 12396700 BL20 2DO R CO Schematic 337897 02 Gateway Lower part 338856 01 Gateway Upper part 430095 5 Gateway Locking Assy 430050 4 Gateway Cover 329434 04 Locking Foot 441532 02 Moulding Set 341525 03 Moulding Cover 229430 07 Electronic Moulding 329431 07 Moulding Cover 330094 3 Base Module 331333 3 Base Module tmex 0049 02 01 2008 Approval Label 2256460000 End Bracket 338003 2
124. 8014 0 0 Diagnostics DO1 1 Function DO1 4to2 Signal evaluation A B 1 1100 Sensor Input filter A 2 Sensor Input filter B 3 Sensor Input filter DI 4 Sensor A 6to5 Direction input B 7 Group diagnostics 2 0 Behaviour CPU Master 5 to 4 STOP 4 248 D301087 0308 BL20 CANopen Objects Parameter list for the counter module Module Parameter Object Value Meaning Count mode Operating mode Operating mode 5800 000000 Continuous count A 000001 Single action count 000010 Periodical count Release function 0 Abort count operation A 1 Interrupt count operation Digital input DI 0 Normal A 1 Inverted Function DI 00 Input A 01 Hardware release HW gate 10 Latch retrigger function when edge positive 11 Synchronization when edge positive Synchronization 0 Single action A 1 Periodical Main count direction 00 None A 01 Up counting 10 Down counting A default settings D301087 0308 BL20 CANopen 4 249 BL20 Communication in CANopen Module Parameter Object Value Meaning Count limits Lower count limit 6CO1 Oto Lower counter limit for 2147483648 channel x Upper count limit 6 02 Oto Upper counter limit for 2147483647 channel x Hysteresis 6 0 01 to 255 Hysteresis for channel x Pulse duration DO1 5811 0 to 255 1 Pulse duration for
125. 87 0308 BL20 CANopen 2 Short description of CANopen 2 2 GONMMMUNICATION 3 Network Management 0 3 Service Data Objects SDOS 4 Process Data Objects PDOS 4 Special Function Objects 6 BL20 7 Electronic data sheet EDS file 8 D301087 0308 BL20 CANopen 2 1 Short description of CANopen CANopen Note he following description of CANopen is an excerpt from the page of CiA CAN in Automation the international users and man ufacturers organization for CAN General CANopen is an open non proprietary network protocol It consists of a profile family based on a communication profile and several device profiles The CANopen communication profile is standard ized as CiA DS 301 Application Layer and Communication Profile The CANopen device profile for I O modules has been published as 05 401 Device Profile for O Modules CANopen is based on the following standards 2 2 ISO 11 898 Physical and Data Link Layer Layers 1 and 2 of the ISO OSI communication model CiA DS 301 Application Layer and Communic
126. 9 Description Value Object 67FF Name Device type Object code VAR Data Type Unsigned32 Access ro Default value No PDO mapping No D301087 0308 BL20 CANopen 4 113 BL20 Communication in CANopen Objects for Digital Input Modules General Overview for Digital Input Objects Table 60 Object Name Page General overview for digital input 3064 Dword 4 115 objects 6000 ex Read input 8 bit 4 117 6020 x Read input 8 bit 1 to 128 4 118 6021 Read input 8 bit 129 to 256 4 118 6022 ex Read input 8 bit 257 to 288 4 118 6100 Read input 16 bit 4 119 6120 Read input 32 bit 4 120 The following figure shows the relationship between the digital input objects for an 8 bit access Figure 2 Relationship between the digital input objects according to CiA Draft Standard DS401 Single Digital Input 1 O Hardware Objects Communication Objects Default Default Mapping Communication Parameter Parameter B Fixed 1A00h 1800h 50777 Relation Entry Map 3 Ti it into DON 6000h Transmission 4 114 TPDO1 i Unsigned8 8 Byte TPDO1 D301087 0308 BL20 CANopen Objects Object 3064 XBI Param Dword The object XBI Param Dword Reads the first parameter Dword Byte 0 to 3 of a module Attention The su
127. A P 120 mA BL20 E 16DO 24VDC P 25 mA BL20 32DO 24VDC 0 5A P 30 mA BL20 1AO I 0 4 20MA 39 mA BL20 2AO I 0 4 20MA 40 mA BL20 2A0 U 10 0 10VDC 43 mA BL20 2DO R NC 28 mA BL20 2DO R NO 28 mA BL20 2DO R CO 28 mA BL20 1CNT 24VDC 40 mA BL20 1RS232 140 mA BL20 1RS485 422 60 mA BL20 1SSI 50 mA BL20 2RFID 30 mA BL20 E 1SWIRE 60 mA 6 8 If the power supply from the module bus is not guaranteed thereby making a further Bus Refreshing module necessary the software D301087 0308 BL20 CANopen Power Supply l O ASSISTANT generates an error message when the user acti vates the command Station Verify Note Bus Refreshing modules which do not supply the gateway with power are to be combined with either a BL20 P3T SBB B or a BL20 P4T SBBC B tension clamp connection base module or with the base modules BL20 P3S SBB B or BL20 P4S SBBC B screw connection Figure 6 Gateway 201 200 201 200 201 1AO BR 201 NO Power supply at i BL20 GWBR CANOPEN System supply 1 15 2414 24 Field supply Field supply Figure 7 Gateway BR 200 201 200 201 1A0 BR 201 NO Power supply at A BL20 GW CANOPEN Field supply Field supply System supply D301087 0308 BL20 CANopen 6 9 Guidelines for Station Planning With the system supply it must be ensured that the same ground potential and ground connections are used Compensating currents fl
128. ANopen 4 201 BL20 Communication in CANopen Structure of data bits for count mode Bit7 Bit6 Bit5 Bit4 Bit 3 Bit 2 Bit 1 Bit O Byte 0 X count mode Byte 1 X main count synchro function DI digital gate direction nization input DI function Byte 2 X Byte 3 X X reserved Table 140 Designation Value Designation of the values Meaning of the Value range data bits count mode A default settings count mode 000000A continuous count 000001 single action count 000010 periodical count main count direc none tion 01 up 10 down synchronization 0A single action periodic 1 function DI 00A input 01 HW gate 10 latch retrigger when edge pos 11 synchronization when edge pos digital input DI 0A normal 1 inverted 4 202 D301087 0308 BL20 CANopen Objects Table 140 Designation Value Designation of the values Meaning of the Value range data bits count mode A default settings gate function OA abort count procedure If the counting operation is aborted counting begins from the load value on restart 1 interrupt count procedure If the counting operation is in rupted however the counter continues on restart from the actual counter value ter D301087 0308 BL20 CANopen 4 203 BL20 Communication in CANopen Structure of data bits for measurement mode Bit 7 Bit6 Bit5 Bit 4
129. Analog output error state Object code ARRAY PDO mapping No Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 8E Data Type Unsigned16 Access rw Default value BL20 0000 0000 4 160 D301087 0308 BL20 CANopen Objects Object 5440 Manu spec Analog Output Range The object Manu spec analog output range defines the parame ters of the analog output channels Write accesses initiate param eter update on the BL20 module bus The parameter is stored retentively in the gateway and in the appro priate module and is restored with every node reset The Sub indices 01 7 8E define the parameters for the analog input channel 1 to 142 Table 100 Feature Description Value Object 5440 spec analog output range Object code ARRAY PDO mapping No Sub index 00 Data Unsigned8 Access ro Default value BL20 No Sub index O1 nex SEnex Data Type Unsigned16 Access rw Default value BL20 No D301087 0308 BL20 CANopen 4 161 BL20 Communication in CANopen The structure of the 2 bytes of parameter data depends on the module concerned A sub index is assigned for each channel The following explains the structure for each module type E BL20 1A0 I 0 4 20MA BL20 2AO I 0 4 20MA Table 101 Parameters BL20 XAO I 0 4 20MA A default setting Byte Bit Para
130. BI Param Dword7 ARRAY Unsigned32 306Bhex XBI Param Dword8 ARRAY Unsigned32 The objects have the following structure The objects have a maximum of 74 sub indexes This number corresponds to the number ofmodules that are present on a BL20 station The sub index corresponds to the module numberof the BL20 module Asub index can represent a maximum of 4 bytes Larger param eter data volumes are distributedon the following objects The sub index also belongs to the module number D301087 0308 BL20 CANopen 4 273 BL20 Communication in CANopen The following table shows the assignment of the parameter data bytes of the BL20 E 1SWIRE module to the manufacturer specific objects Byte no 1 2 3 4 5 6 7 8 Parameter bytes 1 to 8 of BL20 E SWIRE Objectno 3064 3065 in hex see page 4 281 see page 4 282 3062 only the first two bytes are shown 3060 only the first byte is shown Byte no 9 10 11 12 13 14 15 16 Parameter bytes 9 to 16 of BL20 E SWIRE Objectno 3066 3067 in hex see page 4 282 see page 4 283 17 18 19 20 21 22 23 24 Parameter bytes17 to 24 of BL20 E SWIRE Objectno 3068 3069 in hex see page 4 282 see page 4 282 ER Note Use the objects 3064 to 3069 to access all the parameter data The parameter bytes of the BL20 1SWIRE module are represented completely with the objects 3064 and 3069 The sub index of the objects must correspond to the slot
131. BL20 module bus The parameter is stored retentively in the gateway and is restored with every node reset Table 111 Feature Description Objects 5801 Encoder config Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No Structure of the data bytes for the SSI module Bit 7 Bit6 Bit5 Bit3 Bit2 Bit1 BitO Byte 0 x x DIS_ERR X x x X X Status _SSI Byte 1 X INVALID BITS MSB INVALID BITS LSB Byte 2 X X X X SSI RATE Byte 3 551 X SSI FRAME LENGTH CODE G D D301087 0308 BL20 CANopen 4 177 BL20 Communication in CANopen Table 112 Meaning of the data bits for SSI modules A default setting 4 178 Designation Value Description DIS_ERR_SSI OA Activate Encoder data ZERO test of data cable cable test Deactivate After the last valid bit a ZERO test of the data cable is not carried out INVALID BITS Oto 15 Number of invalid bits on the LSB side LSB of the position value supplied by the Number of SSI encoder The meaningful word invalid bits width of the position value transferred LSB to the module bus master is as follows SSI FRAME LEN INVALID BITS MSB INVALID BITS LSB The invalid bits on the LSB side are removed by shifting the position value to the right starting with the LSB INVALID BITS MSB INVALID BITS LSB must always be less than SSI FRAME LEN Default 0 Bit Opex INVALID_BITS_ 0 7
132. BL20 station the communication via the internal module bus the communication to CANopen and the status of the gateway Diagnostic messages are displayed in two ways via individual LEDs via the software of the respective host system see Chapter 5 Section Diagnostics Emergency Frames Page 5 1 ff or the software tool I O ASSISTANT Diagnostic Messages via LEDs Every BL20 gateway displays the following statuses via LEDs 2 LEDs for module bus communication module bus LEDs GW and lOs 2 LEDs for CANopen communication fieldbus LEDs ERR and Bus The LED diagnoses shown below apply to both gateway versions BL20 GW CANOPEN BL20 GWBR CANOPEN An additional diagnosis indication is shown for the BL20 GWBR CANOPEN D301087 0308 BL20 CANopen 3 27 BL20 Gateway for CANopen Table 11 LED indicators LED Status Meaning Remedy GW OFF CPU not supplied Green 5 V DC operating voltage is present firm ware is active gateway is ready for operation and transfer GW green flashing 1Hz red Firmware not active Reload the firmware Green flashing 4Hz Firmware active gateway hardware is defect Replace the gateway Additional diagnosis indication for BL20 GWBR CANOPEN GW green Usys undervoltage or Check that the supply blinking overvoltage voltage is within the 1Hz U undervoltage permissible range 105 CPU n
133. C voltage Analog inputs 112 BL20 4AI U I 28A voltage current Analog inputs 126 BL20 2AI PT NI 2 3 63C PT Ni Analog inputs 126 BL20 2AI THERMO PI 63C Thermocouple Analog outputs 126 BL20 2A0 1 0 4 20MA 63 Analog inputs 126 BL20 2A0 U 10 0 410VDC 63C voltage Counter 31 BL20 1CNT 24VDC 31A RS232 31 BL20 1RS232 31A RS485 422 31 BL20 1RS232 31A 55 31 20 1551 31A SWIRE 16 BL20 E 1SWIRE 16 D301087 0308 BL20 CANopen 6 3 Guidelines for Station Planning Further limitations can be placed on the maximum possible number of BL20 modules by the use of the Power Feeding modules BL20 PF 24VDC D or BL20 PF 120 230VAC D these being used either for creating potential groups or by insufficient field supply A Attention Ensure that a sufficient number of Power Feeding or Bus Refreshing modules are used if the system is extended to its maximum If the system limits are exceeded the software I O ASSISTANT gen erates an error message when the user activates the Station Ver ify command 6 4 D301087 0308 BL20 CANopen Power Supply Power Supply Gateway Supply Note On a BL20 station including a gateway without integrated power supply unit the first module to be mounted after the gateway is a Bus Refreshing module with either a BL20 P3x SBB or a BL20 P4x SBBC base module with tension clamp or screw connection Module Bus Refreshing The number of BL20 modules that can be
134. CanOpen Verschiedene digitale und analoge I O Module stehen f r Verbindungen zu nicht n her spezifizierten Feldger ten zur Verf gung Zus tzlich zu den analogen und digitalen Modulen gibt es einige spezielle Module wie Z hler oder RS232 Interface und Relaisausg nge Die Module stecken in Basiseinheiten die der Montage und der elektrischen Versorgung und Busanbindung zu den Versorgungsmodulen und Gateways dienen Der Bus hat eine obere Versorgungsgrenze die durch zus tzlich dazwischen liegende Versorgungsmodule erweitert werden kann Anwenderseitige Verbindungen erfolgen nur zu den Gateways und zu den Signalanschl ssen der einzelnen Module BL20 Modulares Bus Klemmen System Module Beschreibung BL20 2DI 24VDC P 2 channel digital input modules pnp BL20 2DI 24VDC N 2 channel digital input modules npn BL20 4DI 24VDC P 4 channel digital input modules pnp BL20 4DI 24VDC N 4 channel digital input modules npn BL20 4DI NAMUR 4 channel digital input modules NAMUR input BL20 32DI 24VDC P 32 channel digital input modules pnp BL20 2AI I 0 4 20MA 2 channel analogue input module current BL20 2AI U 10 0 10VDC 2 channel analogue input module voltage BL20 2AI PT NI 2 3 2 channel analogue input module platinum and nickel resistance elements BL20 2AI THERMO PI 2 channel analogue input module thermoelements BL20 4AI U I 4 channel analogue input module current or voltage
135. Default PDOs These additional PDOs are always set to Invalid as a default Before enabling these PDOs the corresponding parameters must be checked This applies especially to the COB IDs since these are taken from the Default Master Slave Connection Set and are assigned to other Node IDs For this reason other nodes with the corresponding Node ID must not be present in the network or such nodes must not use the corresponding COB IDs The Transmission type of these PDOs is generally 255 Overview of the BL20 specific TPDOs 1 Note The COB ID definition for the TPDOs depends on the gateway used in the application see EDS file for the gateways Meaning TPDOs COB ID TPDO 2nd group digital input channels PDO5 8000 01C0 Node ID Bits 64 to 127 1804 group digital input channels PDO6 8000 02C0 Node ID Bits 128 to 191 1805pex 4th group digital input channels PDO7 C000 03 0 Node ID Bits 192 to 255 1806 5th group digital input channels PDO8 C000 04 0 Node ID Bits 256 to 319 1807 1st group encoders Channels 0 1 PDO9 C000 01E0 Node ID 1808 2nd group encoders Channels 2 3 PDO10 C000 O2EO x Node ID 1809 ex 3rd group encoders Channels 4 5 PDO11 C000 03E0 Node ID 180 4th group encoders Channels 6 7 PDO12 C000 04 0 Node ID 180B ex 4 28 D301087 0308 BL20 CANopen Transmission of Process Data Obje
136. Default PDOs as per CiA DS 301 and DS 401 The TPDOs in the following table have the following characteristics The COB ID is part of sub index O1 x The PDO is active The first digit of the 8 digit adecimal COB ID number shows amongst others if the PDO is valid Active PDOs are marked by hex digit lt 7 Normally the digit is 0 or 4 page 4 84 4 26 D301087 0308 BL20 CANopen Transmission of Process Data Objects PDO Overview of the Default TPDOs as per CiA DS 301 and DS 401 Meaning TPDO Sub Index 01 x 7 COB ID 1st group digital input channels PDO1 0000 0180 Node ID Bits 0 to 63 1800 1st group analog input channels PDO2 0000 0280 Node ID Channel 0 to 3 1801 2nd group analog input channels PDO3 0000 0380 Node ID Channel 4 to 7 1802 group analog input channels PDO4 0000 0480 Node ID Channel 8 to 11 1803 Overview of the Default RPDOs as CiA 05 301 DS 401 Meaning RPDO COB ID 1st group digital output channels PDO1 0000 0200 Node ID Bits 0 to 63 1400 0x 1st group analog output channels PDO2 0000 0300 Node ID Channel 0 to 3 1401 2nd group analog output channels PDO3 0000 0400 Node ID Channel 4 to 7 1402 0x 3rd group analog output channels PDO4 0000 0500 x Node ID Channel 8 to 11 1403 hex D301087 0308 BL20 CANopen 4 27 BL20 Communication in CANopen BL20 Specific
137. ERU elle 7 9 EMC Compliant Cabinet Installation 2 2 7 10 Shielding of cables 7 11 Potential Compensation 244us4444440unnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 7 13 Switching Inductive Loads eee 7 15 Protection against Electrostatic Discharge ESD 7 15 Bus GohtiectiOn x ior ae dale renonce ees 7 16 Two Pole Shield Connection 7 17 BL20 Approvals for Zone 2 Division 2 Certified 20 8 2 Certificates for 2 4 8 4 Type Examination 8 4 ATEX IEC Rev e ore Em 8 10 Declaration of Conformity Konformit tserkl rung 8 11 Zertifikate f r Europa ee 8 12 Baumusterpr fbescheinigung 8 12 0301087 0308 BL20 Industri A ATEX 1 8 18 Declaration Conformity Konformit tserkl rung 8 19 Certificates EQ Ex ci ee 8 20 IECEx Certificate of Conformity sse 8 20 ATEX 1 8 25 Certificates for the USA 8 26 Certificate Of 8 26 Installation DrawlngS i teo een ann 8 30 Certificates f
138. Extra info Extra info Input current too high The input 2110x Bit1 1 Module Channel number c rrentis current error number outside of the permissible range A Input current too low Open circuit or 2130 Bit1 1 Module Channel number input current current error number for the measuring range 4 to 20 mA too low The threshold is 3 Al U voltage out of range Open circuit or 3003 Bitt2 1 Module Channel number input voltage is voltage error number outside of the permissible range AThe threshold for this error message is 1 over the upper measuring range value or 1 below the lower measuring range value or the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 5 3 D301087 0308 BL20 CANopen 5 15 Diagnostics Emergency Frames Technology Modules BL20 1RS232 BL20 1RS4xx Byte 0 Byte3 Byte 4 Byte 5 Meaning Byte 1 Error Code 7000 Module Channel 08 Parameter error number number always 1 10 Hardware failure 20 Handshake error 30 Frame error 40 RX buffer overflow Note or the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 5 3 Note F or the process data image and the diagnostic data of the modules please refer to page 4 163ff 5 16 D301087 0308 BL20 CANo
139. General Overview for RS232 RS4xx Objects 164 Object 5600hex RS232 RS4xx Parameters 165 Object 5601hex RS232 RS4xx RxD 168 Object 5602hex RS232 RS4xx TxD 172 Objects for SSI Modules 176 General Overview for 551 Objects 176 Object 5801hex Encoder Config 177 D301087 0308 BL20 CANopen 4 3 BL20 Communication in CANopen 4 4 Object 5802hex Encoder Status 180 Object 5803hex Encoder Flags 181 Object 5804hex Encoder Diag 183 Object 5805hex SSI Native Status 185 Object 5806hex SSI Optional Encoder Status 189 Object 5808hex Encoder Control 190 Object 5840hex SSI Diag Mapping 191 Object 6800hex Operating Parameters 193 Object 6810hex Preset Values for Multi Sensor Devices 193 Object 6820hex Position Value 194 Object 6BOOhex CAM State Register 195 Object 6BO1hex CAM Ena
140. Heartbeat Time 64 Object 1018hex Identity Object 65 Object 1020hex Verify Configuration 68 Object 1027hex Module List 0 0 70 Objects for the Transfer of Service 72 Object 1200hex to 1203hex Server SDO Default Parameters 72 Objects for the Transfer of Process Output 74 Object 1400hex to 141Fhex Receive PDO Comm Default Parameters 75 Object 1600hex to 161Fhex Receive PDO Mapping Parameter 79 Objects for the Transfer of Process Input 83 Object 1800 to 181Fhex Transmit PDO Parameters 83 Object 1 00 to 1A1Fh Transmit PDO Mapping Param 89 Objects for Network Management 92 Object 1F80hex Startup 92 Object 1F81hex Slave Assignment 94 Object 1F82hex Request NMT 98 Object 1F83hex Request Guarding 2 2 101 Manufacturer Specific 103 Object 2000hex Serial 2 103 Object 2010hex Reset Node Modifiers 104 Object 2400 System Voltages 108
141. ID of the device that must perform the command in the case of Node ID 0 all nodes have to perform the command The NMT message trans mitted by the NMT master forces the nodes to transit to another NMT state The CANopen state machine specifies the states Initial ization Pre Operational Operational and Stopped After power on each CANopen device is in the state Initialization and automatically transits to the state Pre operational In this state transmission of SDOs is allowed If the NMT master has set one or more nodes into the state Operational they are allowed to transmit and to receive PDOs In the state Stopped no communication is allowed except that of NMT objects The state Initialization is divided into three sub states in order to enable a complete or partial reset of a node In the sub state Reset Application the parameters of the manufacturer specific profile area and the standardized device profile area are set to their power on values In the sub state Reset Communication the parameters of the D301087 0308 BL20 CANopen 2 3 Short description of CANopen communication profile area are set to their power on values The third sub state is initializing which a node enters automatically after power on Power on values are the last stored parameters The Heartbeat protocol is for error control purposes and signals the presence of a node and its state The Heartbeat message is a periodic message of the node to one or severa
142. In Class Zone 2 installations the BL20 Modular VO Bus Terminal Systems shall be mounted 3030839 Page 2 of 4 D301087 0308 BL20 CANopen 8 33 BL20 Approvals for Zone 2 Division 2 FM Approvals Messer of the FM Ge within tool secured enclosure which meet the requirements of CSA 60079 0 and CSA 60079 15 and is capable of accepting one or more of the Class Zone 2 wiring methods specified in the Canadian Electrical Code CSA C22 1 Where instalied in outdoor or potentially wet locations the enclosure shail at a minimum meet the requirements of IP54 Where installed in locations providing adequate protection against the entry of solid foreign objects or water capable of impairing safety the enclosure shall at a minimum meet the ts of IPAX 3 The BL20 Modules shail be installed on EN 50 022 NS35 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets Type BL20 WEW 35 2 SW Ident no 6827124 4 The input voltage for the BL20 2 channel digital relay modules shall be limited to 30 or de max contact voltage Equipment Ratings Nonincendive for Class I Division 2 Groups A B C and D Nonsparking Ex nA for Class I Zone 2 Group and Nonsparking and sealed AEx nA nC for Class I Zone 2 Group Hazardous Classified Locations Temperature Class T4 at an ambient of 0 C to 55 C FM Approved f
143. Index BL20 1CNT Count mode Operating mode Operating mode 5800 0 5 to 0 Release function 1 0 Digital input DI 1 Function DI 3 to 2 Synchronization 4 Main count direction 6 to 5 Count limits Lower count limit 6C01 Oxh 0to 3 Upper count limit 6C02 0to 3 Hysteresis 6B30 Oxh 0 to 1 Pulse duration DO1 5811 Oxh 0 to 1 hex DO2 4 246 D301087 0308 BL20 CANopen Objects Table 175 Module Parameter Object Sub Byte Bit Parameters ofthe Index BL20 1CNT Configuration Substitute value DO1 5801 0 0 Diagnostics DO1 1 Function DO1 4to2 Function DO2 7to5 Signal evaluation A B 1 1100 Sensor Input filter 2 Sensor Input filter B 3 Sensor Input filter DI 4 Sensor A 6to5 Direction input B 7 Group diagnostics 2 0 Behaviour CPU Master 5 to 4 STOP D301087 0308 BL20 CANopen 4 247 BL20 Communication in CANopen Table 175 Module Parameter Object Sub Byte Bit Parameters of the Index BL20 1CNT Measurement mode Operating mode Operating mode 5800 0 5 to 0 Digital input DI 1 1 Function DI 3 to 2 Measuring range limits Lower limit 5821 0to 3 Upper limit 5822 X Oxh 0 to 3 Integration time 5820 Oxh 0to 3 Sensor pulses per revo 5823 0 to 1 lution Configuration Substitute value DO1 5
144. No Error Mains voltage too 3110 System voltage too high high Mains voltage too 3120 Mains voltage System voltage too low too low low Field voltage too low 3320 Output voltage too low Field voltage too low Deviating configuration Additional modules module list adaptable change e g module removed l O configuration 707D Additional hex module list error modules incompatible change Deviating 707E Additional module list configuration modules extended module expansion Deviating configuration module removed TOTF Additional modules 1 module removed from I O module list CAN Warning Level reached 8100 Communication CAN communica tion faulty at least one of the error counters for the CAN controller of the BL20 CANopen gateway has reached the value 96 D301087 0308 BL20 CANopen 5 5 Diagnostics Emergency Frames Table 189 Diagnostics for the BL20 CANopen gateway Error Code Diagnostics Designation as per CiA DS 301 DS 401 Meaning CAN Transmit Timeout 8100 Communication The BL20 CANopen gateway was not able to transmit a frame within the specified time Life Guard Error or Heartbeat Error 8130 hex Life Guard error or Heartbeat error The BL20 CANopen gateway has detected an error in the CANopen Guarding o
145. O R NO Placement GZ 2725 0021 0710 01 12396700 B BL20 2D0 R CO Placement ZS 2725 0019 0710 01 12394200 BL20 2DO R NC Schematic ZS 2725 0020 0710 01 12394300 BL20 2DO R NO Schematic ZS 2725 0021 07 10 01 12396700 BL20 2DO R CO Schematic 337897 02 Gateway Lower part 338856 01 Gateway Upper part 430095 5 Gateway Locking Assy 430050 4 Gateway Cover 329434 04 Locking Foot 441532 02 Moulding Set 341525 03 Moulding Cover 229430 07 Electronic Moulding 329431 07 Moulding Cover 330094 3 Base Module 331333 3 Base Module tmex 0049 02 01 2008 Approval Label 2256460000 End Bracket 338003 2 End Plate BL20 installation instructions ATEX IEC BL20 MODULAR I O BUS TERMINAL SYSTEM IN ZONE 2 THIS CERTIFICATE MAY ONLY BE REPRODUCED IN ITS ENTIRETY AND WITHOUT CHANGE FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK 514 1RS 44 0 1753 750 000 F 44 0 1753 868 700 E mail atex fmapprovals com www fmglobal com FM F ATEX 029 Feb 07 D301087 0308 BL20 CANopen Page 6 of 6 BL20 Approvals for Zone 2 Division 2 ATEX IEC Rev 1 doc BL20 MODULAR I O BUS TERMINAL SYSTEM IN ZONE 2 Installation instructions to use approved BL20 devices of category 3 in zone 2 according to directive 94 9 EG respective the standards IEC EN 60079 15 2006 Ex Marking Label Material 7815 of 3M Label Material 7815 CSA accepted File 99316 See the CSA listings for details
146. Object code ARRAY PDO mapping Yes Sub index 00 Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 12 Data Type Unsigned16 Access rw Default value BL20 0000 4 134 0301087 0308 BL20 CANopen Objects Object 6326 Error Mode Output 32 Bit The object defines values in 32 bit groups A total of 9 groups each 32 bit can be defined 288 digital output channels It is possible to define for each digital output channel whether or not the output should take on a substitute value in the event of an error The rule is 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by an Error state output object e g 6327 Table 77 Feature Description Value Objects 6326 Name Error mode output 32 Bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 09 Data Type Unsigned32 Access rw Default value BL20 FFFF FFFF D301087 0308 BL20 CANopen 4 135 BL20 Communication in CANopen Object 6327 Error State Output 32 Bit The object defines values in 32 bit groups A total of 9 groups each 32 bit can be defined 288 digital output channels The substitute value is defined for each digital outp
147. Objects Structure of the data bytes in measurement mode Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO X X X CTRL SET X SW DO1 DO1 GATE X reserved Table 152 Meaning of the data bits A Unlike the physical digital output DOT output DO2 is only a data value that is indicated with the data bit STS_DO2 Designation Description 002 0 The virtual A output 002 is blocked 1 The virtual A output DO2 is released SET_DO2 If CTRL_DO2 1 and the virtual A output DO2 is set to indicate the value SET_DO2 DO2 can be set and reset directly with SET_DO2 The parameter definition of DO2 for this function can be carried out via object 5801 x The default setting for DO2 is to indicate the status of SET_DO2 DO1 0 The output DO1 is blocked 1 The output DO1 is released SET DO1 If CTRL_DO1 1 and the physical output DO1 is set to indicate the value SET DO1 can be set and reset directly with SET DO1 The parameter definition of DO2 for this function can be carried out via object 5801 The default setting for DO1 is to display the value of SET_DO1 CTRL SYN Release synchronization 1 0 1 rising edge at the physical DI input enables the counter value to be set synchro nized once periodically to the load value Single action periodical is selected in object 5800 0301087 0308 BL20 4 221 BL20 Communication in CAN
148. P BL20 GW EN IP Gateway for Ethernet IP BL20 PG EN IP Programmable Gateway for Ethernet IP BL20 PG EN Programmable Gateway for Modbus BL20 GWBR DNET BL20 GWBR CANOPEN BL20 2RFID A BL20 2RFID C BL20 2DO R NC BL20 2DO R NO BL20 2DO R CO Gateway for DeviceNet with internal 5V DC Bus Gateway for CANopen with internal 5V DC Bus 2 Channel RFID module asynchronous 2 Channel RFID module cyclic 2 channel digital output relay normally closed 2 channel digital output relay normally open 2 channel digital output relay change over Special Conditions for Safe Use f In Zone 2 installations the BL20 Modular I O Bus Terminal Systems shall be mounted within a tool secured enclosure which meets the requirements of EN 60079 0 and EN 60079 15 and is capable of accepting one or more of the Zone 2 wiring methods specified in EN 60079 14 Where installed in outdoor or potentially wet locations the enclosure shall at a minimum meet the requirements of IP54 Where installed in locations providing adequate protection against the entry of solid foreign objects or water capable of impairing safety the enclosure shall at a minimum meet the requirements of IP4X 2 The BL20 I O Modules shall be installed EN 50 022 35 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets Type BL20 WEW 35 2 SW Ident no 6827124 3
149. RS232 RS4xx TxD 5602 1 ton Transmit Encoder status 5802 6 1 ton Transmit Encoder flags 58031 1ton Transmit SSI Native status 5805 1 ton Transmit 4 32 D301087 0308 BL20 CANopen Transmission of Process Data Objects PDO Table 7 Name Index Sub index Direction Overview of mappable objects A Objects xxx1 SSI Optional 5806 1 ton Transmit and xxx2 will encoder status be generated if the number of Encoder control 5808 1ton Receive digital input or output chan Read input 8 bit 6000 1ton Transmit nels exceeds the value 128 Read input bit 6020 1ton Transmit or 256 respec 1 to 128 A tively Read input 16 bit 6100 1ton Transmit Read input 32 bit 6120 1ton Transmit Write output 8 bit 6200 1ton Receive Write output bit 622016 1 ton Receive 1 to 128 A Write output 16 bit 6300 1 ton Receive Write output 32 bit 6320 1 ton Receive Read analog input 6401 1 ton Transmit 16 bit Write analog output 6411 1 ton Receive 16 bit Position Value for 6820 1ton Transmit Multi Sensor Devices State register 6 00 1ton Transmit Area State register 6C00 x 1ton Transmit D301087 0308 BL20 CANopen 4 33 BL20 Communication in CANopen Procedure for Altering PDO Mappings The Communication Profile CiA DS 301 Version 4 defines a detailed procedure for altering PDO mappings For the BL20 gateway this results in t
150. Single diagnostics is not activated SDerr Group error slave error Activate slave diagnostics SD rRSX As soon as only one slave on the bus sets its error bit this is indicated as a group error depending on the parameter setting OA Inactive Group diagnostics is activated 1 Active Group diagnostics is not activated D301087 0308 BL20 CANopen 4 277 BL20 Communication in CANopen Byte Design Status Comment Byte 2 PKZuro PKZ error field Activate slave diagnostics info field PKZ ppSx As soon as a slave on the bus clears its PKZ bit this is indicated as an indi vidual error depending on the parameter setting OA Inactive Single diagnostics is activated 1 Active Single diagnostics is not activated PKZ amp rr Group PKZ error field Activate slave diagnostics PKZ RrRSX As soon as only one slave on the bus clears its PKZ bit this is indicated as an error depending on the parameter setting 0A Inactive Group diagnostics is activated 1 Active Group diagnostics is not activated TYP info Configuration error field As soon as a slave on the bus does not match the set configu ration and therefore cannot be started this is indicated as an individual error depending on the parameter set 0A Inactive Single diagnostics is activated 1 Active Single diagnostics is not activated 4 278 D301087 0308 BL20 CANopen Objects Byte Design
151. Systems shall be mounted within tool secured enclosure which meet the requirements of CSA 60079 0 and CSA 60079 15 and is capable of accepting one or more of the Class Zone 2 wiring methods specified in the Canadian Electrical Code CSA 22 1 Where installed in outdoor or potentially wet locations the enclosure shall at a minimum meet the requirements of IP54 Where installed in locations providing adequate protection against the entry of Ge DE vet ot safety the enclosure shall al minimum meet the requirements 3 The 81 20 Modules shall be installed on an 50 022 NS35 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets BL20 WEW 35 2 SW Ident no 6827124 BL20 Modular Bus Terminal System NI 1 2 ABCD T4 Ta 0 C to 55 C 1 2 Ex nA nC IIC T4 Ta 0 C to 55 C BL20 2DO R NC 2 channel digital output relay normally closed BL20 2DO R NO BL20 2DO R CO i it relay change over Special Conditions of Use 1 In Class I Division 2 installations the BL20 Modular O Bus Terminal Systems shall be mounted within a tool secured enclosure installed in accordance with the enclosure mounting spacing and segregation requirements of the ultimate application which is capable of accepling one or more of the Class 1 Division 2 wiring methods specified in the Canadian Electr cal Code CSA C22 1 2
152. Unsigned8 Access rw Default value BL20 0301087 0308 BL20 4 127 BL20 Communication in CANopen Object 6207 Error State Output 8 Bit The object defines values in 8 bit groups A total of 36 groups each 8 bit can be defined 288 digital output channels The substitute value is defined for each digital output channel The substitute values will only be used in the event of an error if 1 is entered an Error mode output object e g 6206 for the partic ular output channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched onif an error occurs Table 72 Feature Description Value Objects 6207 Name Error state output 8 Bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 24 Data Type Unsigned8 Access rw Default value BL20 00 4 128 D301087 0308 BL20 CANopen Objects Object 6250 Error Mode Output Bit 1 to 128 Object 6251 Error Mode Output Bit 129 to 256 Object 6252 Error Mode Output Bit 257 to 288 The objects defined the values bit wise Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6251 is used
153. XOFFChar XOFF 0 to 255 character XOFF character 19 A This character is used to start the data transfer of the data terminal device with software hands hake activated D301087 0308 BL20 CANopen 4 167 BL20 Communication in CANopen Object 5601 RS232 RS4xx RxD Process input data is data that is transmitted from the connected field device via the BL20 1RSxxx module to the communication partner e g PLC The data received from the device by the BL20 1RSxxx module is entered in a 128 byte receive buffer and then transferred in segments to the communication partner via the module bus and the gateway This is transferred in an 8 byte format as follows bytes or 7 bytes are used to contain the user data 1 byte contains the diagnostics data depending on the param eter setting 1 status byte is required to ensure trouble free transmission of the data Table 106 Feature Description Objects 5601 RS232 RS4xx RxD Object code ARRAY Data type Unsigned64 Access ro Default value No PDO mapping Yes 4 168 D301087 0308 BL20 CANopen Objects Structure of the data bytes with DisableReducedControl 1 in object 5600 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 STAT RX_BYTE_CNT Status Byte 1 BufOfl Frame HndSh Hw_ PrmErr X X X Diagnostics Err Err Failure Byte 2 Data byte 0 Byt
154. a 64 byte transmit buffer This is transferred in an 8 byte format as follows bytes or 7 bytes are used to contain the user data With the corresponding parameters 1 byte contains signals for triggering the clearing of the transmit and receive buffer 1 control byte is required to ensure trouble free transmission of the data Table 108 Feature Description Objects 5602 RS232 RS4xx TxD Object code ARRAY Data type Unsigned64 Access rw Default value No PDO mapping Yes 4 172 D301087 0308 BL20 CANopen Objects Structure of the data bytes with DisableReducedControl 1 in object 5600 Bit6 Bit5 Bit4 Bit2 Biti Bito Byte 0 STATR TX Status ES Byte 1 reserved RXBU TXBU 5 FFLUS FFLU Diagnostics 4 SH Byte 2 Data byte 0 Byte 7 Data byte 5 Structure of the data bytes with DisableReducedControl 0 in object 5600 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 STATR TX Status Byte 1 Data byte 0 Byte 7 Data byte 6 D301087 0308 BL20 CANopen 4 173 BL20 Communication in CANopen Table 109 Designation Value Description Meaning of the data bits for RS232 485 modules STATRES 0 1 The STATRES bit is used for resetting the STAT bit of the process input data object
155. agnostics BL20 2AI PT NI 2 3 Designation Byte 0 1 Byte 2 Byte 3 Byte 4 Meaning Error code Error register Extra info Extra info Load dumps at outputs Open circuit or 2310 Bit121 Module Channel number current too low current error number threshold posi tive converter limit value Output current too high 2323 Bit 1 1 Module Channel number Current too high current error number threshold approx 5 x only with temperature measuring ranges Output current out of range 2330 Bit 1 1 Module Channel number The current is current error number outside of the permissible range A Note or the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 5 3 D301087 0308 BL20 CANopen 5 13 Diagnostics Emergency Frames BL20 2AI THERMO PI Designation Byte 0 1 Byte 2 Byte 3 Byte 4 Meaning Error code Error register Extra info Extra info Al U voltage out of range Open circuit or 3003 Bit2 1 Module Channel number input voltage is voltage error number outside of the permissible range or the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 5 3 5 14 D301087 0308 BL20 CANopen 1 O Module Diagnostics BL20 4AI U I Designation Byte 0 1 Byte 2 Byte 3 Byte 4 Meaning Error code Error register
156. allationen an Orten die einen geeigneten Schutz gegen das Eindringen von oder Fl ssigkeiten bieten muss das Geh use mindestens IP4X Schutz erf llen lt Die BL20 I O Module werden auf einer 50 022 NS35 Tragschiene montiert wobei jede Gruppe rechts mit einer Abschlussplatte BL20 ABPL Ident Nr 6827123 und rechts und links mit Endwinkeln Typ BL20 WEW 35 2 SW Ident Nr 6827124 komplettiert wird 3 Die Eingangsspannung der 2 kanaligen digitalen BL20 Relaismodule darf 30VAC oder DC nicht berschreiten max Kontaktspannung Grundlegende Sicherheits und Gesundheitsanforderungen Die nicht durch die in dieser Bescheinigung aufgelisteten Normen abgedeckten grundlegenden Sicherheits und Gesundheitsanforderungen wurden im unter Punkt 8 genannten vertraulichen Bericht erfasst und bewertet Pr f und Bewertungsverfahren und Bedingungen Diese Baumusterpr fbescheinigung ist das Ergebnis einer Pr fung eines entsprechend den Bestimmungen der geltenden Norm en eingereichten Produktmusters sowie einer Auswertung weiterer Unterlagen Dies bedeutet nicht dass eine Bewertung der gesamten Produktion vorgenommen wurde Auch wenn diese Bescheinigung zur Unterst tzung des Antrages eines Herstellers auf Erteilung des CE Kennzeichens verwendet werden kann bernimmt FM Approvals Ltd keine Verantwortung daf r dass dieses Ger t die Anforderungen aller geltenden Richtlinien f r alle Anwendungen erf llt D
157. ance with the enclosure mounting spacing and 2 In Class Zone 2 installations the BL20 Modular I O Bus Terminal Systems shall be mounted within a tool secured enclosure which meets the requirements of ISA 60079 0 and ISA 60079 15 and is capable of accepting one or more of the Class Zone 2 wiring methods specified the National Electrical Code ANSUNFPA 70 Article 505 Where installed in outdoor or potentially wet locations the enclosure shall at a minimum meet the requirements of 54 Where installed in locations providing adequate protection against the entry of solid foreign objects or water capable of impairing safety the enclosure shall 8f a minimum meet the requirements of IP4X 3 The 81 20 Modules shall be installed on an EN 50 022 535 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets Type BL20 WEW 35 2 SW Ident no 6827124 BL20 Modular Bus Terminal System NI 1 2 ABCD T4 Ta 0 C to 55 C 1 2 AEx nA nC T4 Ta 0 C to 55 C BL20 2D0 RNO 2 channel digital output relay normally ope BL20200 R CO 2 channel digital output relay change over Special Conditions of Use 1 In Class Division 2 installations the 81 20 Modular VO Bus Terminal Systems shall be mounted within a tool secured enclosure installed in accordance with the enclosure mounting spacing and segregation requirements of
158. ant 0 Table 56 Object description Object 2400 INDEX 2400 System Voltages Object code ARRAY No of Elements 4 Data Type Unsigned16 Access ro Default Value No PDO mapping Yes 4 108 D301087 0308 BL20 CANopen Object Dictionary Object 2401 System Currents The object System Currents allows the reading of up to 4 system currents from the gateway Table 57 Object description Object 2401 INDEX 2401 System Currents Object code ARRAY No of Elements 4 Data Type Unsigned16 Access ro Default Value No PDO mapping Yes D301087 0308 BL20 CANopen 4 109 BL20 Communication in CANopen Objects Overview of the Objects The following table provides an overview all the I O module objects that are supported by the BL20 CANopen gateway Table 58 Overview of all BL20 I O module objects 4 110 Index Name Page 3000 Manufacturer specific objects for param page 4 193 to eter access for modules which are not 3097 defined in the device profile e g digital input modules with parameters combi modules 5420 Analog input mode page 4 117 manufacturer specific object 5440 Analog output mode page 4 117 manufacturer specific object 5801 Encoder config page 4 177 5802 Encoder status page 4 180 5803
159. ation Profile ANopen communication profile CiA DS 302 Framework for Programmable CANopen Devices CANopen Network Management NMT CiA DS 401 Device Profile for I O modules CiA DS 406 Device Profile for Encoders CANopen device profile for counter modules CiA DS 102 CAN Physical Layer for Industrial Applications General application in the field sector connectors and bit rates on the basis of ISO 11898 D301087 0308 BL20 CANopen CANopen Communication The lower layers of CANopen are defined according to the ISO OSI model in the ISO 11898 standard Communication between the individual nodes is made by transmit ting Telegrams 4 different types of telegram message are defined for CANopen Network management messages Service data objects SDO Process data objects PDO Predefined messages Network Management Messages Network management messages are used in the network to control the nodes and their operating states This type of message makes it possible for instance to configure the data transmission mecha nism of a node The Network Management objects include Boot up message Heartbeat protocol and NMT message Boot up message Heartbeat and Node Guarding are implemented as single CAN frames with 1 byte data field The NMT message is mapped to a single CAN frame with a data length of 2 byte Its identifier is 0 The first byte contains the command specifier and the second contains the Node
160. ation in CANopen Byte Design Status Comment Byte2 TYPgg Configuration If the TYPE rpA parameter is set for group diagnostics this bit indicates an error as soon as the ACTUAL configuration of a slave does not match the SET configuration for this position 0 OK The ACTUAL configuration fully matches the SET configuration or diagnostics function has been deacti vated via the parameter 1 faulty The actual configuration does not fully match set configuration Uayuxggg Voltage If the U uxerr parameter is activated UA egg Will generate an error message as soon as the power supply goes below the level at which the function of the relays is not guaranteed 0 OK Contactor supply voltage is o k gt 20 VDC or diagnostics function has been deactivated via this param eter 1 under Contactor supply voltage is not o k voltage lt 18 VDC 4 268 D301087 0308 BL20 CANopen Objects Byte Design Status Comment Byte 3 4 TYPgg Device configuration slave x Sx Info field for the individual indication of a configuration error as error message If the TYPE yroA parameter has been set for single diagnostics this bit field indicates the error as soon as the ACTUAL configuration of the slave was not accepted and is therefore not enabled for data exchange The diagnostics LED of the slave flashes 0 OK No configuration error is present and the sla
161. b index corresponds to the module number of the BL20 module A sub index can represent a maximum of 4 bytes Larger diag nostics data volumes are distributed on the following objects The sub index also belongs to the module number The following table shows the assignment of the diagnostics data bytes of the BL20 E 1SWIRE module to the manufacturer specific objects Byte no 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 8 diagnostic bytes of BL20 E 1SWIRE free Object no 3044 3045 3046 3047 in hex see page 4 271 see page 4 272 3042 only the first 2 bytes are shown 3040 only the first byte is shown U se the objects 3044 and 3045 to access all the diagnostics data 4 264 D301087 0308 BL20 CANopen Objects The diagnostics bytes of the BL20 E 1SWIRE module are repre sented completely with the objects 3044 and 3045 The sub index of the objects must correspond to the slot of the module in the BL20 slave The structure of the diagnostics data of the BL20 1SWIRE module is described in the following Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 1 GENE Uswerr free COMgg free free SWerr Byte2 free U uxerr free PKZerr free SDeRR free TYP Err field Byte 3 TYPgagS8 57 TYPegnS6 85 84 TYPerRS3 92 1 Byte 4 TYPerr TYPerr TYPerR
162. b index corresponds to the slot number of the respective module in a station Note Objects 3000 to 3097 enable direct access to the internal mod ule bus of the BL20 station Table 61 Feature Description Value Object 3064 Param Dword Object code ARRAY Data Type Unsigned32 Access rw Default value No PDO mapping No D301087 0308 BL20 CANopen 4 115 BL20 Communication in CANopen The structure of the 4 bytes of parameter data depends on the module concerned A sub index is assigned for each module The following explains the structure for each module type E BL20 4DI NAMUR Tabelle 5 Byte Bit Name Value Description Parameters BL20 4DI NAMUR 0 to 0 Input filter x 0 deactivated input A Default 1 filter 0 25 ms A settings activated input filter 2 5ms 1 Digital input x 0 normal 1 inverted 2 Short circuit 0 deactivate monitoring x 1 activate 3 Short circuit 0 deactivate diagnosis x 1 activate 4 Open circuit deactivate monitoring x activate 5 Open circuit deactivate diagnosis x activate 6 Input on diag output substitute nostic x value A hold current value 7 Substitute value on diag on x 4 116 D301087 0308 BL20 CANopen Objects Object 6000 Read Input 8 Bit The object presents the values for the digital input modules in 8 bit groups
163. ble Register 196 Object 6 02 CAM Polarity Register 197 Object 6B10hex Low 198 Object 6B20hex High Limit 2 198 Objects for 199 General Overview for Counter Objects 199 Object 5800hex Encoder Basic 201 Object 5801hex Encoder Config 205 Object 5802hex Encoder Status 210 Object 5803hex Encoder Flags eee 212 Object 5804hex Encoder Diag 215 Object 5808hex Encoder Control 220 Object 5810hex Encoder Load Prepare Value 223 Object 5811hex Encoder Pulse Width 224 Object 5820hex Measuring Integration Time 225 Object 5821hex Measuring Low Limit 227 Object 5822hex Measuring High Limit 228 Object 5823hex Measuring Units Per Revolution 229 Object 6800hex Operating Parameters 230 Object 6810hex Load Value For Multi Senso
164. c environment without fault and without exerting a negative influence on its environment EN German acronym for European Standard ESD Electrostatic Discharge Field power supply Voltage supply for devices in the field as well as the signal voltage Fieldbus Data network on sensor actuator level A fieldbus connects the equipment on the field level Characteristics of a fieldbus are a high transmission security and real time behavior Force Mode Software mode which enables the user to set his plant to a required state by forcing certain variables on the input and output modules GND Abbreviation of ground potential 0 Ground Expression used in electrical engineering to describe an area whose electrical potential is equal to zero at any given point In neutral grounding devices the potential is not necessarily zero and one speaks of the ground reference Ground connection One or more components that have a good and direct contact to earth Ground reference Potential of ground in a neutral grounding device Unlike earth whose potential is always zero it may have a potential other than zero D301087 0308 BL20 CANopen H Hexadecimal System of representing numbers in base 16 with the digits 0 9 and further with the letters A B C D E and F Hysteresis A sensor can get caught up certain point and then waver at this position This condition results in the counter content fluctuating around a
165. cts PDO Meaning TPDOs COB ID TPDO 4th group analog input channels PDO13 C000 01A0 Node ID Channels 12 to 15 1800 5th group analog input channels PDO14 C000 02A0 Node ID Channels 16 to 19 180D ex 6th group analog input channels PDO15 000 03A0 ex Node ID Channels 20 to 23 180E 7th group analog input channels PDO16 C000 04A0 Node ID Channels 24 to 27 180F 1st group RSxx I Os Channel 0 PDO18 C000 0000 1811 1st group RSxx I Os Channel 1 PDO19 C000 0000 1812 hex Overview of the BL20 specific RPDOs Meaning RPDOs COB ID RPDO 2nd group digital output channels Bits 64 to 127 PDO5 1804 hex 8000 0240 Node ID 8rd group digital output channels Bits 128 to 191 PDO6 1805pex 8000 0340 Node ID 4th group digital output channels Bits 192 to 255 PDO7 1806 hex 8000 0440 Node ID 5th group digital output channels Bits 256 to 319 PDO8 1807 8000 0540 Node ID 1st group encoders Channels 0 1 PDO9 1808 hex 8000 0260 Node ID 2nd group encoders Channels 2 3 PDO10 1809 hex 8000 0360 Node ID 3rd group encoders Channels 4 5 PDO11 180A hex 8000 0460 Node ID D301087 0308 BL20 CANopen 4 29 BL20 Communication in CANopen Meaning RPDOs COB ID RPDO Ath group encoders C
166. d by the identifier COB ID The values are already entered by default for objects 1800hex to 1803hex and 1A00hex to 1A03hex A station with up to 64 digital inputs and 12 analog inputs therefore transfers the process input data automatically via TPDOs Object 1800 to 181 Transmit PDO Parameters Objects 1800 to 1814 define the priority the transmission type the inhibit time and the event timer for TPDO1 to TPDO32 The priority is defined via the identifier COB ID see Identifier for the Standard Objects page 4 10 in sub index 01 With the highest bit of sub index 01 the further content can be defined as valid invalid The transmission type is defined in sub index 02 Possible trans mission type can be found in Table 39 The inhibit time is defined in sub index The event timer is defined in sub index 05 x Which data content is to be transferred with the RPDO1 to RPDO32 is defined with the objects 1A00hex to 1A1Fhex Table 37 Object 1800 to 181F rex Object description INDEX 1800 to 181F x Name Transmit PDO parameters Object code RECORD D301087 0308 BL20 CANopen 4 83 BL20 Communication in CANopen Table 37 Object description Object 1800 to 181F Data Type PDO CommPar Value description Sub index 00 Description highest sub index used Access ro PDO mapping No Value range BL20 5 Default value BL20 N
167. d byte 1 of a BL20 module within the station Attention A T he sub index corresponds to the slot number of the respective module in a station Table 190 Feature Description Value Object 3042 Name XBI Diag Word Object code ARRAY Data Type Unsigned16 Access ro Default value No PDO mapping No The structure of the 2 bytes of diagnostic data depends on the module concerned 5 8 D301087 0308 BL20 CANopen Diagnostics BL20 4DI NAMUR Table 191 Diagnosis Bit Diagnostic Bytes byte for BL20 4DI NAMUR Diagnosis short circuit sensor 1 open circuit sensor 1 short circuit sensor 2 open circuit sensor 2 short circuit sensor 3 open circuit sensor 3 OJN short circuit sensor 4 open circuit sensor 4 D301087 0308 BL20 CANopen 5 9 Diagnostics Emergency Frames Digital Output Modules Designation Byte 0 1 Byte 2 Byte 3 Byte 4 Meaning Error code Error register Extra info Extra info Load dumps at outputs Open circuit or 2310 Bit121 Module Channel number current too low current error number threshold posi tive converter limit value Output current out of range 2330 Bit1 1 Module Channel number The current is current error number outside of the permissible range A Note or the exact byte assignment of the Emergency frame please se
168. d in the same way The meaning of the data of an SWIRE slave depends on the product concerned 4 262 D301087 0308 BL20 CANopen Objects Meaning of the 4 bit process output data on an SWIRE DIL device Bit 7 Bit 6 Bit 5 Bit 4 free free free SOx The following table shows the meaning of the data bits Table 178 Designa Status Comment Meaning of the tion data bits SOx Relay x relay x SOx is transferred as the switch status of the contactor coil from the SWIRE bus master to the appropriate SWIRE bus slave 0 OFF OFF Contactor not switched on 1 ON ON Contactor is switched on D301087 0308 BL20 CANopen 4 263 BL20 Communication in CANopen Representation of diagnostics data The 8 bytes of diagnostics data for the BL20 E 1SWIRE module are represented by the manufacturer specific objects of the CANopen gateway The following manufacturer specific objects for representing the diagnostics data are used 3040hex XBI Diag Byte ARRAY Unsigned8 3042hex XBI Diag Word ARRAY Unsigned16 3044hex XBI Diag Dword ARRAY Unsigned32 3045hex XBI Diag Dword2 ARRAY Unsigned32 3046hex XBI Diag Dword3 ARRAY Unsigned32 3047hex XBI Diag Dword4 ARRAY Unsigned32 The objects have the following structure The objects have a maximum 74 sub indexes This number corresponds to the number of modules that are present on a BL20 station The su
169. der to activate the status message for the comparison result Table 163 Feature Description Object 6BO1 Name CAM 1 Enable Register Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index 01 47 hex Data type Unsigned8 Access rw Default value No D301087 0308 BL20 CANopen 4 235 BL20 Communication in CANopen Structure of the data byte Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 x x x x x x X EN CAM1 X reserved Table 164 Designation Description Meaning of the data bits EN 0 The object 6B00 is blocked 1 The object 6B00 is released Object 6 02 CAM Polarity Register The object CAM Polarity register can invert the status message for the comparison result with object 6BOO Table 165 Feature Description Object 6B02 Name CAM Polarity Register Object code ARRAY PDO mapping No Sub index 00 Data type Unsigned8 Access ro Default value No Sub index Ot nex 47 hex Data type Unsigned8 Access rw Default value 0 hex 4 236 D301087 0308 BL20 CANopen Objects Structure of the data byte Bit7 Bit6 Bit5 Bit4 Bit2 Bit1 x x x x x x X POL 1 X reserved Table 166 Designation Description Meaning of the data bits POL 0 The status message of the obj
170. der value of the BL20 1SSI module The content of the object 6810 Preset values for multi sensor devices contains a value that is added to correct the measured value for a zero point adjustment Table 128 Objects 6820 Feature Description Name Position value Object code ARRAY Data type Integer32 Access ro Default value No PDO mapping Yes 4 194 D301087 0308 BL20 CANopen Objects Object 6B00 CAM State Register The object CAM State register indicates in accordance with DS406 whether the actual counter status is within the range defined by Low limit and High limit object 6B10 and 6B20 Table 129 Feature Description Objects 6 00 State register Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes Table 130 Value Meaning Meaning of the data byte A Ifobject CAM 00 The actual SSI encoder value is outside of Polarity register 01 A the range defined by CAM1 Low limit and 6 02 CAM High limit or the comparison function OThew an inversi is not activated on will be carried out 01 actual SSI encoder value is outside of 00 A the range defined by CAM1 Low limit and CAM1 High limit or the comparison function is not activated D301087 0308 BL20 CANopen 4 195 BL20 Communication in CANopen Object 6B01 CAM Enable Regi
171. e Structure of the Emergency Frames page 5 3 5 10 D301087 0308 BL20 CANopen 1 O Module Diagnostics Analog Input Modules BL20 xAI I 0 4 20MA Designation Byte 0 1 Byte 2 Byte 3 Byte 4 Meaning Error code Error register Extra info Extra info Input current too high The input 2110 Bit1 1 Module Channel number current is current error number for multi channel outside of the modules permissible range A Input current too low Open circuit or 2130 Bit1 1 Module Channel number input current current error number for the measuring range 4 to 20 mA too low The threshold is A The threshold for this error message is 1 over the upper measuring range value 1 below the lower measuring range value or the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 5 3 D301087 0308 BL20 CANopen 5 11 Diagnostics Emergency Frames BL20 xAl U 10 0 r10VDC Designation Byte 0 1 Byte 2 Byte 3 Byte 4 Meaning Error code Error register Extra info Extra info Al U voltage out of range The input 3003 Bit2 1 Module Channel number voltage is voltage error number outside of the permissible range or the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 5 3 5 12 D301087 0308 BL20 CANopen 1 O Module Di
172. e 2 Division 2 Certified BL20 Components N Attention nly the BL20 components listed in the following are approved for the usage in Zone 2 Division 2 Gateways BL20 GWBR PBDP BL20 GWBR DNET BL20 GWBR CANOPEN BL20 GW DPV1 BL20 GW EN BL20 GW EN IP BL20 PG EN IP BL20 PG EN Digital input modules BL20 2DI 24VDC P BL20 2DI 24VDC N BL20 4DI 24VDC P BL20 4DI 24VDC N BL20 4DI NAMUR BL20 32DI 24VDC P BL20 E 8DI 24VDC P BL20 E 16DI 24VDC P Analog input modules BL20 2AI 1 0 4 20MA BL20 2Al U 10 0 10VDC BL20 2AI PT NI 2 3 BL20 2AI THERMO PI BL20 4AI U I 8 2 D301087 0308 BL20 CANopen Certified BL20 Components Industri A Digital output modules BL20 2DO 24VDC 0 5A P BL20 2DO 24VDC 0 5A N BL20 2DO 24VDC 2A P BL20 4DO 24VDC 0 5A P BL20 16DO 24VDC 0 5A P BL20 32DO 24VDC 0 5A P BL20 E 8DO 24VDC 0 5A P BL20 E 16DO 24VDC 0 5A P Analog output modules BL20 2AO I 0 4 20MA BL20 2AO U 10 0 10VDC Relay modules BL20 2DO R NC BL20 2DO R NO BL20 2DO R CO Technology modules BL20 1CNT 24VDC BL20 1RS232 BL20 1RS485 422 BL20 1SSI Power supply modules BL20 BR 24VDC D BL20 PF 24VDC D RFID modules BL20 2RFID A BL20 2RFID C D301087 0308 BL20 CANopen 8 3 BL20 Approvals for Zone 2 Division 2 Certificates for Europe Type Examination Certificate TYPE EXAMINATION CERTIFICATE 2 Equipment or Protective systems intended for use in Potentially Explosiv
173. e 7 Data byte 5 Structure of the data bytes with DisableReducedControl 0 in object 5600 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 STAT TX CNT RX BYTE CNT Status Byte 1 Data byte 0 Byte 7 Data byte 6 D301087 0308 BL20 CANopen 4 169 BL20 Communication in CANopen Table 107 Designation Value Description Meaning of the data bits for RS232 485 modules STAT 0 1 1 Communication with the data terminal device is OK 0 Communication with the data terminal device is faulty A diagnos tics signal is sent if DisableDiagnos tics 0 diagnostics activated The diagnostics data indicates the cause of the communication fault This bit must be reset by the user with STATRES in the process output data field object 5602 TX_CNT_ACK 0 3 The value TX_CNT_ACK is a copy of the value TX_CNT The value TX_CNT was transferred together with the last data segment of the process output data The value TX_CNT_ACK is a confir mation of successful acceptance of the data segment using TX_CNT RX_CNT 0 3 The value RX_CNT is linked and transferred together with every data segment of the process input data The sequence of the RX_CNT values is 00 gt 01 gt 10 gt 11 gt 00 decimal 0 gt 1 gt 2 gt 3 gt 0 A faulty sequence indicates that data segments are missing RX_BYTE_CNT 0 7 Number of valid bytes in this data segment Bu
174. e Atmospheres Directive 94 9 EC Type Examination Certificate No FMO7ATEX0040X Equipment or protective system BL20 Modular I O Bus Terminal System Type Reference and Name 5 Name of Applicant Hans Turck GmbH amp Co KG 6 Address of Applicant Witzlebenstrasse 7 DE 45472 M lheim an der Ruhr GERMANY 7 This equipment or protective system and any acceptable variation thereto is specified in the schedule to this certificate and documents therein referred to 8 FM Approvals Ltd certifies that this equipment has been found to comply with the Essential Health and Safety Requirements relating to the design and construction of equipment intended for use in potentially explosive atmospheres given in Annex II to the Directive The examination and test results are recorded in confidential report number 3030839EC dated 21 January 2008 9 Compliance with the Essential Health and Safety Requirements with the exception of those identified in item 15 ofthe schedule to this certificate has been assessed by compliance with the following documents EN 60079 0 2006 and EN 60079 15 2005 10 Ifthe sign X is placed after the certificate number it indicates that the equipment is subject to special conditions for safe use specified in the schedule to this certificate 11 This Type Examination certificate relates only to the design examination and tests of the specified equipment or protective system in accordance to the directive 94 9 EC Further requirem
175. e RECORD Data Type PDO CommPar Value description Sub index Description maximum number of entries Access ro PDO mapping No Value range BL20 2 Default value BL20 02 Sub index 01 Description COB ID for the PDOs see Table 33 Access rw D301087 0308 BL20 CANopen 4 75 BL20 Communication in CANopen Table 32 Object description Object 1400 to 141F rex PDO mapping No Value range BL20 Unsigned32 Default value BL20 Index 1400 x 0000 0200 Node ID Index 1401 0000 0300 Node ID Index 1402 0000 0400 Node ID Index 1403 0000 0500 Node ID Index 14044 to 141F blocked Sub index O2 nex Description Transmission type see Table 34 Access rw PDO mapping No Value range BL20 Unsigned8 Default value BL20 4 76 D301087 0308 BL20 CANopen Object Dictionary Structure of the COB ID entry MSB LSB Bits 31 30 29 28 to 11 10t00 11 bit ID 0 1 0 1 0 00 0000 0000 0000 0000 11 bit identifier 29 bit ID 0 1 0 1 1 29 bit identifier Table 33 Bit number Value Meaning Description ofthe COB ID entry 31 msb 0 PDO exists is valid 1 PDO does not exist is invalid 30 0 RTR is possible in this PDO 1 RTR is not possible in this PDO 29 0 11 bit ID CAN 2 0A Standard appli cation y 29 bit ID CAN 2 0B 28 to 11 0 if bit 29 0 Standard application
176. e VAR Data Type Unsigned8 Value range Access ro PDO mapping Optional Value range Unsigned8 Default value BL20 00 hex Error register Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 generic current voltage 0 Comm 0 0 Manu Abbreviations Abbr Meaning Valid for Modules generic General error all current Output short circuit DO AI TC Current error voltage Voltage error PF DO Al AO Comm Communication error all Manu Manufacturer specific all error 4 48 D301087 0308 BL20 CANopen Object Dictionary Object 1005 SYNC COB ID Object 1005 defines the COB ID for the Synchronization Object SYNC The BL20 CANopen gateway not generate SYNC messages only receive them Structure of the SYNC COB ID entry Unsigned32 MSB LSB Bits 31 30 29 28 to 11 10t00 11 bit ID x 0 0 00 0000 0000 0000 0000 11 bit identifier 29 bit ID x 0 1 29 bit identifier Table 15 Bit Value Description Description of the number SYNC COB ID entry 31 MSB X fixed 30 0 Module does not generate a SYNC message 1 Module generates a SYNC message 29 0 11 bit ID CAN 2 0A for BL20 1 29 bit ID CAN 2 0B 28to11 0 if Bit 29 0 X if Bit 29 1 Bits 28 to 11 of the SYNC COB ID 10100 X Bit 10 to 0 of the SYNC COB ID LSB B it 30 is static i e cannot be changed D301087 0308 BL20 CANopen 4 49 BL20 Communication in CANo
177. e arrestors Varistors and overvoltage arrestors must be installed at the point where the cables enter the building Transmission Cables The slaves on the bus are connected to one another with fieldbus lines that correspond to the DeviceNet specification ODVA Spec Rel V2 0 D301087 0308 BL20 CANopen 7 3 7 4 Guidelines for Electrical Installation The bus cables must be terminated at the beginning and end with a bus terminating resistor This can be connected via the number 4 DIP switch on the gateway Figure 13 4 228 2 2 y Representation of Rt t T Rt a bus cable terminating 1 1 1 terminating resistor resistor StaionO Stationx Station 63 Cable Types TURCK offers a variety of premoulded bus cables please refer to the BL20 catalog TURCK documentation number 0300418 D301087 0308 BL20 CANopen Potential Relationships Potential Relationships General The potential relationship of CANopen system realized with BL20 modules is characterized by the following system s power supply to the gateway I O modules and the field level is distributed via a Bus Refreshing module All BL20 modules gateway Bus Refreshing Power Feeding and modules are connected capacitively via base modules to the mounting rails Separate power supplies for the system and
178. e message had been missing for 300 ms Table 21 Object 100D ye Object description INDEX 1000 Lifetime factor Object code VAR Data Type Unsigned8 Value range Access rw PDO mapping No Value range BL20 Unsigned8 Default value BL20 0 D301087 0308 BL20 CANopen 4 55 BL20 Communication in CANopen Object 1010 Store Parameters The object 1010 can be used to save parameter changes in non volatile memory The command is executed by writing the data contents 0x6576 6173 save to one of the Sub indices Table 22 Object description Object 1010 INDEX 1010 Store parameters Object code Shex Data Type Unsigned32 Value description Sub index Description highest supported sub index Access ro PDO mapping No Sub index Olpex Description Save all parameters Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 1 4 56 D301087 0308 BL20 CANopen Object Dictionary Table 22 Object 1010 Object description Value description Sub index 02 Description Save communication parameters Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 1 Sub index Description Save application parameters Access rw PDO mapping No Value range BL20 Unsigned32 Default va
179. ean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6261 is used If more than 256 output channels are present then object 6262 is used Since the number of digital input channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 6262 The substitute value is defined for each digital output channel The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object e g 6250 6251 and 6251 for the particular output channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs D301087 0308 BL20 CANopen 4 131 BL20 Communication in CANopen Table 74 Objects 6260 6261 hex 6262hex Feature Description Value Name Error state output bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 80 Data Type Boolean Access rw Default value BL20 0 4 132 D301087 0308 BL20 CANopen Objects Object 6306 Error Mode Output 16 Bit The object defines values in 16 bit groups A total of 18 groups each 16 bit can be defined 288 digital output channels It is possible t
180. eb 07 D301087 0308 BL20 CANopen ND WITH CHANGE Page 4 of 6 BL20 Approvals for Zone 2 Division 2 8 8 Hos FM F ATEX 029 Feb 07 FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK 514 185 44 0 1753 750 000 F 44 0 1753 868 700 E mail atex fmapprovals com www fmalobal com SCHEDULE to Type Examination Certificate No FMO7ATEX0040X Drawing No Revision Title Description EZ 2725 0025 0711 02 07297100 07 06 2006 BL20 2AO U 10 0 10VDC Layout GZ 2725 0025 0710 01 12394600 A BL20 2A0 U 10 0 10VDC Placement ZS 2725 0025 0710 01 12394600 B BL20 2AO U 10 0 10VDC Schematic EZ 2725 0050 0711 04 07298300 A BL20 2A0 1 0 4 20mA Layout GZ 2725 0050 0710 01 12395800 D BL20 2AO I 0 4 20mA Placement ZS 2725 0050 0710 01 12395800 D BL20 2A0 1 0 4 20mA Schematic EZ 2725 0043 0711 04 07297900 30 06 2006 BL20 1CNT 24VDC Layout GZ 2725 0043 0710 01 12395400 G BL20 1CNT 24VDC Placement ZS 2725 0043 0710 01 12395400 G BL20 1CNT 24VDC Schematic EZ 2725 0058 0711 03 07299500 03 07 2006 BL20 1RS232 Layout AWA 2725 0058 0710 01 07600020 24 08 04 XN RS232 Modification gt 62 2725 0058 0710 01 12397000 BL20 1RS232 Placement 25 2725 0058 0710 01 12397000 C BL20 1RS232 Schematic EZ 2725 0026 0711 02 07297200 06 06 2006 BL
181. ect 5601hex irrespective of DisableDia gnostics Byte 0 contains the status and control byte Bytes 2 to 7 are available for the user data The structure of the object 5602hex is also changed by this setting At the location of the first data byte byte 1 of the object 5602hex contains a byte with two control bits These can initiate a clearing of the receive and transmit buffer D301087 0308 BL20 CANopen 4 165 BL20 Communication in CANopen Parameter Value Meaning BitRate 0000 reserved 0001 300 bps 0010 600 bps 0011 1200 bps 0100 2400 bps 0101 4800 bps 0110 9600 bpsA 0111 14400 bps 1000 19200 bps 1001 28800 bps 1010 38400 bps 1011 57600 bps 1100 115200 bps 1101 reserved 1110 reserved 1111 reserved FlowControl 00 none 01 XON XOFF 10 RTS CTS 11 reserved Data bits 0 7A 1 8 Parity 00 01 odd The parity bit is set so that the number of bits set to 1 data and parity bit together is odd A 10 even The parity bit is set so that the number of bits set to 1 data and parity bit together is even Stop bits 0 1 1 2A 4 166 D301087 0308 BL20 CANopen Objects Parameter Value Meaning XONChar character 0 to 255 XON character 17 A This character is used to start the data transfer of the data terminal device with software hands hake activated
182. ect 6B00 is not inverted 1 The status message of the object 6BO00 is inverted Object 6 10 CAM1 Low Limit The object 6B10 corresponds to reference value2 of the BL20 counter module The following comparisons can be configured 5801 Count value 2 reference value2 Count value reference value2 Count value reference value2 The object is the same as object 6310 in accordance with CiA DS 406 which defines a lower switch limit for the count range The refe rence value2 must be a lower limit if evaluation is to be carried out using object 6B00 Object 6 10 is assigned to output 002 hex Note he object 6B10 is only valid if the counter module is operating in count mode D301087 0308 BL20 CANopen 4 237 BL20 Communication in CANopen Table 167 Feature Description Object 6B10 Name Low Limit Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index 01 nex 47 nex Data type Unsigned32 Access rw Default value No Object 6B20 CAM1 High Limit The object 6 20 corresponds to reference value1 of the BL20 counter module The following comparisons can be configured 5801 Count value gt reference value Count value lt reference value1 Count value reference value1 The object is the same as object 6320 in accordance with CiA DS
183. ed Modules and Gateway Modules The bus has an upper operational limit but this can be increased by use of an intermediate power feed module User connections are only made to the Gateway modules and to the signal terminals on the individual modules BL20 Modular I O Bus Terminal System Module Description BL20 2DI 24VDC P 2 channel digital input modules pnp BL20 2DI 24VDC N 2 channel digital input modules npn BL20 4DI 24VDC P 4 channel digital input modules pnp BL20 4DI 24VDC N 4 channel digital input modules npn BL20 4DI NAMUR 4 channel digital input modules NAMUR input BL20 32DI 24VDC P 32 channel digital input modules pnp BL20 2A I 0 4 20MA 2 channel analogue input module current BL20 2Al U 10 0 10VDC _ 2 channel analogue input module voltage BL20 2AI PT NI 2 3 2 channel analogue input module platinum and nickel resistance elements BL20 2AI THERMO PI 2 channel analogue input module thermoelements BL20 4AI U I 4 channel analogue input module current or voltage BL20 2DO 24VDC 0 5A P 2 channel digital output 0 5A pnp BL20 2DO 24VDC 0 5A N 2 channel digital output 0 5A npn BL20 2DO 24VDC 2A P 2 channel digital output 2 0A pnp BL20 4DO 24VDC 0 5A P 4 channel digital output 0 5A pnp BL20 16DO 24VDC 0 5A P 16 channel digital output 0 5A pnp
184. ed as a multiple of 1 ms Table 27 Object 1017 Object description INDEX 1017 Producer heartbeat time Object code VAR Data Type Unsigned16 Value description Access rw PDO mapping No Value range BL20 Unsigned16 Default value BL20 0 4 64 D301087 0308 BL20 CANopen Object Dictionary Object 1018 Identity Object Object 1018 contains general information about the BL20 gateway The Vendor ID Sub index 01 is a unique ID which precisely iden tifies the manufacturer The manufacturer specific Product Code Sub index 02 identifies a specific device version The manufac turer specific Revision Number Sub index 03 consists of a major revision number and a minor revision number The major revi sion number defines a special CANopen functionality If the CANopen functionality is expanded then the major revision number must be incremented The minor revision number identifies various versions that have the same CANopen functionality MSB LSB Bits 31 to 16 15to 0 Value Major revision number minor revision number Table 28 Object description Object 1018 INDEX 1018 Device specification Object code RECORD Data Type Identity Value description Sub index 00 4 Description Number of entries Category Mandatory Access ro PDO mapping No Default value BL20 4 D301087
185. ement ZS 2725 0050 0710 01 12395800 D BL20 2AO I 0 4 20mA Schematic EZ 2725 0043 0711 04 07297900 30 06 2006 BL20 1CNT 24VDC Layout GZ 2725 0043 0710 01 12395400 G BL20 1CNT 24VDC Placement ZS 2725 0043 0710 01 12395400 G BL20 1CNT 24VDC Schematic EZ 2725 0058 0711 03 07299500 03 07 2006 BL20 1RS232 Layout AWA 2725 0058 0710 01 07600020 24 08 04 XN RS232 Modification GZ 2725 0058 0710 01 12397000 B BL20 1RS232 Placement ZS 2725 0058 0710 01 12397000 BL20 1RS232 Schematic EZ 2725 0026 0711 02 07297200 06 06 2006 BL20 BR 24VDC D Layout GZ 2725 0026 0710 01 12394700 A BL20 BR 24VDC D Placement ZS 2725 0026 0710 01 12394700 B BL20 BR 24VDC D Schematic EZ 2725 0073 0711 04 07299900 06 06 2006 BL20 E 8DI 24VDC P Layout EZ 2725 0075 0711 04 07300100 07 06 2006 BL20 E 16DI 24VDC P Layout GZ 2725 0073 0710 01 12397400 BL20 E 8DI 24VDC P Placement GZ 2725 0075 0710 01 12397600 BL20 E 16DI 24VDC P Placement ZS 2725 0073 0710 01 12397400 BL20 E 8DI 24VDC P Schematic ZS 2725 0075 0710 01 12397600 BL20 E 16DI 24VDC P Schematic EZ 2725 0074 0711 05 07300000 06 06 2006 BL20 E 8DO 24VDC 0 5A P Layout EZ 2725 0076 0711 03 07300200 07 06 2006 BL20 E 16DO 24VDC 0 5A P Layout GZ 2725 0074 0710 01 12397500 BL20 E 8DO 24VDC 0 5A P Placement GZ 2725 0076 0710 01 12397700 B BL20 E 16DO 24VDC 0 5A P Placement ZS 2725 0074 0710 01 12397500 BL20 E 8DO 24VDC 0 5A P Schematic ZS 2725 0076 0710 01 12397700 B BL20 E 1
186. ents of the Directive apply to the manufacturing process and supply of this equipment or protective system These are not covered by this certificate 12 The marking of the equipment or protective system shall include 136 4 0 to 55 3G 1 74 0 to 55 Relay Modules only ibus dia General Manager FM Approvals Ltd Issue date 217 January 2008 THIS CERTIFICATE MAY ONLY BE REPRODUCED IN ITS ENTIRETY AND WITHOUT CHANGE FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK 514 185 44 0 1753 750 000 44 0 1753 868 700 E mail atex fmapprovals com www fmglobal com FM F ATEX 029 Feb 07 Page 1 of 6 8 4 D301087 0308 BL20 CANopen Certificates for Europe 13 SCHEDULE to Type Examination Certificate No 07 0040 Description of Equipment Protective System The BL20 I O Bus Terminal System is a modular system and offers gateways for communication with bus system such as PROFIBUS DeviceNet and CanOpen There are a number of I O modules both digital and analogue for connection to unspecified field devices In addition to the analogue and digital modules there are a number of modules for specific applications such as a counter RS232 interfaces and for relay outputs The modules plug in to bases which are used to mount the modules and which also carry the electrical power and signals via the bus to the Power Fe
187. er 1 00 ARRAY nd transmit PDO rw O PDO mapping mapping page 4 89 1A01 ARRAY 2nd transmit PDO rw PDO mapping mapping page 4 89 1 02 ARRAY 3rd transmit PDO rw PDO mapping mapping page 4 89 1A1F ex ARRAY 32nd transmit PDO rw mapping mapping page 4 89 NMT Master related Objects 1F80 NMT startup Unsigned32 rw 4 92 1F81 ARRAY Slave Unsigned32 rw assignment page 4 94 1F82 ARRAY Request Unsigned rw 4 98 1F83 ARRAY Request Unsigned8 rw guarding page 4 101 4 46 D301087 0308 BL20 CANopen Object Dictionary Object 1000 Device Type Object 1000 contains the Type and the Function of the BL20 station The value FFFF 0191 indicates that all Device Profiles are supported Table 13 Object description Object 1000 INDEX 1000 ex Name Device type Object code VAR Data Type Unsigned32 Value range Access ro PDO mapping No Value range Unsigned32 Default value BL20 FFFF 0191 D301087 0308 BL20 CANopen 4 47 BL20 Communication in CANopen Object 1001 Error Register Object 1001 contains the Error register for the BL20 CANopen gateway It thus contains in one byte the internal errors that occur Table 14 Object description Object 1001 re INDEX 1001 Error register Object cod
188. eriods is defined by the Integration time parameter Write accesses initiate a parameter update on the BL20 internal module bus The parameter is stored retentively in the gateway and is restored with every node reset Note he object 5820 is only valid if the counter module is operating in measurement mode Table 155 Feature Description Object 5820 Measuring Integration Time Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index Ot nex 47 hex Data type Unsigned32 Access rw Default value No 4 226 D301087 0308 BL20 CANopen Objects Object 5821 Measuring Low Limit Object 5821 is used to set the lower measuring limit for the counter module Permissible value range 0 to 16777214 Write accesses initiate a parameter update on the BL20 internal module bus The parameter is stored retentively in the gateway and is restored with every node reset Note The object 5821 is only valid if the counter module is operating in measurement mode Table 156 Feature Description Object 5821 nex Name Measuring Low Limit Object code ARRAY PDO mapping No Sub index 0044 Data type Unsigned8 Access ro Default value No Sub index O14 nex 47 hex Data type Unsigned32 Access rw Default value No D301087 0308 BL20 CANopen 4
189. ertificate are as follows BL20 1 0 Bus Terminal System is a modular system and offers gateways for communication with bus system such as PROFIBUS DeviceNet and CanOpen There are a number of I O modules for both digital and analogue for connection to unspecified field devices In addition to the analog and digital modules there are a number of modules for specific applications such as a counter or RS232 interfaces and for relay outputs The modules plug in to bases which are used to mount the modules and which also carry the electrical power and signals via the bus to the Power Feed Modules and Gateway Modules The bus has a maximum operational limit but this can be increased by use of an intermediate power feed module User connections are only made to the Gateway modules and to the signal terminals on the individual modules CONDITIONS OF CERTIFICATION YES as shown below 1 In Zone 2 installations the BL20 Modular I O Bus Terminal Systems shall be mounted within a tool secured enclosure which meets the requirements of IEC 60079 0 and IEC 60079 15 and is capable of accepting one or more of the Zone 2 wiring methods specified in IEC 60079 14 Where installed in outdoor or potentially wet locations the enclosure shall at a minimum meet the requirements of IP54 Where installed in locations providing adequate protection against the entry of solid foreign objects or water capable of impairing safety the enclosure shall at a minimum
190. ervice Node ID Node identifier Identifier for the node an iden tification byte that is set through the rotary decimal encoding switches for the CAN node Possible values for CANopen 011 tO 7Fpex 1 to 127 4 6 D301087 0308 BL20 CANopen Setting up communication Booting with the Minimum Boot up function is the typical applica tion option for CANopen and runs according to the following state diagram Figure 1 Power on or hardware reset Boot procedure 1 with Minimum Boot up Pre Operational state Operational ud 1 Power on automatic change of state to the Initialization condi tion 13 stopped state state 2 Initialization Finished automatic change of state to Pre Opera tional Start Remote Node start the CAN node Enter Pre Operational change over to Pre Operational Stop Remote Node stop the CAN node Start Remote Node start the CAN node Enter Pre Operational change to Pre Operational Stop Remote Node stop the CAN node O0 Reset Node reset the complete node 10 Reset Node reset the complete CAN node 11 Reset Node reset the complete CAN node 12 Reset Communication reset communication for the CAN node 13 Reset Communication reset communication for the CAN node 14 Reset Communication reset communication for the CAN node D301087 0308 BL20 CANopen 4 7 BL20 Communication in CANope
191. eset the retentive markers FLAG_CMP1 and FLAG_CMP2 Exception if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Table 119 Feature Description Objects 5805 SSI Native status Object code ARRAY Data type Unsigned16 Access rw Default value No PDO mapping Yes Bit7 Bit5 Bit4 Bit2 Biti Bito Byte 0 STS_ X x ERR STIS STS ERR SSI STOP PARA UFLW OFLW SSI DIAG Byte 1 STS_ 515 REL FLAG SIS FLAG STS_ UP DN CMP2 CMP2 CMP2 CMP1 CMP1 CMP1 D301087 0308 BL20 CANopen 4 185 BL20 Communication in CANopen Table 120 Meaning of the data bits Designation Value Description STS_STOP 0 The SSI encoder is read cyclically Communication with the SSI encoder is stopped as STOP 1 process output or ERR_PARA 1 ERR_PARA 0 The parameter set ofthe module has been accepted Operation of the module is not possible with the present parameter set STS_UFLW 0 A comparison of the register contents has produced the following result REG_SSI_POS 2 REG_LOWER_LIMIT A comparison of the register contents has produced the following result REG_SSI_POS lt REG_LOWER_LIMIT STS_OFLW 0 A comparison of the register contents has produced the following result REG_SSI_POS REG_UPPER_LIMIT A comparison of the register contents has produced the following
192. f the BL20 1SSI module Table 117 Feature Description Objects 5804 Name Encoder diag Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping No Bit7 Bit6 Bit5 Bit4 Bit 3 Bit2 Biti Bito X X x ERR_ STS_ STS ERR SSI UFLW OFLW SSI DIAG Table 118 Designation Value Description Meaning of the data bits SSI_DIAG 0 No enabled status signal active SSI STSx 0 or no status messages of the SSI encoder present 1 At least one enabled status signal is active SSI STSx 1 ERR SSI 0 SSI encoder signal present 1 SSI encoder signal faulty e g due to a cable break STS_OFLW 0 SSI encoder value below equal to upper limit 1 SSI encoder value above upper limit Over flow occurred D301087 0308 BL20 CANopen 4 183 BL20 Communication in CANopen Table 118 Designation Value Description Meaning of the data bits STS_UFLW 0 SSI encoder value above equal to lower limit 1 SSI encoder value below lower limit Underflow occurred ERR_PARA 0 The parameter set of the module has been accepted 1 Operation of the module is not possible with the present parameter set 4 184 D301087 0308 BL20 CANopen Objects Object 5805 SSI Native Status The SSI Native status object reads the bytes 0 to 1 of the process input of the BL20 1SSI module Writing the object with any value will r
193. fOvfl Bit 7 ok 1 Buffer overflow The receive buffer RX buffer has overflowed 4 170 D301087 0308 BL20 CANopen Objects Table 107 Designation Value Meaning of the data bits for RS232 485 modules Description FrameErr Bit 6 ok 1 Frame error The BL20 1RSxxx module parame ters must be defined in order to be adapted to the data structure of the DTE A frame error is output if the param eter setting number of data bits stop bits type of parity is not suitable HndShErr Bit 5 0 1 Error in the data flow control The data terminal device connected to the BL20 1RSxxx module is not responding to the XOFF or RTS hand shake The internal receive buffer can over flow buffer overflow 1 HwFailure Bit 4 1 Hardware error The module must be exchanged as the EEPROM or UART may for example be faulty PrmErr Bit 3 ok 1 Parameter error The set parameter values are not supported Possible values are shown with the description of object 5600 D301087 0308 BL20 CANopen 4 171 BL20 Communication in CANopen Object 5602 RS232 RS4xx TxD Process output data is data that is output from the communication partner e g PLC via the gateway and the BL20 1RSxxx module to the field device The data received from the communication partner in the BL20 1RSxxx module is entered in
194. fier 29 bit ID 0 1 0 1 29 bit identifier Table 24 Bit Value Description Description of the number Emcy COB ID entry 31 MSB 0 EMCY exists is valid 1 EMCY does not exist is not valid 30 0 reserved always 0 29 0 11 bit ID CAN 2 0A for BL20 1 29 bit ID CAN 2 0B 28to11 0 if bit 29 0 X if bit 29 1 bits 28 to 11 of 29 bit COB ID 10to0 X Bit 10 to 0 of COB ID LSB EE Note B it 30 is static i e cannot be changed Table 25 Object description Object 1014 INDEX 10144 Name Emcy COB ID Object code VAR Data Type Unsigned32 4 60 D301087 0308 BL20 CANopen Object Dictionary Table 25 Object description Object 1014pex Value description Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 0000 0080 Node ID D301087 0308 BL20 CANopen 4 61 BL20 Communication in CANopen Object 1016 Consumer Heartbeat Time The Heartbeat Protocol is used to monitor the operational capability of other CANopen bus nodes The Heartbeat Protocol must be seen as an alternative to Node Life Guarding which unlike Guarding does not use Remote Frames A device generates the Heartbeat with a specific cycle time see object 1017 Producer heartbeat time Another device receives the Heartbeat and monitors the cycle time Object 1016 defines the cycle time interval at which the Heart beat is expected This
195. format 4 bits are reserved for each SWIRE slave The following information can be transferred Contactor coil on off Motor protective circuit breaker off or tripped on Status of the slave o k diagnostics message present input data Bit6 Bit5 Bit2 Biti Bito ByteO SWIRE Slave 2 SWIRE Slave 1 Byte 1 SWIRE Slave 4 SWIRE Slave 3 Byte 2 SWIRE Slave 6 SWIRE Slave 6 Byte3 SWIRE Slave 8 SWIRE Slave 7 Byte4 SWIRE Slave 10 SWIRE Slave 9 Byte 5 SWIRE Slave 12 SWIRE Slave 11 Byte6 SWIRE Slave 14 SWIRE Slave 13 Byte 7__SWIRE Slave 16 SWIRE Slave 15 The data of SWIRE slave 1 is the data of the first physical slave on the SWIRE bus The remaining slaves are assigned in consecutive order accordingly The meaning of the data of an SWIRE slave depends on the product concerned 4 258 D301087 0308 BL20 CANopen Objects Meaning of the 4 bit process input data on an SWIRE DIL device Bit 7 Bit 6 Bit 5 Bit 4 SDx free free PKZSTx The following table shows the meaning of the data bits Table 177 Designa Status Comment Meaning of the tion data bits Six Switch status relay x SIx supplies the switch status of the contactor coil of the SWIRE bus slave as a feedback signal SIx makes it possible to check whether the set switch status was executed by a mechanical connection This must take into account the time delay between the setting of a
196. from TURCK IOASSISTANT ADAPTERKABEL BL20 BL67 Ident no 6827133 Connection with I O ASSISTANT Connection Cable Figure 10 BL20 gateway connected to PC via special cable SUB D socket BL20 connect ing cable PS 2 plug ab The I O ASSISTANT cables have PS 2 male connector connec tion for female connector on gateway and a SUB D female connector connection for male connector on PC Figure 11 PS 2 male con nector on the con nection cable to the gateway top view 3 20 D301087 0308 BL20 CANopen Connections of the data cables to BL20 GWBR CANopen Figure 12 12 34 5 9 pole SUB D female connector on the cable for connecting to PC N y top view gt 6 7 8 9 Table 9 Pin BL20 gateway SUB D interface Pin Pin assignments PS 2 socket on PC for PS 2 and SUB D interfaces 1 5 Gw DTR DSR 4 6 2 GND GND 5 3 4 TxD RxD 2 5 CtriMode RTS 7 6 RxD TxD 3 D301087 0308 BL20 CANopen 3 21 BL20 Gateway for CANopen Setting the bit transfer rate through DIP switches The BL20 gateway can communicate with other CANopen nodes at the following transfer rates 10 kbps 250 kbps 20 kbps 500 kbps 50 kbps 800 kbps 125 kbps 1000 kbps The default transfer rate is 125 kbps The transfer rate can be set through the DIP switches under the cover of the BL20 gateway Figure 13 DIP switch to set the transfer rate
197. from the SSI encoder data frame and transferred to the SSI STSx bits of the process input data It is also possible to output the SSI encoder group diagnostics message with an acyclic diag nostics operation when a status message is initiated Table 124 Objects 5840 Feature Description Name SSI Diag mapping Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No Process input data REG_SSI_MASK Byte Bit 7 Bit 6 B5 BA B2 B1 BO SSI_STSO 0 EN DO RMSO EN DO DS X SSI FRAME SELO SSI STS1 1 D1 51 EN D1 05 X SSI FRAME SEL1 SSI STS2 2 D2 RMS2 EN 02 05 X SSI FRAME BIT SEL2 SSI_STS3 3 EN_D3_RMS3 EN_D3_DS X 551 FRAME SELS3 D301087 0308 BL20 CANopen 4 191 BL20 Communication in CANopen Table 125 Designation Value Description Meaning of the data bits A default setting Dx RMSx The evaluation of the SSI status messages for bit O of the diagnostics is not activated 1 The evaluation of the SSI status messages for bit 0 of the diagnostics is activated Dx DS OA The evaluation of the SSI status messages for bit O of the diagnostics is not activated 1 The evaluation of the SSI status messages for bit O of the diagnostics is activated SSI FRAME OA Definition of the selected bits in the frame BIT SEL 31 of the SSI encoder to be evaluated or copied Default 0 The foll
198. g Set on crossing zero in counter range when counting without main direction STS UFLW Status lower count limit Set if the count value goes below the lower count limit Object 6 01 Work Area Low Limit STS OFLW Status upper count limit Set if the counter goes above the upper count limit Object 6 02 Work Area High Limit STS CMP2 Status comparator 2 This status bit indicates a comparison result for comparator 2 if The output DO2 is released with CTRL_DO2 1 and via Function DO2 001 On when cnt value z ref value 010 On when cnt value x ref value 011 Pulse if cnt value ref value A comparison is executed Otherwise STS_CMP2 simply indicates that the output is or was set STS_CMP2 is also set if DO2 SET 002 1 when the output is not released D301087 0308 BL20 CANopen 4 213 BL20 Communication in CANopen Table 147 Meaning of the encoder flags Designation Description STS CMP1 Status comparator 1 This status bit indicates a comparison result for comparator 1 if The output DO1 is released with CTRL_DO1 1 and via Function DO1 001 On when cnt value z ref value 010 On when cnt value ref value 011 Pulse if cnt value ref value A comparison is executed Otherwise STS_CMP1 simply indicates that the output is was set STS_CMP1 is also set if DO1 SET DO1 1 when the output is not released STS SYN Status synchronization After
199. g Material essssessssessssesssessee eene nennen nnne n nnn 1 14 Shield Connection 2 Pole for Analog Modules 1 15 2 Short description of CANopen CANOPEN posin 2 2 Generalna E EEE 2 2 Communication 000000 eene nennen nnne nennen 2 3 BE20 and 2 7 data sheet file sehn ana 2 8 3 BL20 Gateway for CANopen 5 3 2 F NCHON a m 3 3 Technical InforrmmatlODi eoe b 3 4 Technical 3 6 General Technical Data 2c nennen 3 6 Structure Diagram of a Gateway sse 3 11 Technical Data BL20 GW CANOPEN 3 11 D301087 0308 BL20 CANopen i Technical Data 20 3 13 Connections for data cables to 20 0 3 15 Fieldbus connection via SUB D 3 15 Fieldbus connection through direct 3 16 Connections of the data cables to BL20 GWBR CANopen 3 18 Fieldbus connection via Open Style
200. h Service Data Objects SDO Read Read from Object Dictionary Client Byte 0 Byte 1 Byte2 Byte3 Byte 4 Byte 5 Byte6 Byte 7 Index Sub Index 0 0 0 0 Isb msb COB ID 1537 Node ID 1 w Server ByteO Byte 1 Byte2 Byte 3 Byte4 Byte5 Byte6 Byte7 Index 7 Sub Index Data Axh msb COB ID 1409 Node ID 1 Client x depending on the length of data read LSB Least Significant bit slowest value bit MSB Most Significant bit highest value bit SCS Server Command Specifier CCS Client Command Specifier see CiA DS 301 The stated COB ID refers to the default SDO server The BL20 gateway generates length information as to how many data bytes are to be read see CiA DS 301 Page 9 24 ff This infor mation is found in byte 0 SCS 4xh The value x depends on the length of data read D301087 0308 BL20 CANopen 4 17 BL20 Communication in CANopen Write Write to Object Dictionary Client Byte 0 Byte 1 Byte2 3 Byte4 Byte5 Byte6 Byte 7 Index Sub Index Data Isb msb COB ID 1537 Node ID 1 w Server ByteO Byte 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Index 2 Sub Index reserved 60 Isb msb COB ID 1409 Node ID 1 a Client LSB Least Significant bit slowest value bit MSB Most Significant bit highest value bit SCS Server Command CCS Client Command see CiA DS 301 The stated COB ID refers to the default SDO server
201. hannels 6 7 PDO12 8000 0560 Node ID 180B x 4th group analog output channels PDO13 8000 0220 Node ID Channels 12 to 15 180 5th group analog output channels PDO14 8000 0320 Node ID Channels 16 to 19 1800 6th group analog output channels PDO15 8000 0420 Node ID Channels 20 to 23 180E 7th group analog output channels PDO16 8000 0520 Node ID Channels 24 to 27 180F 1st group RSxx I Os Channel 0 PDO18 8000 0000 ex 1811 1st group RSxx I Os Channel 1 PDO19 8000 0000 1812 hex N Attention The COB IDs for the RSxxx Module must be defined by the user Example The own Node ID of an BL20 CANopen gateway is 1 There are more than 12 analog input channels As a result appropriate mapping entries are set up for TPDO13 Object 1 0 and the COB ID Object 180C Sub Index 1 is pre loaded with the value 8000 01A1 This PDO can only be enabled without alteration if a node with the Node ID 33 own Node ID 32 does not exist or at least its TPDO1 is not used 4 30 D301087 0308 BL20 CANopen Transmission of Process Data Objects PDO The following table illustrates the systematic relationship Table 6 Relationship between a Node ID and BL20 specific PDOs PDO Node ID assigned to Original PDO to which this COB ID in the this COB ID is assigned Default Master Slave in the Default Master Connection Se
202. he event of a communication error not only the Emergency Error Code but also the Error register see Object 1001 and addi tional information will be transmitted so that the error can be more precisely identified Only a portion of the 5 bytes is used for the addi tional information The remaining bytes are then 0 Byte 0 1 2 3 4 5 6 7 Data Emergency Error Error register Additional information contents Code Table 189 Table 187 only valid for Error Code 8100h Table 188 D301087 0308 BL20 CANopen 5 3 Diagnostics Emergency Frames Error Register Table 187 Error register M O Meaning Bit assignments for the error register A M mandatory Bit 0 MA Generate the error message B O optional Bit 1 OB Current error Bit 2 Voltage error Bit 3 Temperature error Bit 4 O Communication error overrun error state Bit 5 Device profile specific error Bit 6 reserved Bit 7 Manufacturer specific error Additional information Table 188 Content Meaning Content of Byte 3 to 7 of Emergency Frame 01 Guard Fail 02 Warning Level Reached O3nex Transmit Time Out O4 Bus off 5 4 D301087 0308 BL20 CANopen Gateway Diagnostics Gateway Diagnostics Table 189 Diagnostics for the BL20 CANopen gateway Diagnostics Error Designation Meaning Code as per DS 301 DS 401 Error Reset 0000 x Error Reset
203. he following method for modi fying PDO mappings The node state of the gateway must be Pre Operational The number of mapping entries Sub index 0 for a PDO must be set to 0 The mapping entries Sub index 1 to 64 be written The number of mapping entries Sub index 0 must now be set to the valid number of mapped objects Alternatively the new mapping can be saved in non volatile memory Store Communication parameters The following abort codes Abort Domain Protocol may be sent back by the gateway in case of an error Table 8 Abort code Descriptionas Possible cause Abort codes per CiA DS 301 0604 0041 Object cannot Invalid object index transferred be mapped while writing the mapping entries 0604 0042 Number or Attempted to map too many or length of the excessively long objects to a objectsexceeds PDO This will be returned on the PDO length writing to the sub index 0 0609 0011 Sub index does A sub index gt 64 was not exist addressed 0800 0022 Access Write access is only possible in possible in this the Pre Operational node node state state Write access to Sub indices 1 to 64 is only possible if sub index 0 is written with value 0 4 34 D301087 0308 BL20 CANopen Object Dictionary Object Dictionary Overview of all Objects The following table provides an overview of all the objects that are supported by the BL20 CANopen gateway
204. he process input data of the BL20 E 1SWIRE modules is repre sented by objects 6000 6020 6021 and 6022 2x 6100 or 6120 for digital input channels of a BL20 station The user can choose between 4 different formats for representing the values Only one bit represented by each SUB index objects 6020 hex 6021 and 6022 see page 4 118 8bits represented by each SUB index object 6000 see page 4 117 E 16 bits represented by each SUB index object 6100 see page 4 119 32 bits represented by each SUB index object 6120 see page 4 120 PDO mapping of object 6000 is always executed by default and automatically for the first 8 sub indexes This corresponds to the 64 bits of the SWIRE feedback interface If more than 64 process input data items are present the PDO mapping must be carried out by the user A total of 36 groups of 8 bits each can be displayed 288 bits If the representation of the data bits is not required with the object 6000 or if another arrangement of the mapped objects is required PDO mapping must be carried out by the user D301087 0308 BL20 CANopen 4 257 BL20 Communication in CANopen Process input The field input data is transferred from the connected SWIRE BUS to the BL20 E 1SWIRE module The process input data is the data that is transferred by the BL20 E 1SWIRE module via a gateway to the PLC The transfer is carried out in 8 byte
205. ication and or application parameters to the default values D301087 0308 BL20 CANopen 4 21 BL20 Communication in CANopen Transmission of Process Data Objects PDO CANopen provides PDO communication PDO Process Data Object PDOs are fast real time process data that are handled as unconfirmed services without a protocol overhead PDOs can contain a maximum of 8 bytes of data They can be assembled and configured by the user to suit the specific requirements In addition there are a number of transmission transfer settings Transmission types for process data The following attributes can be set for each PDO through the object PDO communication parameter Communication Parameter COB ID The COB ID is the CAN identifier that is used for the transmission of a PDO object 1400 1800 ff COB IDs are used to define the priority of the message telegrams The lowest COB ID has the highest priority For communication between 2 nodes the COB ID of the transmit PDO must be the same as the COB ID of the receive PDO ET Note A s delivered each BL20 gateway has from none to eight active PDOs with COB IDs that are taken from the Predefined Master Slave Connection Set All other PDOs are inactive This state can be seen from the invalid bit Bit 31 of the COB ID 4 22 D301087 0308 BL20 CANopen Transmission of Process Data Objects PDO Transmission Type The Transmission type determines under which ci
206. iese Bescheinigung wurde entsprechend dem FM Approvals Ltd ATEX Zertifizierungsverfahren ausgestellt Diese Baumusterpr fbescheinigung darf nur unver ndert weiterverbreitet werden Diese dokument ist eine bersetzung im Zweifelsfall gilt der englishe Originaltext FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK 514 1 RS 44 0 1753 750 000 F 44 0 1753 868 700 E Mail atex fmapprovals com www fmglobal com FM F ATEX 029 Feb 07 8 14 Seite 3 von 6 D301087 0308 BL20 CANopen Zertifikate f r Europa Anlage FM Approvals zur Baumusterpr fbescheinigung FMO7ATEX0040X 17 Genehmigte Zeichnungen Zeichnung Nr Rev Titel Beschreibung EZ 2725 0046 0711 04 07299300 30 06 2006 BL20 32DI 24VDC P Layout GZ 2725 0046 0710 01 12396800 D BL20 32DI 24VDC P Placement ZS 2725 0046 0710 01 12396800 BL20 32DI 24VDC P Schematic EZ 2725 0068 0711 03 07257902 A BL20 4DI NAMUR Layout GZ 2725 0068 0710 01 12349700 B BL20 4DI NAMUR Placement 25 2725 0068 07 10 01 12349700 A BL20 4DI NAMUR Schematic EZ 2725 0015 0711 03 07296400 06 06 2006 BL20 2DI 24VDC P Layout 12393900 17 08 06 BL20 4DI 24VDC P Placement ZS 2725 0015 0710 01 12393900 BL20 2DI 24VDC P Schematic EZ 2725 0034 0711 03 07297300 22 06 2006 BL20 2DI 24VDC N Layout GZ 2725 0034 0710 01 12394800
207. iew Attention Please read this section carefully Safety aspects cannot be left to chance when dealing with electrical equipment This manual includes all information necessary for the prescribed use of BL20 products It has been specially conceived for personnel with the necessary qualifications Prescribed Use Warning The devices described in this manual must be used only in applica tions prescribed in this manual or in the respective technical de scriptions and only with certified components and devices from third party manufacturers Appropriate transport storage deployment and mounting as well as careful operating and thorough maintenance guarantee the trouble free and safe operation of these devices Notes Concerning Planning Installation of this Product A Warning Al Il respective safety measures and accident protection guidelines must be considered carefully and without exception D301087 0308 BL20 CANopen 0 3 About this Manual Description of Symbols Used Warning A T his sign can be found next to all notes that indicate a source of haz ards This can refer to danger to personnel or damage to the system hardware and software and to the facility This sign means for the operator work with extreme caution Attention N T his sign can be found next to all notes that indicate a potential hazard This can refer to possible danger to personnel and damages to the system hardware and sof
208. in the appro priate module and is restored with every node reset The Sub indices 01 7 8 define the parameters for the analog input channel 1 to 142 Table 80 Feature Description Value Objects 5420nex Name Manu spec analog input range Object code ARRAY PDO mapping No Sub index 00 Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 8E Data Type Unsigned16 Access rw Default value BL20 No D301087 0308 BL20 CANopen 4 139 BL20 Communication in CANopen The structure of the 2 bytes of parameter data depends on the module concerned A sub index is assigned for each channel The following explains the structure for each module type BL20 1AI I 0 4 20MA Table 81 Parameters BL20 Byte Bit Parameter Value Meaning TAI I 0 4 20MA n 0 A default setting Current mode 0 0 20 mA A 1 4 20 mA Value representation 0 Integer 15 bit sign A 1 reserved 2 Diagnostic 0 release 1 block 3 Channel Kx 0 activate 1 deactivate 4to reserved 7 BL20 1Al U 10 0 10VDC Table 82 Parameters Byte Bit Parameter Value Meaning BL20 1AI U 10 n 0 Voltage mode 0 0 10VA 0 10VDC 1 10 10 A5 00 8 setting 1 Value 0 Integer 15 bit sign A representation 1 reserved 2 Diagnostic Kx 0 release A 1 block 3 Channel 0 activate A 1
209. ing DCF file After a reset the most recent configuration and the signature will be restored either automatically on request If the configuration values are altered by some other command then the object will be set to 0 The Configuration Manager compares the signature and the config uration with the values from the DCF file If it discovers any devia tions a reconfiguration will be necessary Table 29 Object description Object 1020 INDEX 1020 Name Verify Configuration Object code ARRAY Data Type Unsigned16 Value description Sub index Description Number of entries Access rw PDO mapping No Default value BL20 02 4 68 D301087 0308 BL20 CANopen Object Dictionary Table 29 Object description Object 1020 Sub index 01 Description Configuration date Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No Sub index 02 Description Configuration time Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No Note Fi T he configuration date contains the number of days since January 01 1984 The configuration time contains the number of milliseconds since midnight D301087 0308 BL20 CANopen 4 69 BL20 Communication in CANopen Object 1027 Module List Object 1027 describes all the actually installed modules an
210. ing modules BL20 BR 24VDC D may be necessary The rated current consumption of the module bus shows a table in BL20 catalogue Terminal blocks shall be installed on an EN 50 022 NS35 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets Type BL20 WEW 35 2 SW Ident no 6827124 The mounting rails used for BL20 should be mounted onto a galvanized mounting plate with a minimum thickness of 2 mm This allows a reference potential for protective earth PE and functional earth that has to be created Please allow for a maximum distance of 150 mm between mounting holes when mounting non pre drilled mounting rails If flexible wire should be used for wiring it is necessary that the endings must have wire end ferrules The devices are maintenance free A dry cleaning is acceptable Repairs have to be done by manufacturer 8 10 D301087 0308 BL20 CANopen Certificates for Europe Declaration of Conformity Konformit tserkl rung wesrzecre Konformitatserklarung Nr 3245 M sls Declaration of Conformity Diese Konformit tserkl rung entspricht der Europ ischen Norm EN 45014 Allgemeine Kriterien f r Konformit tserkl rungen von Anbietern Die Grundlage der Kriterien sind internationale Dokumente insbesondere ISO IEC Leitfaden 22 1982 Information on manufacturer s declaration of conformity with standards or other technical specifications This Declaratio
211. ion A central connection must be established between ground and PE connection protective earth Earth Free Operation Observe all relevant safety regulations when operating an earthfree system 7 8 D301087 0308 BL20 CANopen Electromagnetic Compatibility EMC Protect against high frequency interference signals Attention In order to comply with radiation limit values in accordance with EN 55 011 2 000 the supply lines of the power distribution module BL20 BR 24VDC D for supplying the gateway with power are to be fed through a ferrite ring BL20PS416 ZBX 405 This is to be placed immediately next to the connection terminals From there on it is not permitted to make connections to further devices Mounting Rails All mounting rails must be mounted onto the mounting plate with a low impedance over a large surface area and must be correctly earthed Figure 14 Mounting options A TS35 B Mounting rail C Mounting plate D 7535 200 mm 7 87 inch B 5 N C x x x x A N N N N N N Mount the mounting rails over a large surface area and with a low impedance to the support system using screws or rivets Remove the isolating layer from all painted anodized or isolated metal components at the connection point Protect the connection point against corrosion for example with grease caution use only suitable grease D301087 0308 BL20 CANopen 7 9 Guidelines for Electrical Installat
212. ion EMC Compliant Cabinet Installation Figure 15 EMC compliant cabinet installa tion 7 10 FEEPPEETTTS Lr 0301087 0308 BL20 Shielding of cables Shielding of cables Shielding is used to prevent interference from voltages and the radi ation of interference fields by cables Therefore use only shielded cables with shielding braids made from good conducting materials copper or aluminum with a minimum degree of coverage of 80 The cable shield should always be connected to both sides of the respective reference potential if no exception is made for example such as high resistant symmetrical analog signal cables Only then can the cable shield attain the best results possible against electrical and magnetic fields A one sided shield connection merely achieves an isolation against electrical fields Attention When installing please pay attention to the following the shield should be connected immediately when entering the system the shield connection to the shield rail should be of low impedance the stripped cable ends are to be kept as short as possible the cable shield is not to be used as a bonding conductor The insulation of the shielded data cable should be stripped and connected to the shield rail when the system is not in operation The connection and sec
213. ion functions Install automation devices and related operating elements in such a way that they are well protected against unintentional operation Suitable safety hardware and software measures should be implemented for the I O interface so that a line or wire breakage on the signal side does not result in undefined states in the auto mation devices Ensure a reliable electrical isolation of the low voltage for the 24 volt supply Only use power supply units complying with IEC 60 364 4 41 VDE 0 100 Part 410 or HD 384 4 41 S2 Deviations of the mains voltage from the rated value must not exceed the tolerance limits given in the specifications otherwise this may cause malfunction and dangerous operation Emergency stop devices complying with IEC EN 60 204 1 must be effective in all operating modes of the automation devices Unlatching the emergency stop devices must not cause restart Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they have been installed with the housing closed Desktop or portable units must only be operated and controlled in enclosed housings Measures should be taken to ensure the proper restart of programs interrupted after a voltage dip or failure This should not cause dangerous operating states even for a short time If necessary emergency stop devices should be implemented Wherever faults in the automation system may cause damage to per
214. ion into a ground ref erence system please read chapter 7 Figure 11 Gateway B Using the C railas a protective earth N M DO 201 PF 2DO 201 2 0 2DI I E E PE terminal TS 1 C rail C rail 2 i 1 SBBC SBC SBBC SBC SBB BC SBC SBBC SBC SBB C rails can be used for a common voltage supply when relay modules are planned To accomplish this the load voltage is connected to a Power Feeding module with the BL20 P4x SBBC base module with tension clamp or screw connection All the following relay modules are then supplied with power via the C rail 6 14 D301087 0308 BL20 CANopen Power Supply Attention When relay modules are planned and the C rail is used for a com mon voltage supply a further power distribution module must be used for the potential isolation to the following modules The C rail can only again be used as a PE following potential isolation Figure 12 Gateway BR 200 201 200 2DI PF NO NC NO NC Using the C rail as i u u protective earth and for the power TI TI supply with relay modules PE terminal 15 I C rail PE 24V DC SBBC SBC SBBC SBC SBB SBBC 5805 5805 5805 SBCS Cross connecting relay module roots is achieved by the use of jumpers The corresponding wiring diagram including the jumpers can be found in chapter 4 Direct Wiring of Relay Module
215. ion via SUB D 16 Fieldbus connection through direct wiring esee 17 Connections of the data cables to BL20 GWBR CANopen 19 Fieldbus connection via Open Style 19 Service Interface Connection 22 Connection with O ASSISTANT Connection Cable 22 Setting the bit transfer rate through DIP switches 24 Node ID Setting eeee eese nun eie esee nun nnnn ann nun nun ann 26 Acceptance of the BL20 Station Configuration 28 Status Indicators Diagnostic Messages Gateway 29 Diagnostic Messages via 29 D301087 0308 BL20 CANopen 3 1 BL20 Gateway for CANopen Introduction This chapter contains a description of BL20 gateways for the stan dardized fieldbus CANopen The chapter is divided up as follows a description of functions general and specific technical data a description of addressing and status displays A Attention P lease note SWIRE modules can only be used with the gateways BL20 GW CANOPEN with firmware version gt 4 02 and BL20 GWBR CANOPEN with firmware version gt 2 02 Warning A T he behavior of the analog inputs is now adapted to the actual CAN open standard DS401 The firmwa
216. ionary Table 12 Object overview for the communi cation profile Index hed Object Name Type Access M O 100A hex VAR Manufacturer software version page 4 53 Vis String const 100C VAR Guard time page 4 53 Unsigned32 rw 100Dyex VAR Lifetime factor page 4 55 Unsigned32 rw 101044 ARRAY Store parameters page 4 56 Unsigned32 rw 1011 hex ARRAY Restore default parameters page 4 58 Unsigned32 rw 1014 COB ID 4 60 Unsigned32 rw 1016 ARRAY Consumer heartbeat time page 4 62 Unsigned32 rw 1017 Producer heartbeat time page 4 64 Unsigned16 rw 1018 RECORD Identity object page 4 64 Identity ro 1020 hex ARRAY Verify configuration page 4 68 Unsigned32 rw 1027 ARRAY Module list page 4 70 Unsigned16 ro D301087 0308 BL20 CANopen 4 43 BL20 Communication in CANopen Table 12 Index Object Name Type Access M O Object overview he for the communi cation profile Server SDO parameter 1200 RECORD 1stServerSDO SDO ro parameter parameter page 4 72 1201 RECORD 2nd Server SDO SDO rw parameter parameter page 4 72 1202 RECORD 3rd Server SDO SDO rw parameter parameter page 4 72 1203 RECORD 4th Server SDO SDO rw parameter pa
217. ith any value hex 4 242 D301087 0308 BL20 CANopen Objects Object 6 01 Work Area Low Limit Object 6C01 ex corresponds to object 6401 in accordance with CiA DS 406 defines the value for the lower count limit In the event of an underflow bit 2 in object 6C00 and bit 6 in object 5803 are set The permissible range for the lower count limit is therefore 2147483648 to 0 adecimal 8000 0000 to Onex Note The object 6C01 ex is only valid if the counter module is operating in count mode Table 172 Feature Description Object 6C01 Name Work Area Low Limit Object code ARRAY PDO mapping No Sub index 00 4 Data type Unsigned8 Access ro Default value No Sub index 01 nex 47 hex Data type Unsigned32 Access rw Default value No D301087 0308 BL20 CANopen 4 243 BL20 Communication in CANopen Object 6 02 Work Area High Limit Object 6C02 corresponds to object 6402 in accordance with CiA DS 406 defines the value for the upper count limit In the event of an underflow bit 1 in object 6C00 and bit 5 in object 5803 are set The permissible range for the upper count limit is therefore 0 to 2147483647 adecimal 0 to i Note The object 6 02 is only valid if the counter module is operating in count mode Table 173 Feature Description Ob
218. ject 6 02 Name Work Area High Limit Object code ARRAY PDO mapping No Sub index Data type Unsigned8 Access ro Default value No Sub index OF nex 47 nex Data type Unsigned32 Access rw Default value No 4 244 D301087 0308 BL20 CANopen Objects Object 6D00 Operating Status Object 6001 SingleTurn resolution rotary Measuring step linear Object 6002 Number of distinguishable revolutions Note The objects 6D00 t0 6002 correspond to the objects 6500 to 6502 in accordance with CIA DS 406 have no meaning for BL20 and only exist because they are mandatory objects in accor dance with DS 406 With BL20 the objects are always set to 0 Object 6FFF Device Type Object 6FFF ex corresponds to object 67FF in accordance with CiA DS 406 specifies the type of the second device profile supported The object is assigned the value 000A 0196 The Low word 0196 406 specifies the device profile The High Word 000A describes the encoder type to CiA DS 406 10 Multi Sensor Encoder Interface Table 174 Feature Description Object 6FFFyex Name Device Type Object Code VAR PDO Mapping No Data type Unsigned32 Access ro D301087 0308 BL20 CANopen 4 245 BL20 Communication in CANopen Parameters of BL20 1CNT Table 175 Module Parameter Object Sub Byte Bit Parameters of the
219. ject code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No 4 282 D301087 0308 BL20 CANopen Objects Object 3067hex XBI Param Dword4 The object XBI Param Dword4 reads the fourth Param Dword Byte 12 15 of a module on the BL20module bus sub index 1 to 74 corresponds to the module number of the BL20 module Table 184 Feature Description Object 3067 Name XBI Param Dword4 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No D301087 0308 BL20 CANopen 4 283 BL20 Communication in CANopen Object 3068hex XBI Param Dword5 The object XBI Param Dword5 reads the fifth Param Dword Byte 16 19 of a module on the BL20module bus The sub index 1 to 74 corresponds to the module number of the BL20 module Table 185 Feature Description Object 3068 Name XBI Param Dword5 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No Object 3069hex XBI Param Dword6 The object XBI Param Dword reads the sixth Param Dword Byte 20 24 of a module on theBL20 module bus The sub index 1 to 74 corresponds to the module number of the BL20 module Table 186 Feature Description Object 3069 Dword6 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No 4 284 D301087 0308 BL20 CANo
220. ject is set from the default setting FALSE to TRUE the transmitting of the analog input data TPDOs can be trig gered by means of an interrupt signal Table 90 Feature Description Value Objects 6423 Analog input global interrupt enable Object code VAR PDO mapping No Sub index Data Access rw Default value BL20 FALSE D301087 0308 BL20 CANopen 4 149 BL20 Communication in CANopen Object 6424 Analog Input Interrupt Upper Limit Integer The object 6424 defines the value for an upper limit Values above this upper limit can be defined as the condition for generating an interrupt signal 6421 Analog input interrupt trigger selection page 4 145 Table 91 Feature Description Value Objects 64244 Name Analog input interrupt upper limit Integer Object code ARRAY PDO mapping No Sub index 004 Data Type Unsigned8 Access ro Default value BL20 No Sub index 01 to 8E Data Type Integer32 Access rw Default value BL20 00000000 Fi Note The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL20 I O modules 0300529 4 150 D301087 0308 BL20 CANopen Objects Object 6425 Analog Input Interrupt Lower Limit Integer The object 6425 defines the
221. l jentifier 1136 Allowed ambient temperature 0 C 55 C CE symbol with PTB No as supervising CE 0102 notified body of manufacturing control Serial no production year it s a code no Type label other side of module Instructions for safe use in zone 2 BL20 devices of category 3 have to be installed in a suitable housing according IEC EN 60079 15 in such way that a degree of protection of at least IP 54 according EN 60529 is reached Using switches e g at front side of the gateway as well as the connecting and disconnecting of any circuits is only permitted if no explosion hazardous atmosphere exists BL20 devices are to keep under normal operation conditions The limits of the data sheets have to be observed The UL connector of the gateway supplies all field devices up to 30V d c and 10A d c To supply more modules additional Power feeding modules BL20 PF 24VDC D resp Bus refreshing modules BL20 BR 24VDC D may be necessary The Usys connector of the gateway feeds an internal supply circuit of the gateway and that provides 5 module bus supply up to 1 5A d c for gateway and modules To supply more modules additional Bus refreshing modules BL20 BR 24VDC D may be necessary The rated current consumption of the module bus shows a table in BL20 catalogue Terminal blocks shall be installed on an EN 50 022 NS35 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched be
222. l Overview for Analog Input Objects 137 Object 5420hex Manu Spec Analog Input Range 139 Object 6401 Read Analog Input 16 Bit 144 Object 6421hex Analog Input Interrupt Trigger Selection 146 Object 6422hex Analog Input Interrupt Source 148 Object 6423hex Analog Input Global Interrupt Enable 150 Object 6424 Analog Input Interrupt Upper Limit Integer 151 Object 6425hex Analog Input Interrupt Lower Limit Integer 152 Object 6426hex Analog Input Interrupt Delta Unsigned 153 Object 6427hex Analog Input Interrupt Negative Delta Unsigned 154 Object 6428hex Analog Input Interrupt Positive Delta Unsigned 155 Objects for Analog Output Modules eene 156 General Overview for Analog Output Objects 156 Object 6411hex Write Analog Output 16 Bit 158 Object 6443hex Analog Output Error Mode 159 Object 6444 Analog Output Error State 161 Object 5440hex Manu spec Analog Output Range 162 Objects for 5232 54 164
223. l other nodes It indi cates that the sending node is still working properly A device sends the Boot up message to indicate to the NMT master that it has reached the state Pre operational This occurs whenever the device initially boots up but also after a power out during operation The Boot up message has the same identifier as the Heartbeat object however its data content is zero Service Data Objects SDOs A Service Data Object SDO reads from entries or writes to entries of the Object Dictionary The SDO transport protocol allows transmitting objects of any size The first byte of the first segment contains the necessary flow control information including a toggle bit to overcome the problem of doubly received CAN frames The next three bytes of the first segment contain index and sub index of the Object Dictionary entry to be read or written The last four bytes of the first segment are available for user data The second and the following segments using the very same CAN identifier contain the control byte and up to seven bytes of user data The receiver confirms each segment or a block of segments so that a peer to peer communication client server takes place Process Data Objects PDOs Process Data Objects PDOs are mapped to a single CAN frame using up to 8 bytes of the data field to transmit application objects Each PDO has a unique identifier and is transmitted by only one node but it can be received by more tha
224. log output channels 1 to 142 The following applies 00 The output maintains its value if an error occurs hex 01 4 The output is assigned a substitute value if an error occurs The substitute values for the analog output channels are defined with the object Analog output error state object 6444 Table 98 Feature Description Value Objects 6443 Name Analog output error mode Object code ARRAY PDO mapping No Sub index 00 Data Unsigned8 Access ro Default value BL20 No Sub index 01 to Data Type Unsigned16 Access rw Default value BL20 004 4 158 D301087 0308 BL20 CANopen Objects Note The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL20 I O modules 0300529 D301087 0308 BL20 CANopen 4 159 BL20 Communication in CANopen Object 6444 Analog Output Error State The substitute value is defined for each analog output channel The substitute values are only taken into account in the event of an error if a 01 was entered for the relevant output channel in object Analog output error mode object 6443 The Sub indices of 01 to define the value for the analog output channels 1 to 142 Table 99 Feature Description Value Object 6444 Name
225. lue BL20 1 D301087 0308 BL20 CANopen 4 57 BL20 Communication in CANopen Object 1011 Restore Default Parameters Object 1011 can be used to restore the default parameters The command is executed by writing the data contents 0x6461 6FEC load to one of the Sub indices Table 23 Object description Object 1011 hax INDEX 1011 Restore default parameters Object code ARRAY Data Type Shex Value description Sub index Description Highest supported sub index Access ro PDO mapping No Sub index Olpex Description Restore all parameters Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 1 4 58 D301087 0308 BL20 CANopen Object Dictionary Table 23 Object 1011 Object description Value description Sub index 02 Description Restore communication parameters Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 1 Sub index Description Restore application parameters Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 1 D301087 0308 BL20 CANopen 4 59 BL20 Communication in CANopen Object 1014 Emcy COB ID Object 1014 contains the Identifier for the emergency messages MSB LSB Bits 31 30 29 28 to 11 10 to O 11 bit ID 0 1 0 0 00 0000 0000 0000 0000 11 bit identi
226. matic EZ 2725 0018 0711 03 07296600 07 06 2006 BL20 2DO 24VDC 2A P Layout GZ 2725 0018 0710 01 12394100 A BL20 2DO 24VDC 2A P Placement ZS 2725 0018 0710 01 12394100 B BL20 2DO 24VDC 2A P Schematic EZ 2725 0063 0711 04 07299700 06 06 2006 BL20 32DO 24VDC 0 5A P Layout Diese Baumuste inigung darf nur unver ndert weiterverbreitet werden Diese dokument ist eine bersetzung im Zweifelsfall gilt der englishe Originaltext FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK SL4 1 RS T 44 0 1753 750 000 F 44 0 1753 868 700 E Mail atex fmapprovals com www fmglobal com FM F ATEX 029 Feb 07 D301087 0308 BL20 CANopen Seite 4 von 6 8 15 BL20 Approvals for Zone 2 Division 2 Anlage zur Baumusterpr fbescheinigung FMO7ATEX0040X fols Zeichnung Nr Rev Titel Beschreibung GZ 2725 0063 0710 01 12397200 D BL20 32D0 24VDC 0 5A P Placement ZS 2725 0063 0710 01 12397200 E BL20 32D0 24VDC 0 5A P Schematic EZ 2725 0025 0711 02 07297100 07 06 2006 BL20 2AO U 10 0 10VDC Layout GZ 2725 0025 0710 01 12394600 A BL20 2AO U 10 0 10VDC Placement ZS 2725 0025 0710 01 12394600 B BL20 2A0 U 10 0 10VDC Schematic EZ 2725 0050 0711 04 07298300 A BL20 2AO I 0 4 20mA Layout GZ 2725 0050 0710 01 12395800 D BL20 2AO I 0 4 20mA Plac
227. means that a freely mixed operation with synchronous and asynchronous PDOs is possible Inhibit Time The setting of an Inhibit time for the PDOs Object 1800 ff Sub Index 03 is only supported for TPDOs Unlike the other time values which are given as multiples of 1 ms the Inhibit time is defined as a multiple of 100 us However since the time resolution of the system clock in the BL20 CANopen gateway is 1 ms Inhibit time values below 10 x 100 ys are pointless Event Timer The Event timer Object 1800 ff Sub Index 05 defines the maximum interval after which a TPDO will be transmitted even though no event has occurred This means that the Event timer determines the maximum interval between two transmissions of a TPDO The expiry of the interval set for the Event timer is detected as an event If any other event occurs the Event timer is reset and restarted The value of the object is interpreted as a multiple of 1 ms 4 24 D301087 0308 BL20 CANopen Transmission of Process Data Objects PDO Available PDOs 64 PDOs are supported 32 Transmit PDOs TPDO1 to TPDO32 Index 1800 to 181F 32 Receive PDOs RPDO1 to RPDO32 Index 1400 to 141F The corresponding Default Master Slave Connection Set is supported for each of the PDOs 1 to 4 so that a COB ID distribution is not necessary for these PDOs If one of the COB IDs from xPDO1 to xPDO4 is reconfigured then the use of a COB ID from
228. meet the requirements of IP4X 2 The BL20 I O Modules shall be installed on an EN 50 022 535 rail with each group completed by an end plate BL20 ABPL Ident no 6827123 and sandwiched between two end brackets BL20 WEW 35 2 SW Ident no 6827124 3 The input voltage for the BL20 2 channel digital relay module shall be limited to 30 or max contact voltage 8 22 D301087 0308 BL20 CANopen Certificates IECEx IECEx Certificate of Conformity Certificate No IECEx FME 07 0004X Date of Issue 2008 01 21 Issue No 0 Page 4 of 5 EQUIPMENT continued Module Description BL20 2DI 24VDC P 2 channel digital input modules pnp BL20 2DI 24VDC N 2 channel digital input modules npn BL20 4DI 24VDC P 4 channel digital input modules pnp BL20 4DI 24VDC N 4 channel digital input modules npn BL20 4DI NAMUR 4 channel digital input modules NAMUR input BL20 32DI 24VDC P 32 channel digital input modules pnp BL20 2AI 1 0 4 20MA 2 channel analogue input module current BL20 2AI U 10 0 10VDC 2 channel analogue input module voltage BL20 2AI PT NI 2 3 2 channel analogue input module platinum and nickel resistance elements 2 channel analogue input module thermoelements BL20 4AI U T 4 channel analogue input module current or voltage 2 channel digital output 0 5A npn BL20 2DO 24VDC 2A P 2 channel digital output 2 0A
229. meter Value Meaning n 0 Current mode 0 0 20 mA A 1 4 20 mA 1 Value representation 0 Integer 15 bit sign 1 reserved Only for BL20 2AO I 0 4 20MA 3 Channel Kx 0 activate 1 deactivate n 1 Substitute Value A1 The substitute value will be and transmitted if the respective n 2 parameters of the gateway have been set to output substitute value BL20 2AO U 10 0 10VDC Table 102 Parameters BL20 2AO U 10 0 10VDC A default setting Byte Bit Parameter Value Meaning n 0 Voltage mode 0 0 10VA 1 10 10 V 1 Value 0 Integer 15 bit sign A representation 1 reserved 3 Channel Kx 0 activate A 1 deactivate n 1 Substitute Value A1 The substitute value will be and transmitted if the respective n 2 parameters of the gateway have been set to output substitute value 4 162 D301087 0308 BL20 CANopen Objects Objects for RS232 RS4xx modules General overview for RS232 RS4xx objects Table 103 Object Name Page General overview for RS232 RS4xx 5600 RS232 RS4xx Parameters 4 164 objects 5601 nx RS232 RS4xx RxD 4 168 5602 RS232 RS4xx TxD 4 172 hex D301087 0308 BL20 CANopen 4 163 BL20 Communication in CANopen Object 5600 RS232 RS4xx Parameters The parameter setting of the BL20 1RSxxx module enables communication with different data terminal
230. mitting process data Confirmed means that an BL20 CANopen gateway SDO server that is addressed by this procedure must acknowledge it through a response In this way the SDO client obtains information about whether the BL20 gateway that it addressed was contacted and whether the access was achieved without any errors error code in the response from the SDO server SDO access means that the contents of the Object Dictionary entries for an SDO server can be read or written and that the settings for a BL20 station can be made in this way Four parallel SDO servers are supported There are three addi tional SDOs as well as the default SDO As a default these are inactive but can be parameterized and enabled through the Object Dictionary entries 1201 to 1203 The communication parameters for the default SDO follow the Predefined Connection Set and cannot be modified see CiA DS 301 V4 01 In the following representations of the messages the identifier of the CANopen message that is to be sent can be found below the frame and the contents of the data byte to be transmitted are within the frame The following representations use the Expedited SDO Transfer i e a maximum of 4 bytes of user data can be transferred within one telegram ANopen also offers the possibility of segmented SDO transfer of data with data length of more than 4 bytes 4 16 D301087 0308 BL20 CANopen Parameterization throug
231. n The following messages are exchanged in the states mentioned Operational PDO and SDO communication Pre Operational only SDO communication The services listed above 1 to 14 are required by CANopen or performed independently by the nodes in order to change from one state to another The Stopped state can be skipped when using Minimum Boot up 1 Power on automatic change of state to the Initialization state 2 Initialization finished automatic change of state to the Pre Operational state 3 6 Start Remote Node start the CAN node Master Byte 0 Byte 1 se Node ID COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master 4 7 Enter Pre Operational change over to Pre Operational Master Byte 0 Byte 1 E Node COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master 4 8 D301087 0308 BL20 CANopen Setting up communication 5 8 Stop Remote Node stop the CAN node Master Byte 0 Byte 1 Node cs 2 ID COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master 9 10 11 Reset Node reset the complete CAN node Master Byte 0 Byte 1 Node COB ID 0 Slave The
232. n be routed together in bundles or in cable ducts Group 1 shielded bus and data cables shielded analog cables unshielded cables for DC voltage x60 V unshielded cables for AC voltage 25 V Group 2 unshielded cables for DC voltage gt 60 V 400 V unshielded cables for AC voltage gt 25 V and lt 400 V Group 3 unshielded cables for DC and AC voltages gt 400 V The following group combination can be routed only in separate bundles or separate cable ducts no minimum distance apart Group 1 Group 2 D301087 0308 BL20 CANopen General Notes The group combinations Group 1 Group 3 and Group 2 Group 3 must be routed in separate cable ducts with a minimum distance of 10 cm apart This is equally valid for inside buildings as well as for inside and outside of switchgear cabinets Cable Routing Outside Buildings Outside of buildings cables should be routed in closed where possible cage type cable ducts made of metal The cable duct joints must be electrically connected and the cable ducts must be earthed Warning Observe all valid guidelines concerning internal and external light ning protection and grounding specifications when routing cables outside of buildings Lightning Protection The cables must be routed in double grounded metal piping or in reinforced concrete cable ducts Signal cables must be protected against overvoltage by varistors or inert gas filled overvoltag
233. n clamp connections requires a further power supply module to be mounted Thereby it must be ensured that the base modules are fitted with the same connection technology screw or tension clamp as the power supply module Complete Planning The planning of a BL20 station should be thorough to avoid faults and increase operating reliability A Attention fthere are more than two empty slots next to one another the com munication is interrupted to all following BL20 modules Maximum System Extension BL20 station can consist of a gateway and a maximum of 74 modules in slice design equivalent to 1 m in length of mounting rail including the end bracket and end plate The maximum number of modules is less when using block modules 1 block module is equiv alent to 8 modules in slice design 6 2 D301087 0308 BL20 CANopen Random Module Arrangement The following overview shows the maximum number of channels possible on condition that the entire station is made up of that respective type of channel only Table 192 Channels Modules Maximum system extension Type Max Type Max no no A plus 7 Bus Re Digital inputs 288 BL20 4DI 24VDC P 72B freshing module B plus 2 Digital outputs 288 BL20 4DO 24VDC 0 5A P 72B Bus Refreshing modules Analog inputs 126 BL20 2AI 1 0 4 20MA 63 C plus 3 current Bus Refreshing modules Analog inputs 126 BL20 2AI U 10 0 10VDC 63
234. n of Conformity complies with the European Standard EN 45014 General criteria for a supplier s declaration of conformity These criteria are based on the relevant international documentation particularly the ISO IEC Guide 22 1982 Information on the manufacturer s declaration of conformity with standards or other technical specifications Wirrwe HANS TURCK GMBH amp COKG WITZLEBENSTR 7 D 45472 M LHEIM A D RUHR erkl ren in alleiniger Verantwortung dass die Produkte declare under our sole responsibility that the products BL20 modulares I O Bus Klemmen System Gelistete Module siehe Baumusterpr fbescheinigung FM 07 ATEX 0040 X Listed modules see Type Examination Certificate FM 07 ATEX 0040 X auf die sich die Erkl rung bezieht mit den folgenden Normen bereinstimmen to which this declaration relates are in conformity with the following standards EN 61326 1 2006 und wo anwendbar and where applicable EN 60079 0 2006 EN 60079 15 2005 Gem den Bestimmungen der Richtlinie falls zutreffend Following the provisions of Directive if applicable EMV Richtlinie EMC Directive 2004 108 EG 15 Dez 2004 Richtlinie ATEX Directive ATEX 94 9 EG 23 Marz 1994 Weitere Normen additional standards Aussteller der EG Baumusterbescheinigung FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK SL4 1 RS Baumusterpr fbescheinigung FM 07 ATEX 0040 X Kennzeichnung amp 3G 2 M lheim den 23 01 08
235. n one producer consumer communication 2 4 D301087 0308 BL20 CANopen CANopen PDO transmissions PDO transmissions may be driven by an internal event by an internal timer by remote requests and by the Sync message received Event or timer driven An event specified in the device profile triggers message trans mission An elapsed timer additionally triggers the periodically transmitting nodes Remotely requested Another device may initiate the transmission of an asynchronous PDO by sending a remote transmission request remote frame Synchronous transmission In order to initiate simultaneous sampling of input values of all nodes a periodically transmitted Sync message is required Synchronous transmission of PDOs takes place in cyclic and acyclic transmission mode Cyclic transmission means that the node waits for the Sync message after which it sends its measured values Acyclically transmitted synchronous PDOs are triggered by a defined application specific event D301087 0308 BL20 CANopen 2 5 Short description of CANopen Special Function Objects CANopen also defines three specific protocols for synchronization emergency indication and time stamp transmission Synchronization object Sync The Sync Object is broadcast periodically by the Sync Producer The time period between Sync messages is defined by the Communication Cycle Period which may be reset by a configu ration tool to the ap
236. n output a mechanical execution and the subsequent feedback signal 0 OFF Contactor coil is switched off 1 ON Contactor coil is switched on PKZSTx Switch status PKZ x 0 OFF The motor protective circuitbreaker is off or has tripped 1 ON The motor protective circuitbreaker is switched on D301087 0308 BL20 CANopen 4 259 BL20 Communication in CANopen Designa Status Comment tion SDx Communication error slave x Setting the NDDIAG parameter copies the slave diagnostics message input byte 1 bit 3 to the feed back interface The information is provided as status information in the PLC for the user 0 ON LINE Status of slave x Everything o k 1 OFF LINE Status of slave x Slave diagnostics message present 4 260 D301087 0308 BL20 CANopen Objects Representation of process output data The process output data of the BL20 E 1SWIRE modules is repre sented by objects 6200hex 6220hex 6221hex and 6222hex 6300hex or 6320hex for digital output channels of a BL20 station The user can choose between 4 different formats for representing the values Only one bit represented by each SUB index objects 6220hex 6221hex and 6222hex page 4 124 8 bits represented by each SUB index object 6200hex page 4 123 16 bits represented by each SUB index object 6300hex page 4 125 32 bits represented by each SUB index object 6320hex page 4 1
237. n time The time required in a bus system between a reading operation being sent and the receipt of an answer It is the time required by an input module to change a signal at its input until the signal is sent to the bus system s SDO see Chapter 2 Short description of CANopen Page 2 4 D301087 0308 BL20 CANopen 9 7 Glossary 9 8 D301087 0308 BL20 CANopen 10 Index A addressing 3 2 B BL20 gateway function 3 3 Boot up message 4 15 bus connection 7 16 cable types 7 4 CANOPEN 2 1 Boot up message 2 4 Communication 2 3 EDS file 2 8 Emergency object Emcy 2 6 General 2 2 Network management messages 2 3 Process data objects PDOs 2 4 Service data objects SDOs 2 4 Special function objects 2 6 Synchronization object 2 6 Time stamp object Time 2 6 4 10 D Default Mappings 4 26 Default PDOS 4 28 diagnostic messages 3 27 Diagnostics l O modules 5 7 CIAQNOSHICS u 5 1 Division 2 8 1 E earth free operation 7 8 elec
238. nal 6421 Analog input interrupt trigger selection page 4 145 Table 95 Objects 64281 Feature Description Value Name Analog input interrupt positive delta Unsigned Object code ARRAY PDO mapping No Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 8E Data Type Unsigned32 Access rw Default value BL20 00000000 Note he appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL20 I O modules 0300529 4 154 D301087 0308 BL20 CANopen Objects Objects for Analog Output Modules General Overview for Analog Output Objects Table 96 Object Name Page General overview for analog output 5440 4 Manu spec analog output range 4 161 objects 6411 hex Write analog output 16 bit 4 157 6443 0x Analog output error mode 4 158 6444 Analog output error state 4 160 D301087 0308 BL20 CANopen 4 155 BL20 Communication in CANopen The following figure shows the relationship between the analog output objects for an Integer16 access Figure 5 Relationship between the analog output objects according to CiA Draft Standard 401 Communication Objects Hardware Objects
239. nd that the manufacturer s quality system relating to the Ex products covered by this certificate was assessed and found to comply with the IECEx Quality system requirements This certificate is granted subject to the conditions as set out in IECEx Scheme Rules IECEx 02 and Operational Documents as amended STANDARDS The electrical apparatus and any acceptable variations to it specified in the schedule of this certificate and the identified documents was found to comply with the following standards IEC 60079 0 2004 Electrical apparatus for explosive gas atmospheres Part 0 General requirements Edition 4 0 IEC 60079 15 2005 Electrical apparatus for explosive gas atmospheres Part 15 Contruction test and 03 Marking of Type of Protection n electrical apparatus Edition Ed 3 This Certificate does not indicate compliance with electrical safety and performance requirements other than those expressly included in the Standards listed above TEST amp ASSESSMENT REPORTS A sample s of the equipment listed has successfully met the examination and test requirements as recorded in Test Report GB FME ExTRO7 0002 00 lity Assessment Report DE PTB QAR06 0012 00 D301087 0308 BL20 CANopen 8 21 BL20 Approvals for Zone 2 Division 2 IECEx Certificate of Conformity Certificate No 07 0004X Date of Issue 2008 01 21 Issue No 0 Page 3 of 5 Schedule EQUIPMENT Equipment and systems covered by this c
240. ned Object 1400 defines the priority and the transmission type for the RPDO1 object 1600 defines the object index the sub index and the data length for the data which have to be transferred via RPDO1 Objects 1401 and 1601 thus define the RPDO2 objects 1402 and 1602 define RPDOS etc The priority of the data is defined by the identifier COB ID The values are already entered by default for objects 1400hex to 1403hex and 1600hex to 1603hex A station with up to 64 digital outputs and 12 analog outputs there fore transfers the process output data automatically via RPDOs D301087 0308 BL20 CANopen Object Dictionary Object 1400 t0 141F Parameters Receive PDO Comm Default hex Objects 1400 to 141 define the priority and the transmission type or RPDO1 to RPDO32 The priority is defined via the identifier COB ID see Identifier for the Standard Objects page 4 10 in sub index 01 With the highest bit of sub index 01 the further content can be defined as valid invalid The corresponding most significant hexadecimal number is then gt 8 The transmission type is defined with the sub index 02hex Which data content is to be transferred with the RPDO1 to RPDO32 is defined with the objects 1600hex to 161Fhex Table 32 Object 1400 to 141F Object description INDEX 1400 to 141F Name Receive PDO parameters Object cod
241. nel analogue input module platinum and nickel resistance elements 2 channel analogue input module thermoelements BL20 4A1 UN BL20 2D0 24VDC 0 5A P BL20 2D0 24VDC 0 5A N 4 channel analogue input module current or voltage 2 channel digital output 0 54 pnp BL20 2D0 24VDC 2A P BL20 4DO 24VDC 0 5A P BL20 16DO 24VDC 0 5A P BL20 32DO 24VDC 0 5A P 2 channel digital output 0 5A 2 channel digital output 2 0A pnp BL20 2AO I 0 4 20MA 2 channel analogue output module current BL20 2A0 U 10 0 10VDC 2 channel analogue output module voltage BL20 1CNT 24VDC BL20 1RS232 RS232 interface BL20 1RS485 422 RS485 422 interface 3030839 Page 1 of 4 8 26 D301087 0308 BL20 CANopen Certificates for the USA FM Approvals Araber of e FM ncmpe Description SSI in BL20 BR 24VDC D Power Supply Module with internal 5V DC Bus 24VDC D Power Feed Module Field Supply 24V BL20 E 8DI 24VDC P 8 channel digital input module pnp Econo BL20 E 16DI 24VDC P 16 channel digital input module pnp Economy BL20 E 8DO 24VDC 0 5A P channel digital output module 0 5A pnp Economy BL20 E 16DO 24VDC 0 5A P 16 channel digital output module 0 5A pnp Economy ateway for Profibus DPV1 Special Conditions of Use 1 In Class Division 2 installations the BL20 Modular O Bus Terminal Systems shall be mounted within a tool secured enclosure installed in accord
242. nge Object Low limit matches the comparison value 2 of the BL20 1SSI module Table 135 Feature Description Objects 6B10 Name CAM1 Low limit Object code ARRAY Data type Integer32 Access rw Default value No PDO mapping No Object 6B20 CAM1 High Limit The object CAM1 High limit defines in accordance with DS406 an upper limit of the counter range Object CAM1 High limit matches the comparison value 1 of the BL20 1SSI module Table 136 Feature Description Objects 6 20 Name CAM1 High limit Object code ARRAY Data type Integer32 Access rw Default value No PDO mapping No 4 198 D301087 0308 BL20 CANopen Objects Objects for Counter Modules General Overview for Counter Objects Table 137 Object Name Page General overview for counter 58001 Encoder Basic Mode 4 201 objects 5801 Encoder Config 4 205 5802 nex Encoder Status 4 210 5803 Encoder Flags 4 212 5804 Encoder Diag 4 215 5808 Encoder Control 4 220 5810 Encoder Load Value 4 223 5811 hex Encoder Pulse Width 4 224 5820 Measuring Integration Time 4 225 5821 Measuring Low Limit 4 227 5822 0x Measuring High Limit 4 228 5823 Measuring Units Per Revolution 4 229 Objects to CiA DS 406 6800 Operating Parameters 4 230 6810 Load Value For Multi Sensors 4
243. ngle diagnos tics this bit field indicates the error as soon as the PKZ of the slave Sx has tripped 0 OK The PKZ of the slave has not tripped or diag nostics function has been deactivated via the parameter setting 1 tripped The PKZ of the slave has tripped Object 3064hex XBI Param Dword The object XBI Param Dword reads the first Param Dword Byte 0 3 of a module on the BL20module bus The sub index 1 to 74 corresponds to the module number of the BL20 module Table 181 Feature Description Object 3064 Param Dword Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No D301087 0308 BL20 CANopen 4 281 BL20 Communication in CANopen Object 3065hex XBI Param Dword2 The object XBI Param Dword2 reads the second Param Dword Byte 4 7 of a module on the BL20module bus sub index 1 to 74 corresponds to the module number of the BL20 module Table 182 Feature Description Object 3065 Name XBI Param Dword2 Object code ARRAY PDO mapping No Data type Unsigned32 Access rw Default value No Object 3066hex XBI Param Dword3 The object XBI Param Dword3 reads the third Param Dword Byte 8 11 of a module on the BL20module bus The sub index 1 to 74 corresponds to the module number of the BL20 module Table 183 Feature Description Object 3066 XBI Param Dword3 Ob
244. o Sub index Ot hex Description COB ID of the PDO Access rw PDO mapping No Value range BL20 Unsigned32 Default value BL20 Index 1800 x 0000 0180 Node ID Index 1801 0000 0280 Node ID Index 1802 0000 0380 Node ID Index 1803 x 0000 0480 Node ID Index 1804 4 to 181F invalid 4 84 D301087 0308 BL20 CANopen Object Dictionary Table 37 Object description Object 1800 to 181F ex Value description Sub index 02 Description Transmission type Access rw PDO mapping No Value range BL20 Unsigned8 Default value BL20 FFh Sub index Description Inhibit time Access rw PDO mapping No Value range BL20 Unsigned16 Default value BL20 0 Sub index 04 Description reserved D301087 0308 BL20 CANopen 4 85 BL20 Communication in CANopen Table 37 Object 1800 to 181F Object description Value description Sub index O5 nex Description Event timer Access rw PDO mapping No Value range BL20 Unsigned16 0 is not used Default value BL20 0 The COB ID Sub index 01 shows the following structure MSB LSB Bits 31 30 29 28 to 11 10 to O 11 bit ID 01 0 0 00 0000 0000 0000 0000 11 bit identifier 29 bit ID 0 1 0 1 1 29 bit identifier 4 86 D30
245. o define for each digital output channel whether or not the output should take on a substitute value in the event of an error The rule is 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by an Error state output object e g 6307 Table 75 Feature Description Value Objects 63061 Error mode output 16 bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 12 Data Type Unsigned16 Access rw Default value BL20 0301087 0308 20 CANopen 4 133 BL20 Communication in CANopen Object 6307 Error State Output 16 Bit The object defines values in 16 bit groups A total of 18 groups each 16 bit can be defined 288 digital output channels The substitute value is defined for each digital output channel The substitute values will only be used in the event of an error if 1 is entered an Error mode output object e g 6306 for the partic ular output channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs Table 76 Feature Description Value Objects 6307 Name Error state output 16 bit
246. on Ordering Information of the Appendix shows the possible combinations of electronics and base modules They can be plugged or pulled when the station is being commissioned or for maintenance purposes without having to disconnect the field wiring from the base modules Figure 4 Electronics module in slice design D301087 0308 BL20 CANopen 1 7 BL20 Philosophy Figure 5 Electronics module in block design 1 8 D301087 0308 BL20 CANopen BL20 Components Base Modules The field wiring is connected to the base modules These are constructed as terminals in block and slice designs and are available in the following variations with either tension clamp or screw connections 2 3 wire 2 channel 4 wire 2 channel and 4x 2 3 wire 4 channel The assignment table in the Section Ordering Information of the Appendix shows the possible combinations of electronics and base modules Figure 6 Base module with tension clamp connection D301087 0308 BL20 CANopen 1 9 BL20 Philosophy Figure 7 Base module with screw connection Figure 8 Base module in block design 1 10 D301087 0308 BL20 CANopen BL20 Components End Plate An end plate on the right hand side physically completes the BL20 station An end bracket mounted into the end plate ensures that the BL20 station remains secure on the mounting rail even when subjected to vibration Figure 9
247. on of one bit per second Bit s Baud rate Unit of measurement for data transmission speeds in Bit s Bidirectional Working in both directions D301087 0308 BL20 CANopen 9 1 Glossary Bit Strobe A Bit Strobe I O connection is a connection between a DeviceNet client and an undetermined number of servers these being queried by commands sent by the client Bonding strap Flexible conductor normally braided that joins inactive components e g the door of a switchgear cabinet to the cabinet main body Bus Bus system for data exchange e g between CPU memory and I O levels A bus can consist of several parallel cables for data transmission addressing control and power supply Bus cycle time Time required for a master to serve all slaves or stations in a bus system i e reading inputs and writing outputs Bus line Smallest unit connected to a bus consisting of a PLC a coupling element for modules on the bus and a module Bus system All units which communicate with one another via a bus Capacitive coupling Electrical capacitive couplings occur between cables with different potentials Typical sources of interference are e g parallel routed signal cables contac tors and electrostatic discharges Class A group of Objects that all describe the same system components All Objects of a Class are identical in form and behavior they can though contain different attributes COB Communication Object
248. on of the existing station structure Module list the current configuration must be accepted in the CANopen mirror of the BL20 gateway This is done through the configuration button between the two rotary encoding switches Note he green IOs LED indicates that the current 20 configuration matches the stored reference module list Pressing the set button with a pointed object for at least 2 seconds saves the current station configuration in non volatile memory A hardware reset will then be carried out automatically With this reset all the CANopen parameters will be restored to their default values if the newly saved configuration is different to the old one A Attention WI hen saving the BL20 configuration all the CANopen objects must be parameterized again if their parameter values differ from the de fault values The complete parameterization of the station must sub sequently be reloaded into the BL20 station The actuation of the button is indicated by a rapid 4 Hz green blinking of the IOs LED After 2 seconds the LED changes to yellow blinking at 4 Hz thus indicating that the station configuration is being saved When the storage procedure is completed the LED changes to a continuous green light 3 26 D301087 0308 BL20 CANopen Status Indicators Diagnostic Messages Gateway Status Indicators Diagnostic Messages Gateway The gateway transmits the following diagnostics the status of the
249. onnector type LPZF 5 08 5 pole Fieldbus shielding connec via BL20 SCH 1 tion Transfer rate 10 20 50 125 250 500 800 and 1000 kbps Fieldbus termination SUB D plug connector or external resistors 2 rotary hex encoder switches with labeling for the Node ID setting 3 12 D301087 0308 BL20 CANopen Technical Data Technical Data BL20 GWBR CANOPEN Table 5 Designation Value Technical data BL20 GWBR Supply CANOPEN Field supply 0 Nominal value 24 V DC 18 to 30 V DC range max field current 10A Isolation voltage U to 500 Usys U to fieldbus U to FE Connections 2 pole screw terminal System supply Usys nominal value 24 V DC 18 to 30 V DC range Isys for lg 1 2 A Usys max 900 mA 18V DC Imp supply to the 1 2 module bus stations Isolation voltage Usys 00V gr to U Usys to fieldbus Usys to FE Connections 2 pole screw terminal Physical interfaces Fieldbus Transfer rate 10 kbps to 1 Mbps Isolation voltage 500V fieldbus to Usys fieldbus to U fieldbus to FE D301087 0308 BL20 CANopen 3 13 BL20 Gateway for CANopen Designation Value Fieldbus connections Socket MSTBV 2 5 5 GF 5 08 GY AU Phoenix Contact Plug TMSTBP 2 5 5 STF 5 08 AB GY AU Phoenix Contact included in delivery Fieldbus shielding Via connector connection Node ID setting 2
250. open Table 152 Meaning of the data bits Designation Description SW_GATE 0 1 Counting measuring is started release 1 0 Counting measuring is stopped The starting and stopping of the counting measuring operation with a data bit is called the SW gate The HW gate is also provided in addition for stopping and starting the counting measuring operation via the DI hardware input If this option is set function DI in Object 5800hex Encoder Basic a positive signal must be present at DI in order to activate the SW gate logical AND oper ation 4 222 D301087 0308 BL20 CANopen Objects Object 5810 Encoder Load Prepare Value Object 5810 contains the load value for Load in preparation in count mode i e the event driven setting of the counter value is set to this value This load value is accepted as the new counter value in response to any of the following events Lower or upper count limit is reached when no main count direc tion has been configured Reaching the upper count limit with the main count direction set to up counting Reaching the lower count limit with the main count direction set to down counting Main count direction see Object 5800hex Encoder Basic The required handshake with the counter module is carried out by the BL20 gateway The parameter can be stored retentively in the gateway and is restored with every node reset
251. open functions SDO transfer any length of information Emergency object Sync frame evaluation Event driven PDOs Synchronous PDOs clock synchronous Remote requested PDO polling D301087 0308 BL20 CANopen 2 7 Short description of CANopen Electronic data sheet EDS file CANopen nodes are embedded in the CANopen structure by the help of a standardized EDS file Electronic Data Sheet The EDS file lists all necessary Objects with their corresponding Sub indices and the matching entries The latest version of a particular EDS file can be downloaded directly from the TURCK Homepage www turck com 2 8 D301087 0308 BL20 CANopen BL20 Gateway for CANopen Introduction 2 FUN ui PPPEEPEERFERPERPEERFERFERFEERFERFERFERRERRRERFEEREEREERFEEREEREERFERFERREEREERFERTEEREERRERGE 3 Technical 4 Technical Data csscesceeeeeseeseeneenseessensenseegseasengeegsegsenseesseesenseneeensensas 6 General Technical Data 6 Relating to a Station 6 E eal eee ae 9 Base Modules 10 Structure Diagram of a 11 20 sakik 11 Connections for data cables to BL20 GW CANopen 16 Fieldbus connect
252. or Hans Turck GmbH amp Co KG M lheim an der Ruhr Germany Page 3 of 4 8 34 D301087 0308 BL20 CANopen Certificates for Canada lonis Mamet f the FM Ghi m This certifies that the equipment described has been found to comply with the following Approval Standards and other documents CSA C22 2 No 213 1992 CSA C22 2 No 1010 1 2006 CAN CSA E60079 15 02 2002 Original Project ID 3030839C Approval Granted November 26 2007 Subsequent Revision Reports Date Approval Amended Report Number Date Report Number Date 080116 Februany 22 zoog FM Approvals LLC 32 asd E dy 2206 E Marquedant Date Group Manager Electrical 6 07 3030839C Page 4 of 4 D301087 0308 BL20 CANopen 8 35 BL20 Approvals for Zone 2 Division 2 Installation Drawings Installation drawing Canada Principe de montage Canada NON HAZARDOUS LOCATION EMPLACEMENT NON DANGEREUX Class Division 2 Classe I division 2 Class 1 Zone2 Classe zone 2 Class Division 2 Installation drawing Canada Classe division 2 principe de montage Canada Class Zone 2 Installation drawing Canada Classe zone 2 principe de montage Canada WARNING EXPLOSION HAZARD DO NOT OPERATE SWITCHES OR CONNECT OR DISCONNECT MODULES AND WIRING WHEN THE CIRCUIT IS ENERGIZED UNLESS THE AREA IS KNOWN TO BE NON HAZARDOUS ATTENTION
253. or Canada dete ea 8 32 Certificate Of 8 32 Installation Drawings ann 8 36 9 Glossary 10 Index D301087 0308 BL20 CANopen vi D301087 0308 BL20 CANopen About this Manual Documentation 2 OVerV eW E 3 iiejoeRULIIM mE 3 Notes Concerning Planning Installation of this Product 3 Description of Symbols 4 List of Revisions 5 D301087 0308 BL20 CANopen 0 1 About this Manual Documentation Concept 0 2 This manual contains all information about the BL20 gateway for CANopen The following chapters contain a short BL20 system description a description of the field bus system CANopen exact information about function and structure of the BL20 CANopen gateway as well as all bus specific information concerning the connection to auto mation devices the maximum system extension etc The bus independent I O modules for BL20 as well as all further fieldbus independent chapters like mounting labelling etc are described in a separate manual BL20 l O modules TURCK Documentation No English D300717 Furthermore the manual contains a short description of the project planning and diagnostics software for TURCK l O systems the software I O ASSISTANT D301087 0308 BL20 CANopen Overview Overv
254. ot supplied Check the voltage supply Green Module bus is running the configured module bus station corre sponds to the physi cally connected station communication is active Green Station is in the Deactivate the flashing Force l O ASSISTANT Force 1Hz Mode Mode 3 28 D301087 0308 BL20 CANopen Status Indicators Diagnostic Messages Gateway Table 11 LED Status LED indicators Meaning Remedy 5 Redand LED GW off Controller is not ready Voc level is not within the required range possible reasons too many modules connected to the gateway short circuit in connected module hardware error in gateway Check wiring at the gateway and the voltage supply Dismount modules Replace the gateway Red flashing 1 Hz Non adaptable modifi cation of the physically connected station Compare the planned BL20 station with the physical station Check the physical station for defective or incorrectly fitted elec tronics modules Red flashing 4 Hz no module bus communication At least one module has to be plugged and has to be able to communicate with the gateway Red green flashing 1 Hz Adaptable modification of the physically connected station data transfer possible Check the physical station for pulled or new but not planned modules Red Short circuit or over load at
255. otential group Protecting the Service Interface on the Gateway During operation the cover protecting the service interface and the rotary coding switches must remain closed due to EMC and ESD 6 12 D301087 0308 BL20 CANopen Power Supply C Rail Cross Connection The C rail runs through all base modules The C rail of the base modules for power distribution modules is mechanically separated thus potentially isolating the adjoining supply groups Access to the C rail is possible with the help of base modules with in their designation for example BL20 S4T SBCS The corre sponding connection level is indicated on these modules by a thick black line The black line is continuous on all I O modules On power distribution modules the black line is only above the connection 24 This makes clear that the C rail is separated from the adjoining potential group to its left Figure 9 C rail front view Figure 10 side view 724 0301087 0308 BL20 CANopen 6 13 Guidelines for Station Planning t is permitted to load the C rail with a maximum of 24 V Not 230 V The C rail can be used as required by the application for example as a protective earth PE In this case the PE connection of each power distribution module must be connected to the mounting rail via an additional PE terminal which is available as an accessory Note For information about introducing a BL20 stat
256. ow via the module bus if different ground potentials or ground connections are used which can lead to the destruction of the Bus Refreshing module All Bus Refreshing modules are connected to one another via the same ground potential The power to the module bus is supplied via the connections 11 and 21 on the base module 6 10 D301087 0308 BL20 CANopen Power Supply Creating Potential Groups Bus Refreshing and Power Feeding modules can be used to create potential groups The potential isolation of potential groups to the left of the respective power distribution modules is provided by the base modules Attention Ensure that the correct base modules are planned for when using Bus Refreshing modules Figure 8 Gateway 2 NO Al 200 201 PF 200 Al 201 NO Example for B EB iB creating potential 2 groups with BL20 GWBR CANOPEN System TC E e d Field supply 3 imei Potential group 1 Potential group 2 Note he system be supplied with power independent ofthe potential group formation described above D301087 0308 BL20 CANopen 6 11 Guidelines for Station Planning When using a digital input module for 120 230 V AC it should be ensured that a potential group is created in conjunction with the Power Feeding module BL20 PF 120 230VAC D N Attention t is not permitted to use the modules with 24 120 230 V AC field supply in a joint p
257. owing applies to bit O SSI group diagnostics of the diagnos tics interface and 551 DIAG of the process input data SSI_STSO amp EN DO DSJII SSI STS1 D1 DS II 551 STS2 amp EN_D2_DS SSI_STS3 D3 DS 4 192 D301087 0308 BL20 CANopen Objects Object 6800 Operating Parameters Note Object 6800 corresponds to object 6000 hex in accordance with CiA DS406 has no meaning with BL20 and only exists because it is a mandatory object in accordance with DS406 Table 126 Feature Description Objects 6800 Operating parameters Object code VAR Data type Unsigned16 Access rw Default value 00h PDO mapping No Object 6810 Preset Values for Multi Sensor Devices Object 6810 corresponds to object 6010 in accordance with CiA DS406 is used for zero point adaption The content of this object is added to the value of the SSI encoder The resulting value is stored in object 6820 Table 127 Feature Description Objects 6810 x Name Position value for multi sensor devices Object code ARRAY Data type Integer32 Access rw Default value No PDO mapping Yes D301087 0308 BL20 CANopen 4 193 BL20 Communication in CANopen Object 6820 Position Value Position value for multi sensor devices Object 6820 corresponds to object 6020 as per CiA DS406 hex contains the SSI enco
258. pen 5 Diagnostics Emergency Frames General IEPPERPFEPFERPERPEERFERRERFERRFERFERRERFEERFERRERRERREERFERRERREERFERFEEREREEERFERFERREERRERRER 2 Structure of the Emergency Frames 11e eee siena nana nena 3 Err r SOR DLE 4 Additional information 4 5 Diagnostics nun ann nun nannann nun 8 Digital Input Modules 2 noie sea 8 Digital Output 2 11 Analog Input Modules 11 Technology Modules 14 D301087 0308 BL20 CANopen 5 1 Diagnostics Emergency Frames General 5 2 The gateway sends out the following diagnostic information the state of the BL20 station the communication through the internal modules bus the communication with CANopen the state of the gateway itself Diagnostics messages are indicated in two different ways through the individual LEDs see page 3 27 ff through Emergency Frames a CANopen configuration tool software D301087 0308 BL20 CANopen Structure of the Emergency Frames Structure of the Emergency Frames BL20 CANopen supports Emergency Frames EMCY as standard ized in CiA DS 301 The COB IDs for the EMCY telegrams are defined by the Predefined Master Slave Connection Set COB ID 129 1 Node ID In t
259. pen Table 16 Object 1005 Object description INDEX 1005 COB ID Sync Object code VAR Data Type Unsigned32 Value range Access rw PDO mapping No Value range Unsigned32 Default value BL20 0000 0080h 4 50 D301087 0308 BL20 CANopen Object Dictionary Object 1008 Device Name Object 1008 contains the manufacturer specific device name Table 17 Object description Object 1008 1008 Device name from the manufacturer Object code VAR Data Type Visible String Value range Access const PDO mapping No Value range BL20 Default value 20 BL20 GW CO D301087 0308 BL20 CANopen 4 51 BL20 Communication in CANopen Object 1009 Manufacturer Hardware Version Object 1009 contains the designation for the Hardware Version Table 18 Object 1009 Object description INDEX 1009 Hardware version Object code VAR Data Type Visible String Value range Access const PDO mapping No Value range BL20 Default value BL20 01 4 52 D301087 0308 BL20 CANopen Object Dictionary Object 100A Object 100A contains the designation for the software version Manufacturer Software Version hex Table 19 Object description Object 100A INDEX 100 software version
260. pen 1 O Module Diagnostics BL20 1SSI Byte 0 Byte3 Byte 4 Byte 5 Meaning Byte 1 Error Code 7000 Module Channel OT hex SSI diag number number always 1 2 SSI error O4 nex Overflow error 08 Underflow error 10nex Parameter error Note For the process data image and the diagnostic data of the modules please refer to page 4 1 76ff D301087 0308 BL20 CANopen 5 17 Diagnostics Emergency Frames BL20 1CNT Designation Byte 0 1 Byte 2 Byte 3 Byte 4 Meaning Error code Error register Extra info Extra info Load dumps at outputs Open circuit or 2310 Bit121 Module Channel number current too low current error number threshold posi tive converter limit value Output current out of range 2330 Bit1 1 Module Channel number The current is current error number outside of the permissible range A Ed Note F or the process data image of the modules please refer to page 4 199ff 5 18 D301087 0308 BL20 CANopen 1 O Module Diagnostics BL20 E SWIRE Byte 0 Byte 3 Byte 4 Byte5 Byte6 Byte7 Byte 1 Error Code 7000 ex Module Diagbyte 0 Diagbyte 1 Diagbyte 2 Diagbyte number 1416 1517 Bytes 6 and 7 of the Emergency frame contain a bit for each connected SWIRE module which is the result of the bit OR opera tion of the module diagnositc bytes see page 4 264ff Note For the process data image and the diagno
261. plication devices during the boot up process There can be a time jitter in transmission by the Sync Producer due to some other objects with higher prior identifiers or by one frame being transmitted just before the Sync message The Sync message is mapped to a single CAN frame with the identifier 128 by default The Sync message does not carry any data Emergency object Emcy The Emergency message is triggered by the occurrence of a device internal error situation and are transmitted from an Emer gency producer on the concerned application device This makes them suitable for interrupt type error alerts An Emer gency message is transmitted only once per error event As long as no new errors occurs on a device no further Emergency message can be transmitted Zero or more Emergency consumers may receive these The reaction of the Emergency consumer is application specific CANopen defines several Emergency Error Codes to be transmitted in the Emergency message which is a single CAN frame with 8 data byte Time stamp object Time By means of Time Stamp a common time frame reference is provided to application devices It contains a value of the type Time of Day This object transmission follows the producer consumer push model The associated CAN frame has the pre defined identifier 256 and a data field of 6 byte length 2 6 D301087 0308 BL20 CANopen BL20 and CANopen BL20 and CANopen BL20 supports the following CAN
262. pnp Bzwiss 8 channel digital input module pnp Economy D301087 0308 BL20 CANopen 8 23 BL20 Approvals for Zone 2 Division 2 8 24 IECEx Certificate of Conformity Certificate No IECEx 07 0004X Date of Issue 2008 01 21 Issue No 0 Page 5 of 5 Additional information Description BL20 E 16DI 24VDC P 16 channel digital input module pnp Economy 2 540024 0 05 BLZ0 E 16D0 24VOC O 5AF BLZ0 GWER PEDP BL20 GW DPVI BLZ0 GWEN BL20 GWENTP BLIDPGENIP BLZO SWERDNET BLZ0 GWER CANOPEN BLZD2RFID A BLIDZRFID C BL20 200 R NC BL20 2D0 R NO BL20 2D0 R CO 2 channel digital output relay change over D301087 0308 BL20 CANopen Certificates IECEx ATEX IEC Rev 1 doc BL20 MODULAR I O BUS TERMINAL SYSTEM IN ZONE 2 Installation instructions to use approved BL20 devices of category 3 in zone 2 according to directive 94 9 EG respective the standards IEC EN 60079 15 2006 Ex Marking Label Material 7815 of 3M Label Material 7815 CSA accepted File 99316 See the CSA listings for details Manufacturer and address TURCK D 45466 M lheim an der Ruhr country Made in Germany Type Type label other side of module Type of protection Ex nA nC II respective Ex nA T4 Approval number FM 07 ATEX 0040 X FME 07 0004 X E bol and ATEX identi x symbo
263. r Devices 230 Object 6820hex Position value for multi sensor devices 231 Object 6BOOhex CAM State Register 232 Object 6BO1hex CAM 1 Enable Register 235 Object 6 02 CAM Polarity Register 236 Object 6B10hex Low Limit 237 Object 6B20hex High Limit 238 Object 6B30hex Hysteresis 240 Object 6COOhex Area State Register 241 Object 6 01 Work Area Low Limit 243 Object 6002hex Work Area High Limit 244 Object 6DOOhex Operating Status 245 D301087 0308 BL20 CANopen Object 6DO1hex SingleTurn resolution rotary Measuring step linear 245 Object 6002 Number of distinguishable revolutions 245 Object GFFFhex Device Type 245 Parameters 20 1 246 Parameter list for the counter module 249 Objects for SWIRE modules sess 255 General Overview fo
264. r Heartbeat Protocol e g a time out Left CAN BusOff 8140 Recovered from Bus Off The system has left the CAN Bus Off state i e the CAN controller for the BL20 CANopen gateway has moved out of this serious fault condition l O Assistant Force Mode active 9009 hex External Error Force Mode is active i e the outputs of the BL20 station are not under the control of CANopen at the moment 5 6 D301087 0308 BL20 CANopen 1 O Module Diagnostics 1 O Module Diagnostics Digital Input Modules The digital input modules BL20 4DI NAMUR with diagnosis function have supplementary diagnostics which can not be sent via detailed error codes In case of an error occurring at one of these modules the gateway sends an error frame specifying the module and channel number of the respective module as well as a common error classification Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames page 5 3 If necessary detailed information about the diagnostic message can be read from a manufacturer specific object the object 3042 XBI Diag Word See next page O bjects 3000 to 3097 ex enable direct access to the internal mod ule bus of the BL20 station hex D301087 0308 BL20 CANopen 5 7 Diagnostics Emergency Frames Object 3042 XBI Diag Word This object reads the first diagnosis word byte 0 an
265. r SWIRE Objects 255 Representation of process input 257 55 258 Representation of process output 261 5 D 262 Representation of diagnostics data 264 Object 3044hex XBI Diag Dword 265 Object 3045hex XBI Diag Dword2 266 Representation of parameter 267 Object 3064hex Param Dword 269 Object 3065hex Param Dword2 269 Object 3066hex XBI Param DwordS3 270 Object 3067hex Param Dword4 270 Object 3068hex Param DwordB 271 Object 3069hex Param 271 D301087 0308 BL20 CANopen 4 5 BL20 Communication in CANopen Setting up communication Minimum Boot up BL20 supports the Minimum Boot up function described in CiA DS 301 Table 1 Abbrevia Meaning Explanation Meaning of the tion abbreviations cs NMT command A designation label for the specifier required s
266. rameter page 4 72 Receive PDO communication parameter 1400 RECORD 1st receive PDO PDO rw parameter CommPar page 4 75 1401 RECORD 2ndreceivePDO PDO rw parameter CommPar page 4 75 1402 RECORD PDO PDO rw parameter CommPar page 4 75 141F ex RECORD 32nd receive PDO rw parameter CommPar page 4 75 4 44 D301087 0308 BL20 CANopen Object Dictionary Table 12 Index Object Name Type Access M O Object overview he for the communi cation profile Receive PDO mapping parameter 1600 ARRAY 1st receive PDO rw PDO mapping mapping page 4 79 1601 ARRAY 2nd receive PDO rw PDO mapping mapping page 4 79 1602 ARRAY 3rd receive PDO rw PDO mapping mapping page 4 79 161 ARRAY 32nd receive PDO rw PDO mapping mapping page 4 79 Transmit PDO communication parameter 1800 RECORD 1st transmit PDO rw parameter CommPar page 4 83 1801 RECORD 2nd transmit PDO rw parameter CommPar page 4 83 1802 RECORD 3rd transmit PDO rw parameter CommPar page 4 83 181F RECORD 32nd transmit PDO rw parameter CommPar page 4 83 D301087 0308 BL20 CANopen 4 45 BL20 Communication in CANopen Table 12 Index Object Name Type Access M O Object overview he for the communi cation profile Transmit PDO mapping paramet
267. ration check ration The configuration check parameter enables a comparison of the set and actual configuration based on the device ID OA Inactive Configuration check based on device ID Only SWIRE slaves with a device ID completely matching the set configuration are accepted on the bus 1 Active All slaves are mapped in 4Bit INPUT 4Bit OUTPUT without checking the device ID 4 276 D301087 0308 BL20 CANopen Objects Byte Design Status Comment Byte 1 MNA Configuration check active passive If the ACTUAL configuration of the SWIRE bus does not match the SET configuration the master only exchanges data with the correctly configured and functional slaves OA Bus based No data exchange with a slave with an incomplete incorrect configura tion 1 Slave based The bus also goes into operation with the correctly configured slaves even if the configuration is incomplete This means in position oriented addressing All slaves detected by the daisy chain configuration with a posi tion that matches the set configura tion are started up Slaves that do not match the set configuration are inac tive 2 SDwro Slave error field Activate slave diagnostics info field SDegaSx As soon as a slave on the bus sets its error bit this is indicated individually as an error depending on the parameter setting OA Inactive Single diagnostics is activated 1 Active
268. rcumstances a PDO can be transmitted or received The following PDO Transmission types are supported by BL20 Type 0 sync acyclic Type 1 sync cyclic Type 253 remote request 255 event driven Table 4 Transmission type of BL20 Transmis PDO transmission sion type cyclic acyclic synchr asynchr only with RTR 0 x x 1 x x 253 x x 255 x Type 0 The PDO will always be transmitted TPDO or evaluated RPDO if this is permitted by a Sync Frame transmitted by the SYNC producer and the mapped contents of the BL20 CANopen gateway have changed since the last transmission Type 1 Immediately after receiving each Sync Frame the BL20 CANopen gateway puts out the mapped contents as a PDO on the network even if they have not changed since the last transmission Type 253 The PDO is only transmitted if a transmitted Remote Frame requests this from the BL20 CANopen gateway D301087 0308 BL20 CANopen 4 23 BL20 Communication in CANopen Attention A T he following Transmission type Type 255 is only permissible for TPDOs Type 255 In this mode of operation the BL20 CANopen gateway does not depend on any Sync or Remote Request for PDO communication Whenever this is envisaged for an internal event within the BL20 CANopen gateway the gateway will transmit a PDO to the CANopen network The Transmission types of the individual PDOs are independent which
269. re versions 2 4 02 for BL20 GW CANOPEN and version 2 2 02 for BL20 GWBR CANOPEN are thus not compatible with older firmware versions relating to the behavior of the analog inputs 3 2 D301087 0308 BL20 CANopen Function Function The BL20 gateways enable BL20 modules to operate on CANopen The gateway is the connection between the BL20 modules and a CANopen host system It regulates the process data between the I O level and the fieldbus and generates diagnostic data for the higher level host system Information is made available to the software tool I O ASSISTANT via the service interface D301087 0308 BL20 CANopen 3 3 BL20 Gateway for CANopen Technical Information Figure 1 BL20 GW CANOPEN Service inter face B Type designa tion C LEDs for module bus D DIP switch for transfer rate E Rotary encod ing switch for Node ID F SET button G CANopen SUB D plug H CANopen direct wiring LEDs for CANopen J CANopen SUB D socket omn 3 4 D301087 0308 BL20 CANopen Technical Information Figure 2 BL20 GWBR CANOPEN A Service inter face B Type designation C LEDs for module bus D DIP switch for transfer rate E Rotary encod ing switch for Node ID SET button Screw termi nals for field supply and system supply H CANopen direct wiring Open Style connector 0301087 0308 BL20
270. rection per space coordinate Resistance to repetitive shock according to IEC 68 2 29 1 000 shocks half sinus 25 g peak value 6 ms in each case in direction per space coordinate Topple and fall according to IEC 68 2 31 and free fall according to IEC 68 2 32 Weight 10 kg Height of fall 1 0 m 39 37 inch Weight 10 to 40 kg Height of fall 0 5 m 19 69 inch Test runs 7 Device with packaging electrically tested printed circuit board D301087 0308 BL20 CANopen 3 7 BL20 Gateway for CANopen 3 8 Electromagnetic compatibility EMC according to EN 50 082 2 Industry Static electricity according to EN 61 000 4 2 Discharge through air direct 8 kV Relay discharge indirect 4kV Electromagnetic HF fields 10 according to EN 61 000 4 3 and ENV 50 204 Conducted interferences 10V induced by HF fields according to EN 61 000 4 6 Fast transients Burst according to EN 61 000 4 4 Interference criteria A unre 1kV stricted operation normal oper ating behavior Interference criteria tempo 2 kV rary interference normal opera tion possible Emitted interference according according to EN 55 011 Class to EN 50 081 2 Industry A Group 1 Reliability Operational life MTBF min 120000 h Electronic modules pull 20 plug cycles Tests according to EN 61 131 2 Cold DIN IEC 68 2 1 temperature 25 C 1
271. rotary decimal encoding switches Service Connections PS 2 socket Eve This device can cause radio disturbances in residential areas and in small industrial areas residential business and trading In this case the operator can be required to take appropriate measures to sup press the disturbance at his own cost 3 14 D301087 0308 BL20 CANopen Connections for data cables to BL20 GW CANOPEN Connections for data cables to BL20 GW CANOPEN Fieldbus connection via SUB D socket SUB D connectors are provided for communication with the BL20 GW CANOPEN gateway through the CANopen fieldbus The passive bus termination must be applied externally if the BL20 gateway is the last station in the bus structure This external appli cation can be implemented either through separate termination resistors or through a special SUB D plug which has an integrated bus termination The pin assignments for the plug and socket are identical the socket is shown as an example Figure 4 5 4 3 2 1 SUB D socket on the gateway top d view N ee 9 8 7 6 Table 6 Pin Designation Meaning Pin assignments No for gateway SUB D plug socket 1 not used A The shielding of the fieldbus 3 L inverted data signal dominant low through the CAN_GND ground optional for CAN data signals metal housing ofthe SUB D not used connector and the contact 5 CAN_SHLD
272. ry Table 43 Bit Value Meaning Structure of NMT startup 0 0 BL20 is not the NMT Master All other bits will be ignored The objects in the network list will be ignored 1 BL20 is the NMT Master 1 0 Only the explicitly selected slaves will be started 1 After boot up the service NMT Start Remote Node All Nodes will be performed 2 0 BL20 moves automatically to the Operational state 1 BL20 does not move automatically to the Opera tional state The change of state is decided by the particular application 3 0 Starting of the slave is permitted 1 Starting of the slave is not permitted 4 0 An error event in an obligatory slave deals with the slave individually 1 An error event in an obligatory slave triggers an Reset All Nodes see object 1F81 bit 5 to 31 Reserved set to 0 D301087 0308 BL20 CANopen 4 93 BL20 Communication in CANopen Object 1F81 Slave Assignment Object 1F81 describes as per DSP 302 all the slaves that are coupled to the NMT Master It contains information on error control parameters and actions that are triggered by error events All other parameters for a slave are only valid if this slave is described in object 1F81 hex ER Note O bject 1F81 is only valid if the BL20 is defined as the NMT Master see object 1F80 bit Table 44 Object description Object 1F81 INDEX 1F81
273. s As well as the options mentioned above relay modules can be wired directly In this case base modules without C rail connections should be chosen to guarantee the potential isolation to the adjoining modules D301087 0308 BL20 CANopen 6 15 Guidelines for Station Planning Plugging and Pulling Electronics Modules BL20 enables the pulling and plugging of electronics modules without having to disconnect the field wiring The BL20 station remains in operation if an electronics module is pulled The voltage and current supplies as well as the protective earth connections are not interrupted A Attention fthe field and system supplies remain connected when electronics modules are plugged or pulled short interruptions to the module bus communications can occur in the BL20 station This can lead to undefined statuses of individual inputs and outputs of different modules 6 16 D301087 0308 BL20 CANopen Extending an Existing Station Extending an Existing Station Attention Please note that extensions to the station mounting further mod ules should be carried out only when the station is off circuit Once alterations have been made to the order ofthe modules on the BL20 station the new configuration must be saved to the actual configuration memory of the BL20 gateway This is done by either pressing the SET button between the two decimal rotary coding Switches see chapter 2 or by making the appropriate setting
274. s 010 below lower limit 011 above upper limit D301087 0308 BL20 CANopen 4 207 BL20 Communication in CANopen A default settings Designation Value Designation of the values Value range function DO2 000 A output count mode 001 on when cnt value 2 ref value 010 on when cnt value S ref value 011 pulse when cnt value ref value 4 208 Sensor parameters byte 1 Signal evaluation OOA A B pulse and direction In this mode input B can control up and down counting in count mode In measurement mode input B can receive a signal for the rotational direction 01 single evaluation rotary sensor Only Count mode 10 double evaluation rotary sensor 11 fourfold evaluation rotary sensor Sensor and input filter An input filter at inputs A B and DI can suppress high frequency interference and thus increase the accuracy of the counting The limit frequency can be adapted to the application 20 kHz or 200 kHz sensor input filter OA A 1 2 5us 200 kHz 25us 20 kHz sensor input filter OA B 1 2 5us 200 kHz 25us 20 kHz sensor input filter OA 2 5us 200 kHz DI 1 25us 20 kHz sensor A 00A normal 01 inverted D301087 0308 BL20 CANopen Objects A default settings Designation Value Designation of the values Value range direction input B OA normal 1 inverted Release byte 2
275. s in the configuration software see chapter 3 D301087 0308 BL20 CANopen 6 17 Guidelines for Station Planning Firmware Download Firmware can be downloaded via the service interface on the gateway using the software tool I O ASSISTANT More information is available in the program s online help Attention N T he station should be disconnected from the fieldbus when down loading Firmware must be downloaded by authorized personnel only The field level must be isolated 6 18 D301087 0308 BL20 CANopen Guidelines for Electrical Installation General 2 Sam M 2 Cable ROUNO 2 Cable Routing Inside and Outside of 2 Cable Routing Outside Buildings 3 Lightning Protection 3 Transmission Cables 3 4 Potential 5 General o 5 Potential Free 6 Non isolated 5 6 Electromagnetic Compatibility EMC eene 7 Ensuring Electromagnetic Compatibility 7 Grounding of Inactive Metal Components 7 PE
276. s of the IECEx Scheme visit www iecex com Certificate No IECEx FME 07 0004X issue No 0 Certificate history Status Current Date of Issue 2008 01 21 Page 1 of 5 Applicant Hans Turck GmbH amp Co KG Witzlebenstrasse 7 DE 45472 M lheim an der Ruhr Germany Electrical Apparatus BL20 Modular I O Bus Terminal System Optional accessory Type of Protection Type of protection electrical appartus Marking Ex nA Il T4 Ex nA nC 11 T4 Relay Modules Approved for issue on behalf of the IECEx Andrew Was Certification Body Position General Manager Signature for printed version Date 2 57 1 2 1 This certificate and schedule may only reproduced in full 2 This certificate is not transferable and remains the property of the issuing body 3 The Status and authenticity of this certificate may be verified by visiting the Official IECEx Website Certificate issued by FM Approvals Ltd 1 Windsor Dials SL4 185 Windsor United Kingdom APPROVED 8 20 D301087 0308 BL20 CANopen Certificates IECEx IECEx Certificate of Conformity Certificate No 1 FME 07 0004X Date of Issue 2008 01 21 Issue No 0 Page 2 of 5 Manufacturer Werner Turck GmbH amp Co KG Goethestrasse 7 DE 58553 Halver Germany Manufacturing location s This certificate is issued as verification that a sample s representative of production was assessed and tested and found to comply with the IEC Standard list below a
277. sible default index BL20 to values for objects 1A00 t0 1A03hex 1 00 01 6000 0108 1st mapping object TPDO1 digital input 08 60000808 8th mapping object digital input 1A01 4 01 6401 0110 1st mapping object TPDO2 analog input 04 6401 0410 4th mapping object analog input 1 02 01 6401 0510 1st mapping object analog input 04 6401 0810 mapping object analog input 1A08 01 6401 0910 1st mapping object TPDO4 analog input 04 6401 0 610 4th mapping object analog input D301087 0308 BL20 CANopen 4 91 BL20 Communication in CANopen The following structure applies to the parameters for sub index 01 0 40 MSB LSB Index 16 bit Sub index 8 bit Object Length 8 bit Note re change the number of mapping entries please observe the in structions in the Section Procedure for altering PDO mappings in this chapter Objects for Network Management Objects 1F80 to 1F83 are only relevant if the BL20 Station is to work as NMT master The activation is done via bitO of object 1F80 Object 1 80 Startup Object 1F80 describes the startup behavior of BL20 in NMT Network Management Table 42 Object description Object 1F80 to 1F80 ex Name NMT startup Object code VAR Data Type Unsigned32 Access rw 4 92 D301087 0308 BL20 CANopen Object Dictiona
278. sons or property external measures must be implemented to ensure a safe operating state in the event of a fault or malfunc tion for example by means of separate limit switches mechan ical interlocks etc The electrical installation must be carried out in accordance with the relevant regulations e g with regard to cable cross sections fuses PE All work relating to transport installation commissioning and maintenance must only be carried out by qualified personnel IEC 60 364 and HD 384 and national work safety regulations All shrouds and doors must be kept closed during operation Industri A Table of Contents About this Manual Bo cumentation G nceptia u erden 0 2 Gau cp P 0 3 Prescribed eerte ee eoa cere Unt pe aie 0 3 Notes Concerning Planning Installation of this Product 0 3 Description of Symbols Used seen 0 4 List Ot REVISIONS nro at e un ees Sin 0 5 1 BL20 Philosophy Th Basie CONCEP E n 1 2 BE20 Components rtt ea an 1 5 CL 1 5 Power Distribution 1 6 Electronics Modules iier etae eene eura Rau e eoo che ravenna RR RR 1 7 Base 1 9 End 1 11 End Brac kot M M 1 12 JUMPS a a c 1 13 Markin
279. stem Currents page 4 109 4 36 D301087 0308 BL20 CANopen Object Dictionary Table 9 Index Name Page Overview of all objects Objects for BL20 I O modules 5420 Analog Input Mode page 4 139 5440 Analog Output Mode page 4 161 5801 Encoder config page 4 180 5802 X Encoder status page 4 180 5803 Encoder flags page 4 181 5804 Encoder diag page 4 183 5805 SSI Native status page 4 185 5806 SSI Optional encoder page 4 189 5808 Encoder control page 4 190 6000 Read input 8 bit page 4 117 6020 Read input bit 1 to 128 page 4 118 6021 Read input bit 129 to 256 page 4 118 6022 Read input bit 257 to 288 page 4 118 6100 Read input 16 bit page 4 119 6120 Read input 32 bit page 4 120 6200 Write output 8 bit page 4 123 6206 Error mode output 8 bit page 4 127 6207 Error value output 8 bit page 4 128 6220 Write output bit 1 to 128 to Write output page 4 124 to bit 257 to 288 6222 6250 Error mode output Bit 1 to 128 to Error page 4 129 to mode output Bit 257 to 288 6252 hex D301087 0308 BL20 CANopen 4 37 BL20 Communication in CANopen Table 9 Index Name Page Overview of all objects 6260 Error value output Bit 1 to 128 to Error page 4 131 to value output Bit 257 to 288 6262 x 6300 Write output 16 bit page 4 125 6306 Error mode output 16 bit page 4 133 6307 x
280. ster The object CAM Enable register defines if the SSI encoder value is to be compared with the values CAM1 Low limit and CAM1 High limit object 6B10 and 6 20 Table 131 Feature Description Objects 6 01 CAM Enable register Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping No Table 132 Value Meaning Meaning of the data byte The SSI encoder value is compared with the values CAM1 Low limit and CAM1 High limit object 6B10 and 6B20 01 SSI encoder value is compared with the values CAM1 Low limit and CAM1 High limit object 6B10 and 6B20 4 196 D301087 0308 BL20 CANopen Objects Object 6BO2 CAM Polarity Register The object CAM Polarity register can cause an inversion of the values represented with object 6 00 Table 133 Feature Description Objects 6802 polarity register Object code ARRAY Data type Unsigned8 Access nw Default value No PDO mapping No Table 134 Value Meaning Meaning of the data byte 00 4 The value represented with object 6BO0 is not inverted 01 The value represented with object 6BO0 is inverted D301087 0308 BL20 CANopen 4 197 BL20 Communication in CANopen Object 6B10 CAM1 Low Limit The object CAM1 Low limit defines in accordance with DS406 a lower limit of the counter ra
281. stic data of the modules please refer to page 4 255ff D301087 0308 BL20 CANopen 5 19 Diagnostics Emergency Frames 5 20 D301087 0308 BL20 CANopen 6 Guidelines for Station Planning Random Module Arrangement 2 61116 28 penas 2 Maximum System 2 Power Supply 4 1 nier ann nun nun mann ann nnnnan mann Rau RR Rua aaa 50nn 5 Module Bus 5 Creating Potential 10 Protecting the Service Interface on the 11 C Rail Gross Cornection i A ER nOn 12 Direct Wiring of Relay 14 Plugging and Pulling Electronics Modules 15 Extending an Existing Station 1 eee eeee eee serene anna naa 16 Firmware Download 1 ener eee iens nun ann ann nun ann 17 D301087 0308 BL20 CANopen 6 1 Guidelines for Station Planning Random Module Arrangement The arrangement of the I O modules within BL20 station can basi cally be chosen at will Nevertheless it can be useful with some applications to group certain modules together Note DR T he mixed usage of base modules with screw connections and base modules with tensio
282. synchronization is successfully completed the STS SYN status bit is set Structure of the data bytes in measurement mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit1 Bit O X STS_ UFLW STS_ X STS_ x x x OFLW CMP1 Table 148 Meaning of the encoder flags Designation Description STS_UFLW 1 The lower measuring limit was undershot STS_OFLW 1 The upper measuring limit was exceeded STS_CMP1 1 Measuring terminated The measured value is updated with every elapsed time interval The end of ameasurement expiry of the time interval is indicated with the status bit STS_CMP1 4 214 D301087 0308 BL20 CANopen Objects Object 5804 Encoder Diag Object 5804 reads the diagnostics byte of the BL20 counter module A short open circuit and error are indicated when config ured Table 149 Feature Description Objects 5804 Name Encoder diag Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping No D301087 0308 BL20 CANopen 4 215 BL20 Communication in CANopen Meaning of the data bits in count mode Tabelle 6 Bit Diagnostics Meaning of the message data bits in count mode Meaning 0 Short open circuit Short open circuit 1 short open circuit ERR_DO Short circuit sensor supply 2 Bit 2 Parameter error The following parameter errors are indicated Upper co
283. t 4 24 Av ailable PDS ieri dede e e ein 4 25 Mapping Objects in 4 25 Default PDOs 4 26 BL20 Specific Default PDOs eene 4 28 Mappable Objects een 4 32 Procedure for Altering 4 34 Object Dictionary Overview of all Objects Commands for Parameter Save and Restore Defaults 4 40 Objects for the Communication 4 42 Objects for the Transfer of Service 4 72 D301087 0308 BL20 CANopen Industri A Objects for the Transfer of Process Output 4 74 Objects for the Transfer of Process Input 4 83 Objects for Network Management 4 92 Manufacturer Specific 4 103 l O Module Objects 4 110 Overview of the I O Module 4 110 General 4 113 Objects for Digital Input 4 114 Objec
284. t 64 digital output channels and for the first 12 analog output channels provided that the values are represented by the objects 6000 digital values and 6401 analog values hex hex Table 40 Object 1 00 10 TATF hex Object description INDEX 1A00 to 1A1Fh Name Transmit PDO mapping parameters Object code RECORD Data Type PDO mapping D301087 0308 BL20 CANopen 4 89 BL20 Communication in CANopen Table 40 Object description Object 1 00 10 1A1F ex Value description Sub index 00 Description Number of mapped application objects in the PDO Access rw PDO mapping No Value range BL20 0 deactivate 1 to 64 activated Default value BL20 see Table 34 Sub index 01 Description 1st mapping object Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 see page 4 91 Sub index 40 Description 64th mapping object Access rw PDO mapping No Value range BL20 Unsigned32 Defaultvalue BL20 No 4 90 D301087 0308 BL20 CANopen Object Dictionary Note The number of mapping objects which are automatically generated by the gateway during start up depends on the actual physical structure of the BL20 station Possible default values for objects 1A00 exto 1A03pex Table 41 Object Sub Default value Description applies Pos
285. t Dictionary After the command Restore default parameters a Reset Node must be carried out followed by a Store parameters command The default values are only saved again when this last command is executed D301087 0308 BL20 CANopen 4 41 BL20 Communication in CANopen Objects for the Communication Profile The following table provides an overview of the supported entries in the Object Dictionary which are defined by the Communication Profile CiA DS 301 The column Index describes the position of the entry in the Object Dictionary The column Object shows the Type of the object The column Name shows a predefined symbolic name for the entry The column Type shows the data type for the entry as defined by CiA DS 301 The column Access shows the access options for the entry These are rw read write ro read only const constant a read only constant The column M O shows whether the entry is mandatory or optional Table 12 Object overview for the communi cation profile 4 42 Index Object Name Type Access M O hed 1000 VAR Device type Unsigned32 const M page 4 47 1001 ARRAY Error register Unsigned8 ro M page 4 48 1005 VAR SYNC COB ID Unsigned32 rw O page 4 49 1008 x Device name Vis String const O page 4 51 1009 VAR Manufacturer Vis String const O hardware version page 4 52 D301087 0308 BL20 CANopen Object Dict
286. t Slave Connection Set PDO5 own Node ID 64 40 PDO1 PDO6 own Node ID 64 40 PDO2 PDO7 own Node ID 64 40 PDO3 PDO8 own Node ID 64 40 PDO4 9 own Node ID 96 60 PDO1 PDO10 own Node ID 96 60 PDO2 PDO11 own Node ID 96 60 PDO3 PDO12 own Node ID 96 60 PDO4 PDO13 own Node ID 32 20 PDO1 PDO14 own Node ID 32 20 PDO2 PDO15 own Node ID 32 20 PDO16 own Node ID 32 20 4 D301087 0308 BL20 CANopen 4 31 BL20 Communication in CANopen Mappable Objects The maximum of 64 mapping entries per PDO that is specified by Communication Profile CiA DS 301 is supported The following objects from the Object Dictionary can be mapped Table 7 Name Index Sub index Direction Overview of mappable objects A Objects xxx1 Dummy mapping 0001 Receive and xxx2 will Boolean be generated if the number of Dummy mapping 0002 Receive digital input or Boolean Integer8 output chan nels exceeds Dummy mapping 0003 Receive the value 128 Boolean Integer16 or 256 respec tively Dummy mapping 0004 ex Receive Boolean Integer32 Dummy mapping 0005 Boolean Unsigned8 Dummy mapping 0006 Receive Boolean Unsigned16 Dummy mapping 0007 Receive Boolean Unsigned32 Error register 1001 Transmit Manu Spec Analog 5420 1 ton Transmit Input Range RS232 RS4xx RxD 5601 1 ton Receive
287. tal output DO2 STS_DO1 The DO1 status bit indicates the status of digital output DO1 STS_DI The DI status bit indicates the status of digital input DI STS_GATE 1 Counting measuring operation running D301087 0308 BL20 CANopen 4 211 BL20 Communication in CANopen Object 5803 Encoder Flags Object 5803 supplies the following status messages in count mode Status zero crossing Status lower count limit Status upper count limit Status comparator 1 Status comparator 2 Status synchronization The following status messages are supplied in measurement mode Value below lower measuring limit Value above upper measuring limit Measuring terminated All status messages are reset by writing object 5803 with any value If the condition for setting continues the corresponding bit remains set Table 146 Feature Description Objects 5803 Name Encoder flags Object code ARRAY PDO mapping Yes Sub index Data type Usigned8 Access ro Default value No Sub index O14 nex 47 hex Data type Usigned8 Access rw Default value No 4 212 D301087 0308 BL20 CANopen Objects Structure of the data bytes in count mode Bit7 Bit6 Bit5 Bit 4 Bit 3 Bit2 Bit1 BitO STS_ STS_ 515 STS_ STS_ x STS_ UFLW OFLW CMP2 CMP1 SYN Table 147 Designation Description Meaning of the encoder flags STS ND Status zero crossin
288. that the gateway answers the Guard Remote frames without starting its own internal Guard timer and without changing into the Guard fail state As an alternative to Node Life Guarding the Heartbeat mechanism newly introduced with DS301 V4 0 is supported which unlike Guarding does not require Remote frames 4 14 D301087 0308 BL20 CANopen Setting up communication Boot up Message After initialization after Power On Reset Node and Reset Commu nication Boot up message as CiA DS 301 V4 0 is sent out This is in the form of a guard frame with the contents OOpex Under certain circumstances a network manager may failto detect a short drop out of an BL20 gateway for example as a result of voltage variations This could occur under the following conditions The drop out and initialization of the gateway happen the time between two Guarding Frames The gateway was already in the Pre Operational state before hand The last state of the toggle bit was 1 If a Boot up message is sent out after a reset or initialization then the drop out mentioned above will also not be missed by the network manager D301087 0308 BL20 CANopen 4 15 BL20 Communication in CANopen Parameterization through Service Data Objects SDO SDO Service Data Object is a confirmed CANopen service that is primarily used for parameterization and configuration of the CANopen slaves BL20 and less frequently for trans
289. the Default Master Slave Connection Set can be achieved by setting this COB ID to 0 Mapping Objects in PDOs Mapping is the assignment of objects from an Object Dictionary ina PDO for transmission reception through the CAN bus More than one object can be transmitted in a single PDO The Mapping parameters determine which items of information are transmitted in a PDO Table 5 Object Dictionary for mapping parameters PDO Object Dictionary entries Type Range Range Transmit PDOs TPDO1 to 1A00 to 1A1F TPDO32 Receive PDOs RPDO1 to 1600 xt0 161F RPDO32 D301087 0308 BL20 CANopen 4 25 BL20 Communication in CANopen Default PDOs and PDO Mappings The 4 Transmit and 4 Receive PDOs which are specified by the Communication Profile CiA DS 301 are supported by BL20 The mapping of these PDOs and their Transmission types are specified by the I O Device Profile CiA 05 401 E Note The Default PDOs are only activated if the planned objects and sub indices actually exist for the corresponding PDO If for instance no analog I Os are used in a BL20 station then the PDOs 2 to 4 are set to Invalid and no mapping entries will be present In addition to the default PDOs which are standardized by the CiA 05 301 and DS 401 profiles other PDOs for an BL20 CANopen gateway may be provided with mapping entries and communication parameters These additional PDOs 5 to 16 will be set to Invalid as a default
290. the field level allow a potential free installation The block diagram shows the arrangement of a typical BL20 station Gateway Refreshing 1 0 module 0 module Power Feeding 1 0 module Bus Refreshing 5V Field V V bus 20 20 al D301087 0308 BL20 CANopen 7 5 Guidelines for Electrical Installation 7 6 Potential Free Installation In a potential free installation the reference potentials of control and load circuitry are galvanically isolated from each other A potential free installation is necessary with load circuits for example when using the Power Feeding module BL20 PF 120 230VAC D Floating DC load circuits The potential free installation does not depend on the method of grounding Non isolated Installation In a non isolated installation the reference potentials of the control and load circuitry are galvanically connected D301087 0308 BL20 CANopen Electromagnetic Compatibility EMC Electromagnetic Compatibility EMC BL20 products comply in full with the requirements pertaining to EMC regulations Nevertheless an EMC plan should be made before installation Hereby all potential electromechanical sources of interference should be considered such as galvanic inductive and capacitive couplings as well as radiation couplings Ensuring Electromagnetic Compatibility The EMC of BL20 modules is guaranteed when the following
291. the ultimate application which is capable of accepting one or more of the Class 1 Division 2 wiring methods specified the National Electrical Code ANSI NFPA 70 Article 500 2 In Class Zone 2 installations the BL20 Modular Bus Terminal Systems shall be mounted within a tool secured enclosure which meets the requirements of ISA 60079 0 and ISA 60079 15 and is 607 3030839 Page 2 of 4 D301087 0308 BL20 CANopen 8 27 BL20 Approvals for Zone 2 Division 2 FM Approvals Ind of the EM oda capable of one or more of the Class Zone 2 wiring methods specified in the National Electrical Code ANSUNFPA 70 Article 505 Where installed in outdoor or potentially wet locations the enclosure shall a minimum meet the requirements of 54 Where installed in locations providing adequate protection against the entry of solid foreign objects or water capable of impairing safety the enclosure shall at a minimum meet the requirements of IP4X 3 BL20 Modules shall be installed on an 50 022 535 rail with each group completed by an end plate Type BL20 ABPL Ident no 6827123 and sandwiched between two end brackets Type BL20 WEW 35 2 SW Ident no 6827124 4 The input voltage for the BL20 2 channel digital relay modules shall be limited to 30 Vac or dc max contact voltage Equipment Ratings Nonincendive for Class I Division 2 Groups A B C and D Nonsparking Ex nA for Class
292. tion The BL20 modules communicate with the gateway via the module bus which is independent of the fieldbus MSB Most Significant Bit NMT see Chapter 2 Short description of CANopen Page 2 3 Overhead System administration time required by the system for each transmission cycle PDO see Chapter 2 Short description of CANopen Page 2 4 PLC Programmable Logic Controller Polling Establish a Polled I O Connection i e a conventional Master Slave relation ship between a controller and a DeviceNet device Potential compensation The alignment of electrical levels of electrical components and external conductive components by means of an electrical connection D301087 0308 BL20 CANopen Potential free Galvanic isolation of the reference potentials in I O modules of the control and load circuits Potential linked Electrical connection of the reference potentials in I O modules of the control and load circuits Protective earth Electrical conductor for protection against dangerous shock currents Gener ally represented by PE protective earth R Radiation coupling A radiation coupling appears when an electromagnetic wave hits a conductive structure Voltages and currents are induced by the collision Typical sources of interference are e g sparking gaps spark plugs commutators from electric motors and transmitters e g radio that are operated near to conducting structures Reactio
293. tion is faulty The master cannot carry out data exchange with at least one slave 0 OK No error present 1 faulty An error is present 4 266 D301087 0308 BL20 CANopen Objects Byte Design Status Comment Byte 1 Uswerr Voltage Usy Voltage fault in Ug voltage U 17 VDC for supplying the SWIRE slaves 0 OK No error present 1 under An error is present voltage GENE RALenn Error message The creation of a function block shows that systems function blocks for the general checking of a slave for any diagnostics messages present only check the first byte 0 none No diagnostics message present 1 present One several diagnostics messages present 2 SDinp Communication SWIRE slave If the parameter SD rrA is set for group diagnostics this bit indi cates an error as soon as only one slave on the bus sets its SD error bit 0 OK No error is present or diagnostics function has been deactivated via the parameter setting 1 faulty An error is present PKZerr Overcurrent protective circuit breaker If the parameter PKZ A is set for group diagnostics this bit indi cates an error as soon as only one PKZ of a slave has tripped 0 OK No PKZ has tripped or diagnostics function has been deactivated via the parameter setting 1 tripping At least one PKZ has tripped D301087 0308 BL20 CANopen 4 267 BL20 Communic
294. tion of the values of the digital output modules Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6221 is used If more than 256 output channels are present then object 6222 is used Since the number of digital input channels in a station is limited to 288 itis not possible to make use of the complete range of the array in object 6222 hex Table 68 Objects 6220 6221 6222hex Feature Description Value Name Write output bit Object code ARRAY PDO mapping Yes Sub index OOnex Data Type Unsigned8 Access ro Default value BL20 No Sub index 01 hex to 804 Data Type Boolean Access rw Default value BL20 0 4 124 D301087 0308 BL20 CANopen Objects Object 6300 Write Output 16 Bit The object presents the values for the digital output modules in 16 bit groups A total of 18 groups each 16 bit can be defined 288 digital output channels Table 69 Feature Description Value Objects 6300 Name Write output 16 bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 015 to 1255 Data Type Unsigned16 Access rw Default value BL20 0000 0301087 0308 BL20 4 125
295. tromagnetic compatibility 7 7 electronic modules 1 7 electrostatic discharge 7 15 e 7 7 D301087 0308 BL20 CANopen Industri A Emergency Frames 5 2 embpty slot 6 2 error Code cries 5 3 error register 5 3 5 4 ESD electrostatic discharge 7 15 Event Timer 4 24 F Fieldbus connection Direct wiring 3 16 Open Style connector 3 18 G gateway i 1 5 gateway function 3 3 Identifier 4 10 inductive loads protective circuit 7 15 Inhibit Time 22 2221 4 24 L LEEDS nungen 3 27 M Manufacturer Specific Objects 4 103 Mappable objects 4 32 Mapping objects 4 25 Minimum Boot up 4 6 mounting rail 7 9 N Node Guarding 4 13 Node Guarding Protocol 4 13 Node ID 3 24 4 10 Node ID setting 3 24 Object Dictionary 4 35 objects analog inputs 4 137 10 1 Index analog outputs 4 155 counter modules 4 199 digital inputs
296. ts for Digital Output Modules eene 4 121 Objects for Analog Input Modules ene 4 137 Objects for Analog Output 4 155 Objects for RS8232 RS4xx modules sese 4 163 Objects for SSI Modules 4 176 Objects for Counter Modules sss 4 199 Objects for SWIRE 4 255 Representation of process input 4 257 Representation of process output 4 261 5 Diagnostics Emergency Frames 5 2 Structure of the Emergency Frames eene 5 3 Error Register 5 4 5 5 l O Module Diagnostics 5 7 Digital Input Modules 5 7 Digital Output Modules 5 10 Analog Input Modules 5 11 Technology 44 40 4 4 5 16 6 Guidelines for Station Planning Random Module 6 2 Complete 6 2 Maximum System Extension 6 2 Power Supply exer 6 5 Gateway Supply
297. tware and to the facility Note his sign be found next to all general notes that supply impor tant information about one or more operating steps These specific notes are intended to make operation easier and avoid unnecessary work due to incorrect operation 0 4 D301087 0308 BL20 CANopen List of Revisions List of Revisions In comparison to the previous manual edition the following changes revisions have been made Table 1 Chapter Subject new changed List of revisions Description Ch 8 BL20 Approvals for Zone 2 x Note The publication of this manual renders all previous editions invalid D301087 0308 BL20 CANopen 0 5 About this Manual 0 6 D301087 0308 BL20 CANopen Industri A 1 BL20 Philosophy The Basic Concept 2 BL20 Components nuunaunaunnunnannnunnunnann ann nun nun nann nun nannann nun nunnannnnnnunnannen 5 5 Gateways with integrated power supply 5 Gateways without power supply 6 Power Distribution 6 Electronics 7 Base 9 End Plate wc c 11 12 JUMPS 13 Marking Material Heer 14
298. tween two end brackets Type BL20 WEW 35 2 SW Ident no 6827124 The mounting rails used for BL20 should be mounted onto a galvanized mounting plate with a minimum thickness of 2 mm This allows a reference potential for protective earth PE and functional earth that has to be created Please allow for a maximum distance of 150 mm between mounting holes when mounting non pre drilled mounting rails If flexible wire should be used for wiring it is necessary that the endings must have wire end ferrules The devices are maintenance free A dry cleaning is acceptable Repairs have to be done by manufacturer D301087 0308 BL20 CANopen 8 25 BL20 Approvals for Zone 2 Division 2 Certificates for the USA Certificate Of Compliance FM Approvals FM Member of he FM ner 1151 Boston Providence Tumpike P O Box 9102 Norwood MA 02062 USA T 781 762 4300 781 762 9375 www fmglobal com CERTIFICATE OF COMPLIANCE HAZARDOUS CLASSIFIED LOCATION ELECTRICAL EQUIPMENT This certificate is issued for the following equipment 607 BL20 Modular Bus Terminal System NI 1 2 ABCD 4 0 C to 55 C 1 2 AEx nA IIC 4 0 C to 55 C BL20 2DI 24VDC P 2 channel digital input modules pnp BL20 2DI 24VDC N BL20 4DI 24VDC P BL20 4DI 24VDC N 1 20 2 1 0 4 20 2 channel digital input modules npn BL20 2AI U 10 0 10VDC BL20 2AI PT NI 2 3 BL20 2AI THERMO PI 2 chan
299. unt limit lower count limit Upper count limit dower count limit Upper count limit lt 0 The numerical values are displayed as two s complement values The permissible range for the upper count limit is therefore Onex FFF FFFD 7FFF 7FFF FFFF The decimal value range for this SINT value is 0 2147483645 2147483646 2147483647 3 Bit 3 Parameter error The following parameter errors are indicated Lower count limit upper count limit Lower count limit supper count limit Lower count limit gt 0 The numerical values are displayed as two s complement values The permissible range for the lower count limit is therefore 8000 0000 FFFF FFFF Onex The decimal value range for this SINT value is 2147483648 2 1 0 4 216 D301087 0308 BL20 CANopen Objects Tabelle 6 Bit Diagnostics Meaning Meaning of the message data bits in count mode 4 Bit 4 Parameter Inverting the digital input signal with error the Latch Retrigger function is not permissible 5 Bit 5 Parameter The value 11 for selecting the main error count direction is incorrect Permissible values 00 None 01 Up 10 Down 6 operating mode The value XXXX11 for selecting the wrong operating mode is incorrect Permissible values for count mode 000000 Continuous count 000001 Single action count 000010 Periodical count Permissible values
300. up does not lead to infor mation from the application or automatic start of Error Control Services An error event or other event detection by a slave during boot up leads to the start of Start Boot Slaves Optional Slave the network can also be started if this node is not connected Obligatory slave the network will not be started if this node is not connected during the slave boot up The slave can be reset by the NMT Reset Communication command depending on its state The NMT Master does not have to send an NMT Reset Communication command for this slave if the slave is in the Operational state 4 96 D301087 0308 BL20 CANopen Object Dictionary Table 45 Byte Bit Value Meaning Structure of object 1F81 Slave assignment 0 5 0 Verification of the application software version is not required for this node 1 Verification of the application software version is required for this node 6 0 Automatic update of the application software download is not permitted 1 Automatic update of the application software download is permitted 7 Reserved set to 0 1 8 bit value for the Retry Factor 2103 0 16 bit value for the Guard time D301087 0308 BL20 CANopen 4 97 BL20 Communication in CANopen Object 1F82 Request Object 1F82 describes as per CiA DSP 302 all the slaves that can present queries to the Network Management NMT
301. ur sole responsibility that the products BL20 modulares I O Bus Klemmen System Gelistete Module siehe Baumusterpr fbescheinigung FM 07 ATEX 0040 X Listed modules see Type Examination Certificate FM 07 ATEX 0040 X auf die sich die Erkl rung bezieht mit den folgenden Normen bereinstimmen to which this declaration relates are in conformity with the following standards EN 61326 1 2006 und wo anwendbar and where applicable EN 60079 0 2006 EN 60079 15 2005 Gem den Bestimmungen der Richtlinie falls zutreffend Following the provisions of Directive if applicable EMV Richtlinie EMC Directive 2004 108 EG 15 Dez 2004 Richtlinie ATEX Directive ATEX 94 9 EG 23 Marz 1994 Weitere Normen additional standards Aussteller der EG Baumusterbescheinigung FM Approvals Ltd 1 Windsor Dials Windsor Berkshire UK SL4 1 RS Baumusterpr fbescheinigung FM 07 ATEX 0040 X Kennzeichnung amp 3G 2 M lheim den 23 01 08 iV W Stoll Ort und Datum der Austellung Name und Unterschrift des Befugten Place and date of issue Name and signature of authorized person 7 3112a doc Stand 001 vom 01 08 06 D301087 0308 BL20 CANopen 8 19 BL20 Approvals for Zone 2 Division 2 Certificates IECEx IECEx Certificate of Conformity Wee IECEx Certificate ES z of Conformity INTERNATIONAL ELECTROTECHNICAL COMMISSION IEC Certification Scheme for Explosive Atmospheres for rules and detail
302. uring of the shield should be made using metal shield clamps The shield clamps must enclose the shielding braid and in so doing create a large surface contact area The shield rail must have a low impedance for example fixing points of 10 to 20 cm apart and be connected to a reference potential area The cable shield should not be severed but routed further within the system for example to the switchgear cabinet right up to the inter face connection D301087 0308 BL20 CANopen 7 11 Guidelines for Electrical Installation a Note S hould it not be possible to ground the shield on both sides due to switching arrangements or device specific reasons then it is possi ble to route the second cable shield side to the local reference po tential via a capacitor short connection distances If necessary a varistor or resistor can be connected parallel to the capacitor to prevent disruptive discharges when interference pulses occur A further possibility is a double shielded cable galvanically separat ed whereby the innermost shield is connected on one side and the outermost shield is connected on both sides 7 12 D301087 0308 BL20 CANopen Potential Compensation Potential Compensation Potential differences can occur between installation components that are in separate areas and these are fed by different supplies have double sided conductor shields which are grounded on different installation components
303. ut channel The substitute values will only be used in the event of an error if 1 is entered in an Error mode output object e g 6326 for the partic ular output channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs Table 78 Feature Description Value Objects 6327 Name Error state output 32Bit Object code ARRAY PDO mapping Yes Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 hex to 09 Data Type Unsigned32 Access rw Default value BL20 0000 0000 x 4 136 D301087 0308 BL20 CANopen Objects Objects for Analog Input Modules General Overview for Analog Input Objects Table 79 Object Name Page General overview for analog input 5420 4 Manu Spec Analog Input Range 4 139 objects 6401 Read analog input 16 Bit 4 144 6421 Analog input interrupt Trigger 4 145 Selection 6422 ex Analog input interrupt source 4 148 6423 0x Analog input global interrupt enable 4 149 6424 Analog input interrupt upper limit 4 150 Integer 6425 Analog input interrupt lower limit 4 151 Integer 6426 x Analog input interrupt delta Unsigned 4 152 6427 hex Analog input interrupt negative delta 4 153 Unsigned 6428 Analog input interrupt positive delta 4 154 Unsigned D301087 03
304. value for a lower limit Values below this lower limit can be defined as the condition for generating an interrupt signal 6421 Analog input interrupt trigger selection page 4 145 Table 92 Feature Description Value Objects 6425 Analog input interrupt lower limit Integer Object code ARRAY PDO mapping No Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to Data Type Integer32 Access rw Default value BL20 00000000 A he appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL20 I O modules 0300529 D301087 0308 BL20 CANopen 4 151 BL20 Communication in CANopen Object 6426 Analog Input Interrupt Delta Unsigned The object 6426 defines a Delta value Values that deviate from the input value by this Delta value can be defined as the condition for generating an interrupt signal 6421 Analog input interrupt trigger selection page 4 145 Table 93 Feature Description Value Objects 6426 Analog input interrupt delta Unsigned Object code ARRAY PDO mapping No Sub index OOnex Data Type Unsigned8 Access ro Default value BL20 No Sub index 01 to 8E Data Type Unsigned32 Access rw Default value BL20 0
305. ve is in data exchange mode or diagnostics function has been deacti vated via the parameter setting 1 incorrect No configuration error present and the slave is NOT in data exchange mode Byte 5 6 5 5 Communication slave x Info field for the individual indication of the release of the slave diagnostics as error message If the SDA is set for single diag nostics this bit field indicates the error as soon as the slave diag nostic message of the slave Sx is triggered 0 OK No error is present or diagnostics function has been deactivated via the parameter setting 1 Offline A diagnostics message is present D301087 0308 BL20 CANopen 4 269 BL20 Communication in CANopen Byte Design Status Comment Byte 7 8 PKZerr Overcurrent protective circuit breaker slave x Sx Info field for the individual indication of the tripping a motor protective circuit breaker PKZ as error message If the PKZ nroA is set for single diagnostics this bit field indicates the error as soon as the PKZ of the slave Sx has tripped 0 OK The PKZ of the slave has not tripped or diag nostics function has been deactivated via the parameter setting 1 tripped The PKZ of the slave has tripped 4 270 D301087 0308 BL20 CANopen Objects Object 3044hex XBI Diag Dword The object XBI Diag Dword reads the first Diag Dword Bytes 0 3 of a module on the BL20 module bus The sub index
306. wer limit If another triggering event occurs at the same time e g increase by Delta value the repeated transmitting is aborted 5 everal bits can be set simultaneously so that the transmitting of the input process data can be triggered by several events D301087 0308 BL20 CANopen 4 147 BL20 Communication in CANopen Object 6422 Analog Input Interrupt Source The object indicates if an analog input channel has fulfilled a condi tion for triggering an interrupt signal The conditions were defined with object 6421 If a condition for triggering an interrupt signal on a channel is fulfilled the corresponding bit is set to 1 The corresponding bits for channels 0 to 31 are set in sub index 01 and the bits for channels 32 to 63 in sub index 02 etc The bits can be read using an SDO The read operation causes the bits to be reset to 0 hex hex Table 89 Feature Description Value Objects 6422 x Name Analog input interrupt source Object code ARRAY PDO mapping No Sub index Data Unsigned8 Access ro Default value BL20 No Sub index 01 to 08 Data Type Unsigned32 Access ro Default value BL20 00 4 148 D301087 0308 BL20 CANopen Objects Object 6423 Analog Input Global Interrupt Enable This object enables the option for generating an interrupt signal If the value of this ob
307. wn 0 Node missing 1 4 100 0301087 0308 BL20 Object Dictionary Object 1F83 Request Guarding Object 1F83 describes as per DSP 302 all the slaves that can be monitored through the Network Management NMT Note Object 1F83 is only valid if the BL20 is configured as the NMT Master see object 1F80 bit 0 Table 48 Object description Object 1383 INDEX 1F83 ex Name Request guarding Object code ARRAY Data Type Unsigned8 Access ro rw Value description Sub index Description Supported number of slaves Access ro PDO mapping No Value 128 Sub index O1 Description Request guarding for slave with Node ID 1 Access rw PDO mapping No Value range BL20 Unsigned8 D301087 0308 BL20 CANopen 4 101 BL20 Communication in CANopen Table 48 Object description Object 1F83 Value 0 Slave being monitored at present 1 Slave not being monitored at present Sub index 7Fh Description Request guarding for slave with Node ID 127 Access rw PDO mapping No Value range Unsigned Value 0 Slave being monitored at present 1 Slave not being monitored at present Sub index 80 Description Request Start Stop Guarding for all slaves Access wo PDO mapping No Value range BL20 Unsigned8 Defaultvalue BL20 No 4 102 D301087 0308 BL20 CANopen Object
308. x 01 determines whether in the event of a Reset Node command a normal fast reset should be performed or a hard processor reset which can take several seconds to be carried out For writing the value that is transferred in Unsigned32 format will be interpreted as a string Table 50 MSB LSB Hard Reset processor reset selection t 5 r h 74 72 68 D301087 0308 BL20 CANopen 4 105 BL20 Communication in CANopen Table 51 MSB LSB Normal Reset selection t S r S Trex 73 72 73 After the next Reset Node or the next Reset Communication command the operating mode will in all cases be reset to normal Reset Node The Index Save reference module list Sub index 02 deter mines that in the event of a Reset Node command the BL20 refer ence module list Objects 3080 and 30811 will be saved non volatile memory and then followed by a hard processor reset This hardware reset is necessary because changes to the BL20 refer ence module list cannot be dynamically accepted in the CANopen mirror If the module list is altered all the CANopen parameters will be reset to the default values For writing the value that is transferred in Unsigned32 format will be interpreted as a string Table 52 MSB LSB Save and Hard ware Reset selec tion 5 r T6hex 61 hex T3hex 72 Table 53 MSB LSB Normal Reset selection t S r 5 T Apex
309. x if bit 29 1 bits 28 to 11 of COB ID 10 to 0 Isb x Bit 10 to 0 of COB ID D301087 0308 BL20 CANopen 4 77 BL20 Communication in CANopen The Transmission type Sub index 02 can have the following values Table 34 Transmis PDO transmission Description of the sion type Transmission type cyclic acyclic synchr asynchr only with RTR 0 x x 1 x x 2 to 254 reserved 255 x 4 78 D301087 0308 BL20 CANopen Object Dictionary Object 1600 to 161F Receive PDO Mapping Parameter Objects 1600 to 161F define which data have to be transferred with RPDO1 to RPDO32 The data content here process output data is represented by product specific mappable objects Mappable Objects page 4 32 For example the process output data for the digital channels are entered in objects 6200 6220nex etc The description of these objects can be found in section Module Objects page 4 110 ff Sub indices 01 to 40 of the objects 1600 to 161 contain the object number the sub index and the length of the data that have to be transferred via the respective RPDO An RPDO can transfer a maximum number of 8 bytes 64 bit Objects 1600 to 1603 RPDO1 to RPDO4 references by default the values for the first 64 digital output channels and for the first 12 analog output channels provided that the values are represented by the objects 6200 digital values
310. xFF Basic setting no slave Byte 3 4 TYPrar Sx Device configuration slave x Info field for the individual indication of a configuration error as error message If the parameter has been set for single diagnostics this bit field indicates the error as soon as the ACTUAL configuration of the slave was not accepted and is therefore not enabled for data exchange The diagnostics LED of the slave flashes 0 OK No configuration error is present and the slave is in data exchange mode or diagnostics function has been deacti vated via the parameter setting 1 incorrect No configuration error present and the slave is NOT in data exchange mode Byte 5 6 SDgrrSX Communication slave x Info field for the individual indication of the release of the slave diagnostics as error message If the SDA is set for single diag nostics this bit field indicates the error as soon as the slave diag nostic message of the slave Sx is triggered 0 OK No error is present or diagnostics function has been deactivated via the parameter setting 1 Offline A diagnostics message is present 4 280 D301087 0308 BL20 CANopen Objects Byte Design Status Comment Byte 7 8 PKZerr Overcurrent protective circuit breaker slave x Sx Info field for the individual indication of the tripping a motor protective circuit breaker PKZ as error message If the 2 is set for si

BL20 – USER MANUAL FOR CANopen

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BL20 &ndash; USER MANUAL FOR CANopen

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BL20 – USER MANUAL FOR CANopen