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BL20 - User manual for CANopen (EN)

1. Approvals Table 4 2 CE Approvals CSA UL Base Modules Table 4 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 e solid core H 07V U 0 5 to 2 5 mm 0 0008 to 0 0039 inch 20 to 12 AWG f flexible core H 07V K 0 5 to 1 5 mm 0 0008 to 0 0023 inch 20 to 16 AWG f with ferrules according to DIN 46228 1 ferrules crimped gas tight 0 5 to 1 5 mm 0 0008 to 0 0023 inch 20 to 16 AWG Plug gauge according to IEC 947 1 1988 A1 TOP connection technology Tension clamp or screw connection D301087 1211 BL20 CANopen 4 7 BL20 Gateway for CANopen 4 4 2 Structure Diagram of a Gateway The BL20 CANopen gateway has the following structure Figure 4 3 Gateway struc Fieldbus Service Controller External RAM Module bus ture External interface Internal internal RAM External ROM flash WDG i m CAN Ctr 4 4 3 Technical Data BL20 GW CANOPEN Table 4 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 bridge a sup
2. Industrial Automation BL20 USER MANUAL FOR CANopen All brand and product names are trademarks or registered trade marks of the owner concerned Edition 12 2011 Hans Turck GmbH Muelheim 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 duplicated or distributed by means of electronic systems without written permission of Hans Turck GmbH amp Co KG Muelheim 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 equa lization The system installer is responsible for implementing this connection Connecting cables and signal lines should be installed so that inductive or capacitive interfe rence do not impair the automati
3. 4 20 D301087 1211 BL20 CANopen Status Indicators Diagnostic Messages Gateway Industri A Table 4 11 LED Status Meaning Remedy LED indicators lOs CPU not supplied Check the voltage supply Green Module bus is running the configured module bus station corresponds to the physically connected station communication is active Green Station is in the Deactivate the flashing VO ASSISTANT Force Mode VO ASSISTANT Force Mode 1 Hz Red and Controller is not ready V level is Check wiring at the gateway and LED GW not within the required range gt the voltage supply off possible reasons Dismount modules too many modules connected to Replace the gateway the gateway short circuit in connected module hardware error in gateway Red Non adaptable modification of the Compare the planned BL20 station flashing physically connected station with the physical station 1Hz Check the physical station for defective or incorrectly fitted electronics modules Red no module bus communication At least one module has to be flashing plugged and has to be able to 4Hz communicate with the gateway Red green Adaptable modification of the Check the physical station for flashing physically connected station pulled or new but not planned 1Hz data transfer possible modules Red Short circuit or overload at sensor Automatic restart when supply sensor supply is switched debugging off Of
4. Note H 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 6 2 2 Module Bus Refreshing The number of BL20 modules that can be supplied by the gateway or a separate Bus Refreshing module via the internal module bus depends on the respective nominal current consumption of the individual modules on the module bus Attention AN The 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 1AI I 0 4 20MA modules The number of additional Bus Refreshing modules required is calculated 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 1 500 mA The calculation shows that no further Bus Refreshing module is required 6 4 D301087 1211 BL20 CANopen Power Supply Industri A 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 and 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
5. D301087 1211 BL20 CANopen BL20 Gateway for CANopen 4 10 Status Indicators Diagnostic Messages Gateway 4 10 1 Table 4 11 LED indicators The gateway transmits the following diagnostics the status of the 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 E via individual LEDs via the software of the respective host system or the software tool I O ASSISTANT Diagnostic Messages via LEDs Every BL20 gateway displays the following statuses via LEDs MW 2LEDs for module bus communication module bus LEDs GW and IOs E 2LEDs for CANopen communication fieldbus LEDs ERR and Bus The LED diagnoses shown below apply to both gateway versions E BL20 GW CANOPEN BL20 GWBR CANOPEN An additional diagnosis indication is shown for the BL20 GWBR CANOPEN LED GW Status Meaning Remedy OFF CPU not supplied Green 5 VDC operating voltage is present firmware is active gateway is ready for operation and transfer GW green Firmware not active Reload the firmware flashing 1 Hz lOs red Green Firmware active gateway hardware Replace the gateway flashing is defect 4 Hz Additional diagnosis indication for BL20 GWBR CANOPEN GW green blinking 1 Hz Usys undervoltage or overvoltage U undervoltage Check that the supply voltage is within the permissible range
6. 4 18 D301087 1211 BL20 CANopen Acceptance of the BL20 Station Configuration Industri A 4 9 Acceptance of the BL20 Station Configuration When making a new configuration of the BL20 station or an alteration of the existing station structure Module list the current configuration must be accepted in the CANopen mirror ofthe BL20 gateway This is done through the configuration button between the two rotary encoding switches Note H The green IOs LED indicates that the current BL20 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 Attention A When saving the BL20 configuration all the CANopen objects must be parameterized again if their parameter values differ from the default values The complete parameterization of the station must subsequently 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
7. 7 5 1 7 5 2 7 6 77 10 Industr A Switching Inductive Ee eN USE E epus 7 10 Protection against Electrostatic Discharge ESD sssssscsssssssssscsssscsscessscecssccesuscesnscessscessecsssecssscesuscesssecsaseessncessneceseeessseesssees 7 10 Bus Connection sies ese ies es TIENE 7 11 Two Pole Shield Connection ccccccccsssssscsssssssscscsscscssccsscsssesscccscccccccccccesssssssssccsssccccssesesecsscccccccccccccosscees 7 12 BL20 Approvals for Zone 2 Division 2 Glossary Index D301087 1211 BL20 CANopen iii D301087 1211 BL20 CANopen Industri A 1 About this Manual 1 1 Documentation Concept eee e eee e ee ee eee eee EA eee e e eese soos eee GE aoo esee eee epo P eee eee esas e spese esee sese esee 2 1 2 Description of Symbols Used eee eere euren eee e eene een etes ee eee esaet eee e eee eese e eese eese eese eese 000 3 1 3 eo TEL M 4 1 3 1 died AI eo une etre PAM OE ka kt E EO READS 4 1 3 2 Notes Concerning Planning Installation of this Product ssssss mmm emen 4 1 4 iariqud an re 5 D301087 1211 BL20 CANopen 1 1 About this Manual 1 1 1 2 Documentation Concept This manual contains all information about the BL20 gateway for CANopen BL20 GW CANOPEN BL20 GWBR CANOPEN The following chapters contain a short BL20 system description a description of the field bus system CANopen exact information about func
8. 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 D301087 1211 BL20 CANopen Industri A Electrical components All objects that produce convert transmit distribute or utilize electrical power e g conductors cable machines control devices EMC Electromagnetic compatibility the ability of an electrical part to operate in a specific 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
9. 4 22 D301087 1211 BL20 CANopen 5 BL20 Communication in CANopen Note i The CANopen description for BL20 can be found in a separate manual BLxx CANopen object register D301230 unter www turck de D301087 1211 BL20 CANopen 5 1 BL20 Communication in CANopen 5 2 D301087 1211 BL20 CANopen Industri A 6 Guidelines for Station Planning 6 1 Random Module Arrangement ee0oooooooooooooooosooonnoossooonnessoeensnenseeesaeeseeeseeeeeee000000000000000000 000000 2 6 1 1 Complete AE AR EE N EE EE OE EE OE 2 6 1 2 Maximum System Extension ee ee ee eee ee be eek ee ee enne nennen nennen enn 2 6 2 Power Supply 4 6 2 1 ed AR EE RE EE N 4 6 2 2 Module Bus Refreshing 00 ee ee ee ee nnne 4 6 2 3 Creating Potential Groups i EE EE EE REP vahule OR 8 6 2 4 Protecting the Service Interface on the Gateway ene 8 6 2 5 C R il Cross Connection ii N TREE HR te Cep ee ee Teen rU n ea TEE 9 6 2 6 Direct Wiring of Relay Modules ete re i ee Re ek Re ek ee reer Ke ee ee nnne nennen nien enn enn 10 6 3 Plugging and Pulling Electronics Modules eooasssssessssssssnnnnnsssnnnnnsnssssnnnnssnnnnnnnnnssunnnnnnsnnnnnnssssunne 11 6 4 Extending an Existing Station ssssssssesssssnsennnnnnssnennnnnnnnsunnnnnnsnnnnnnsnsnsennnnnsnnnunnnnnsssunnnnnnsnnnnnnsssssenee 12 6 5 il Trjg M 13 D301087 12
10. BL20 2Al I 0 4 20MA 35 mA BL20 1AI U 10 0 10VDC 41 mA BL20 2AI U 10 0 10VDC 35mA BL20 2AI PT NI 2 3 45 mA BL20 2AI THERMO PI 45 mA BL20 4AI U I 50 MA BL20 2DO 24VDC 0 5A P 32 mA BL20 2D0 24VDC 0 5A N 32 mA BL20 2DO 24VDC 2A P 33mA BL20 4DO 24VDC 0 5A P 30 mA BL20 E 8DO 24VDC P 15 mA BL20 16DO 24VDC 0 5A 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 2AO U 10 0 10VDC 43 mA BL20 2DO R NC 28mA BL20 2DO R NO 28mA BL20 2DO R CO 28mA BL20 1CNT 24VDC 40 mA BL20 1RS232 140 mA BL20 1RS485 422 60 mA BL20 1SSI 50mA BL20 2RFID 30mA BL20 E 1SWIRE 60 mA D301087 1211 BL20 CANopen Power Supply Industri A If the power supply from the module bus is not guaranteed thereby making a further Bus Refreshing module necessary the software I O ASSISTANT generates an error message when the user activates the command Station Verify Note H 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 1 Gateway 2DI 2DO 2DI 2DO 2DI TAO BR AI 2DI NO Power supply at m IB BL20 GWBR FT CANOPEN System supply MU TS M Field supply Field supply Figure 6 2 Gateway BR 2DO 2DI 200 2DI 1A0 BR
11. Table 6 1 Channels Modules Maximum system extension Type Max no Type Max no A plus 1BusRef Digital inputs 288 BL20 4DI 24VDC P 72B reshing module B plus2 Digital outputs 288 BL20 4DO 24VDC 72B Bus Refreshing 0 5A P modules plus 3 Analog inputs current 126 BL20 2Al I 0 4 20MA 63C Bus Refreshii Wed id mng Analog inputs voltage 126 BL20 2AI U 10 63C 0 10VDC Analog inputs voltage 112 BL20 4AI U I 28A current Analog inputs PT Ni 126 BL20 2AI PT NI 2 3 63C Analog inputs 126 BL20 2AI THERMO PI 63C Thermocouple Analog outputs 126 BL20 2AO 0 4 20MA 63C current Analog inputs voltage 126 BL20 2AO U 10 63C 0 10VDC Counter 31 BL20 1CNT 24VDC 31A RS232 31 BL20 1RS232 31A RS485 422 31 BL20 1RS485 422 31A SSI 31 BL20 1SSI 31A SWIRE 16 BL20 E 1SWIRE 16A 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 Attention Ensure that a sufficient number of Power Feeding or Bus Refreshing modules are used ifthe 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 Verify command AN FI D301087 1211 BL20 CANopen 6 3 Guidelines for Station Planning 6 2 Power Supply 6 2 1 Gateway Supply
12. the service interface The BL20 gateway can be used as a CANopen node at any point in the bus structure Attention Ifthe BL20 gateway is used as the the last node in the bus communication then a special bus connector with a built in or add on termination resistor is absolutely necessary Figure 4 14 Rotary hex encoding switch for the CANopen address setting of the BL20 GW CANOPEN Attention A A maximum of 127 Node IDs 1 to 127 can be assigned ina CANopen structure Each Node ID can only be assigned once in the complete bus structure 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 far Low less significant digit BL20 GW CANOPEN The L switch is used to set L x 16 L 0 to F The H switch is used to set L x 16 H 0 to F BL20 GWBR CANOPEN The L switch is used to set L x 10 L 0 to 9 The H switch is used to set L x 101 H 0 to 9 Note H The NODE ID switch on the BL20 GWBR CANOPEN can be used to assign Node IDs from 1 to 99 D301087 1211 BL20 CANopen 4 17 BL20 Gateway for CANopen Note H After setting the Node ID the protective cover over the switches must be closed again See chapter 6 Maximum System Extension page 6 2 Note H BL20 does not support the assignment of Node IDs across the bus network
13. Al 2DI NO Power supply at E E BL20 GW NE T TT T ri CANOPEN ry EN Ts SN E SBBC B Field supply Field supply System supply With the system supply it must be ensured that the same ground potential and ground connections are used Compensating currents flow 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 D301087 1211 BL20 CANopen 6 7 Guidelines for Station Planning 6 2 3 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 A Ensure that the correct base modules are planned for when using Bus Refreshing modules Figure 6 3 Gateway 2DI NO Al 2DO 2DI PF 2DO Al 2DI NO Example for m HI j creating potential rm Ta A groups with BL20 GWBR c Ei CANOPEN System supply fan Field supply Ar 2L Potential group 1 Potential group 2 TS Note The system can be supplied with power independent of the potential group formation described above When using a digita
14. 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 lt 75 non condensing HS 1 0 ppm rel humidity lt 75 non condensing 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 acceleration 1 g Yes Mode of vibration Freguency sweeps with a change in speed of 1 Octave min Period of oscillation 20 freguency 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 direction per space coordinate Resistance to repetitive shock according to 1 000 shocks half sinus 25 g peak value 6 ms in IEC 68 2 29 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 lt 10kg D301087 1211 BL20 CANopen 4 5 BL20 Gateway for CANopen 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 Electromagnetic compatibility EMO 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 4 kV Electromagnetic HF fields according
15. 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 i For information about introducing a BL20 station into a ground reference system please read chapter 7 D301087 1211 BL20 CANopen 6 9 Guidelines for Station Planning Figure 6 6 Gateway BR 2DO 2DI 2DO 2DI PF 2D0 2DI 2DO 2DI Using the C rail as a protective earth Bi ji E E PE terminal TS I B xe 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 Attention When relay modules are planned and the C rail is used for a common 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 6 7 Gateway BR 2DO 2DI 2DO 2DI PF NO NC NO NC Using the C railas protective earth E m E m and for the power supply with relay BE modules terminal mi i UU F I m Pam j i SBBC SBC SBBC SBC SBB SBBC SBCS SBCS SBCS SBCS Cross connecting relay module roots is achieved by the use of jumpers The corresponding wiring diagram i
16. emergency indication and time stamp transmission 3 4 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 configuration tool to the application devices during the boot up process There can bea 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 Emergency producer on the concerned application device This makes them suitable for interrupt type error alerts An Emergency 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
17. guidelines concerning internal and external lightning protection and grounding specifications when routing cables outside of buildings D301087 1211 BL20 CANopen General Notes Industri A 7 1 4 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 overvoltage arrestors Varistors and overvoltage arrestors must be installed at the point where the cables enter the building 7 1 5 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 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 7 1 os GEE HEI F fr Representation of t i t t t 1 t a bus cable terminating l h T terminating resistor resistor Station0 Stationx F Station 63 7 1 6 Cable Types TURCK offers a variety of premoulded bus cables please refer to the BL20 catalog TURCK documentation number D300418 D301087 1211 BL20 CANopen 7 3 Guidelines for Electrical Installation 7 2 Potential Relationships 7 2 1 General The potential relationship of a CANopen syst
18. property external measures must be implemented to ensure a safe operating state in the event of a fault or malfunction for example by means of separate limit switches mechanical 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 Industr A Table of Contents 1 1 1 1 2 1 3 1 3 1 1 3 2 1 4 2 1 2 2 2 2 1 2 2 2 2 2 3 2 2 4 2 2 5 2 2 6 2 2 7 2 2 8 2 2 9 3 1 3 1 1 3 1 2 3 2 3 3 4 1 4 2 4 3 4 4 44 1 44 2 44 3 444 4 5 45 1 4 5 2 4 6 4 6 1 D301087 1211 BL20 CANopen About this Manual DOCUMENTATION CONCEP d 1 2 Description of Symbols Used eere eee eee Leere eren eene seen eene nas etas etas Ge esses sopro Ge Ge ee EG senos ee 1 3 Overview Prescribed Use Notes Concerning Planning Installation of this Product List OF REVISIONS eee 1 5 BL20 Philosophy The Basic 00071177 ER EE N EE EE EE 2 2 BL20 Components sssss00sssssnssssnsnnnnsnssnssnnnsnsnsssnsnnnnsnsnsnnnsnsssssnssssssnnnsnssnsnssnnsnsnsnsssssssssnnssssssnsssssnsssssssssnnnn
19. 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 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 at a certain point and then waver at this position This condition results in the counter content fluctuating around a 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 VO Input output D301087 1211 BL20 CANopen 9 3 Glossary 9 4 Impedance Total effective resistance that a component or circuit has for an alternating current at a specific freguency Inactive metal componen
20. 10VDC 15x41 mA 615 mA 10 BL20 2AO U 10 0 10VDC 10x43 mA 430 mA 10 BL20 2DI 24VDC P 10x28mA 280 mA 5 BL20 2DO 24VDC 0 5A P 5 X 32 mA 160 mA Total 1915 mA Maximum permissible current via module bus 1500 mA The calculation shows that an additional further Bus Refreshing module is required at the latest following the last BL20 2AO module This Bus Refreshing module is sufficient to supply the remaining modules Note H The power requirements of the BL20 gateway is to be considered when calculating the required number of Bus Refreshing modules The following table offers an overview of the nominal current consumption of the individual BL20 modules on the module bus Table 6 2 Module Supply Nominal current consumption Nominal current consumption of the BL20 modules onthe module bus Gateway 1 500 mA lt 430 mA 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 mA BL20 4DI 24VDC N 28 mA BL20 E 8DI 24VDC P 15mA BL20 16DI 24VDC P 45 mA D301087 1211 BL20 CANopen 6 5 Guidelines for Station Planning Table 6 2 Nominal current consumption of the BL20 modules on the module bus 6 6 Module Supply Nominal current consumption BL20 E 16DI 24VDC P 15 mA BL20 32DI 24VDC P 30mA BL20 1Al I 0 4 20MA 41 MA
21. 11 BL20 CANopen 6 1 Guidelines for Station Planning 6 1 Random Module Arrangement The arrangement of the I O modules within a BL20 station can basically be chosen at will Nevertheless it can be useful with some applications to group certain modules together Note The mixed usage of base modules with screw connections and base modules with tension 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 6 1 1 Complete Planning The planning of a BL20 station should be thorough to avoid faults and increase operating reliability Attention If there are more than two empty slots next to one another the communication is interrupted to all following BL20 modules 6 1 2 Maximum System Extension A BL20 station can consist of a gateway and a maximum of 74 modules in slice design equivalent to 1 min 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 equivalent to 8 modules in slice design 6 2 D301087 1211 BL20 CANopen Random Module Arrangement Industri A 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
22. 301087 1211 BL20 CANopen 1 5 About this Manual 1 6 D301087 1211 BL20 CANopen Industri A 2 BL20 Philosophy 2 1 The EEDHIATIOO 2 2 2 BL20 Components soes GEGEE OS GO GEE OS GE GEE GE GO GEE OE GO OE OE GO GO OOG Ge GO GE Gee ee es 3 2 2 1 GATEWAY Sisir ET ER EE ER EE weed es 3 Gateways with integrated power supply emnes 3 Gateways without power supply oc eect eee ee ee ee RR ee ee be ee be ened eene nennen nennen 3 2 2 2 Power Distribution Modules ies ee ene GR be ee ek ee ee Re ee ek ek nennen nnne ee ee ee 3 2 2 3 Electronics Modules EE EE een EE EE adds 4 2 2 4 AE N ER ER OE OO RA OE a 5 2 2 5 End Plate we 24 7 2 2 6 EMG Brackel a ren seiten ER EE GE ee r ini Ge AE iMt lE 7 2 2 1 ncm 8 2 2 8 Marking Material UEM 8 2 2 9 Shield Connection 2 Pole for Analog Modules ie ee ee ek ek ek eene 9 D301087 1211 BL20 CANopen 2 1 BL20 Philosophy 2 1 2 2 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 E Technology modules counters RS232 interface A complete BL20 station counts as one station on the bus and therefore occupies one fieldbus addr
23. 4 7 3 Electromagnetic Compatibility EMC soes ee eene eee ette eee GEGEE SG GE EG GE GE GE GE EE esee eese eese ee 5 7 3 1 Ensuring Electromagnetic Compatibility sse 5 7 3 2 Grounding of Inactive Metal Components ee ee ee Re Ge Re ek mene enne nnns 5 7 3 3 enndem 5 7 3 4 EarthisFree Operation tc Haaren nl d en EREA 5 Protect against high frequency interference signals ie ee ee ee ee eee ee Re ee Re ee ee be ee be 6 7 3 5 Mounting Rails een ee 6 7 3 6 EMC Compliant Cabinet Installation cee ee en ei eee Re Ge Re ee AR RA AR RA AR RA eke aaRS 7 7 4 Shielding of TE EO Ee eee eee 8 7 5 IO CHHERCTUIPHDILEDIB 9 7 5 1 Switching Inductive Loads d tsi aciei tie e rennen 10 7 5 2 Protection against Electrostatic Discharge ESD ee ee ee ee ee ee KA ee nemen 10 7 6 Bus Connection 11 7 7 Two Pole Shield Connection sssssss000ss000snssssnssssnnnnnsnsnsnsnssnssnnsnnnsnsnnnsnnnnssnnennnnsnnnnnnnnnsnnnsnnnsnnnne 12 7 8 D301087 1211 BL20 CANopen 7 1 Guidelines for Electrical Installation 7 1 7 1 1 7 1 2 7 1 3 7 2 General Notes 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 cabl
24. Arrangement sees see eene eene eere eene sene sees tenes GE testen estne sese GO ene sese EG senes Ge EE Ge ena 6 2 Complete Planning t eter RR ail cas ehe rs tie ede aca aka eatin Decio eei eerte RSA 6 2 Maximum SYSTEM EXTEMSION urat EE EE MO RE OE N 6 2 Power Supply EE N EG Ee Gateway Supply Module Bus Refreshing Creating Potential GroupS ies 6 8 Protecting the Service Interface on the Gateway ssssssscccssssccssssecssssecessecesssseesnscecesssecesssecesnscecsssessnscesesssecesnseecsneeseesnseesunee 6 8 CsRail ross CornfectioFri s oio A nr c Glo galas Red T E Ue v MD CORREO ee 6 9 Direct Wiring of Relay Modules eet ee RR ee ee nennt Gee RR ee oek tnnt ee RR ee RR ee RR Gee ee e RR Gee Rea RR ttt i 6 10 Plugging and Pulling Electronics Modules c0us00usennssonusonnssnnssnnssonnsnnnsnnnssanennnsnennsnnnsnanennnssnnnennnenunene 6 11 Extending an Existing Station siese esse ee sees ve oe eg Ee see ee Reg se Ee ie eed Ses Des eo ges See euo es Ge Gee ees ee 6 12 Firmware Download Ge RE EE GE Re Ge Ge N 6 13 Guidelines for Electrical Installation General Notes 200us0sssnnssonnsnnnsnnnsnnssnnnsnnnnsnnnsnnnsnnnnsnnnsnnnsnnnnsnnnsnnnsnnnssnnnsnnnsnnnssnnnsnnsssnnsnnnsnnnssnnnsnnnssnnsnnnnennne 7 2 131751 1 1 7 2 Cable ROUEN ER ER TD 7 2 Cable Routing Inside
25. D301087 1211 BL20 CANopen 4 13 BL20 Gateway for CANopen 4 6 2 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 I O ASSISTANT project planning and diagnostic software special VO ASSISTANT connection cable from TURCK IOASSISTANT ADAPTERKABEL BL20 BL67 Ident no 6827133 Connection with I O ASSISTANT Connection Cable Figure 4 10 BL20 gateway connected to PC via special cable A SUB D socket B BL20connecting cable C PS 2 plug The I O ASSISTANT cables have a PS 2 male connector connection for female connector on gateway and a SUB D female connector connection for male connector on PC Figure 4 11 PS 2 male connector on the connection cable to the gateway 34 top view e 1 6 Figure 4 12 12 34 5 9 pole SUB D female connector on the cable for connecting to PC top view 6 7 8 9 Table 4 9 Pin BL20 gateway PS 2 SUB D interface on PC Pin Pin assignments socket for PS 2 and SUB D interfaces 1 5 V Gw DTR DSR 4 6 2 GND GND 5 3 4 TxD RxD 2 5 CtriMode RTS 7 6 RxD TxD 3 4 14 D301087 1211 BL20 CANopen Setting the bit transfer rate through DIP switches 4 7 Setting the bit transfer rate through DIP switches The BL20 gateway can communicate with other CANopen nodes at the following transfer rates E 10kbps 250 kbps E 20 kbps E 500 kbps E 50k
26. 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 D301087 1211 BL20 CANopen BL20 and CANopen Industri A 3 2 BL20 and CANopen BL20 supports the following CANopen functions SDO transfer any length of information Emergency object Sync frame evaluation Event driven PDOs Synchronous PDOs clock synchronous Remote requested PDO polling D301087 1211 BL20 CANopen 3 5 Short description of CANopen 3 3 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 3 6 D301087 1211 BL20 CANopen Industri A 4 BL20 Gateway for CANopen 4 1 Introduction soossssnssssnsnsnsnssnnnnsnnnsnnnsnsnnnnennnsnnnnennnnnnnnnnnnsnnnnnnnnnnnnnnnnnnsnnnnnnnnsnnnssnnsssnsssssssssnsnsnssssnsnee 2 4 2 Function 3 4 3 Technical Information 4 4 4 Technical Data H 5 4 4 1 General Technical Data EE d aci d EE N 5 Relatin
27. GWBR CANOPEN Connections for data cables to BL20 GW CANOPEN ooo esse sesse see ees ee ee ees ee ee Gee Ge Ge Gee se eee 4 10 Fieldbus connection Via SUB D socket see ee ee ee ee ek oe oe ee ee ee ee ee oe ee ee ek ee tette ee ee ee ee ee ee ee ee ee ee ee ee ee 4 10 Fieldbus connection through direct wiring eere eek eek ee RR tentant ee ak gegee RR ee RR eek gee eek ee 4 10 Connections of the data cables to BL20 GWBR CANopen Fieldbus connection via Open Style connector 4 6 2 4 7 4 8 4 9 4 10 4 10 1 6 1 6 1 1 6 1 2 6 2 6 2 1 6 2 2 6 2 3 6 2 4 6 2 5 6 2 6 6 3 6 4 6 5 7 1 7 1 1 71 2 713 7 1 4 7 1 5 7 1 6 7 2 7 2 1 7 2 2 7 2 3 73 7 3 1 7 3 2 7 3 3 73 4 7 3 5 7 3 6 7 4 75 Service Interface Connection 1 ER ran Re E Rg 4 14 Setting the bit transfer rate through DIP switches cuussnnssonssonnssnsssonsnonnsnnnsnonenonnsnnnsnnnsnnnennnnssenssnnnnsnnne 4 15 Node ID Setting RR 4 17 Acceptance of the BL20 Station Configuration ceres crees rennen eese eene enne testen setas etas ense ense toes etna 4 19 Status Indicators Diagnostic Messages Gateway creer eene eere neenon seen sons etna setas ee Ee etos eene ee ee 4 20 Diagnostic Messages Via LE Ds tette EE ee agebant cho heec 4 20 BL20 Communication in CANopen Guidelines for Station Planning Random Module
28. N Mes 4 17 Node ID setting 4 17 P parameter assignment wees 4 2 PE connection iier a ER GRE 7 5 EER EE EG 6 2 potential relationships se 7 4 potential compensation cable ssssss 7 9 power distribution sse 2 3 power supply sse 6 4 Process data objects PDOS sss 3 4 product overview iese ee ee eene 2 1 R Rotary encoding switches demand seen 4 17 hexadecimal sees 4 17 S service interface sse 4 14 shielding RE IE IE OE REPE wan 7 8 status displays ierit EE 4 2 status indicators ie ees ek Ge Ge Ak Ge Ge ek Ak Ke ek 4 19 Supply voltage nemencio 4 8 T transmission cables sss 7 3 Z Ai EE EE EE 8 1 10 1 Index 10 2 D301087 1211 BL20 CANopen Industrial Automation www turck com Hans Turck GmbH amp 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 D301087 1211
29. a block of segments so that a peer to peer communication client server takes place D301087 1211 BL20 CANopen 3 3 Short description of CANopen Process Data Objects PDOs Process Data Objects PDOs are mapped to a single CAN frame using up to 8 bytes ofthe 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 than one producer consumer communication 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 transmission 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 Special Function Objects CANopen also defines three specific protocols for synchronization
30. and Outside of Cabinets unnsesensssensssnnsssnnssennssennssennsssunsssunssennssenssenssennssennsssnnsssunssnnnssunssennssnnnne 7 2 Lightning Protection Transmission Cables Cable Types M RE RE RE OR EE Potential Relationships eere rese ranae toa oven oath oe oe ede ees ed vla ees god Sk ee ees Deeg ek ge ounces oro Den 7 4 General a Potential Free Installation Non isolate d InstallatiOn cn tet t tene En um Ein NER elite Electromagnetic Compatibility EMQ ae Ge eee ee eene eene eren GE tns Ge Ee EG Ge ette EG Ge Ee Ge Ge 7 5 Ensuring Electromagnetic Compatibility sssssssssscssccssccssccsseccssccesscessscccsscessuccesnecessscecesssccssscecsuecesscessuecesnscesncesseeesnseees 7 5 Grounding of Inactive Metal Components eese tentent tte tte nonet ttt no ttts ttis stitit sotto nono tts nonis 7 5 RE Eonnection iare ran Earth Free Operation Mounting Rails ses EMC Compliant Cabinet Installation ccssssssssssecsssecsssccsssccssssssssccssccessccessccessecesscesnsccssscesseccssscesscesscesuecsaseceaceceseeesneesnseesnseess 7 7 Shielding of cables iret Se tete vees toi e n ee ko ee Ene EG Ge e Ete Ee EER Ee eo ses oe EV ee Ue pg ke 7 8 Potential Compensation issie sesse eks sere see ge Rd ve ees ede nme ego gese Ee ee ehe EG de Dee Dee beds ee eed oe savine 7 9 D301087 1211 BL20 CANopen
31. bps 800 kbps E 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 4 13 DIP switch to set the transfer rate Note i All the nodes in a CANopen network must be set to the same transfer rate To set a bit transfer rate that is supported by CANopen proceed as follows E Switch off the supply voltage for the BL20 gateway D301087 1211 BL20 CANopen 4 15 BL20 Gateway for CANopen M Set the DIP switches for the required transfer rate according to the following table Table 4 10 Bit transfer rate kbps DIP switches setting Setting the 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 H The 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 4 16 D301087 1211 BL20 CANopen Node ID Setting 4 8 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 in a 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
32. ccecs 19 4 10 Status Indicators Diagnostic Messages Gateway s0000onnnnsnnnnennnnnnnunnnnnnnnnnnnnnnnnnsunnnnnnnnnnnnnnssnuunnes 20 4 10 1 Diagnostic Messages via LEDS iese ee ee eee ee ee emen eene nnne nennen ns 20 D301087 1211 BL20 CANopen 4 1 BL20 Gateway for CANopen 4 1 Introduction This chapter contains a description of BL20 gateways for the standardized 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 Attention A Please note SWIRE modules can only be used with the gateways BL20 GW CANOPEN with firmware version 2 4 02 and BL20 GWBR CANOPEN with firmware version gt 2 02 Danger A The behavior of the analog inputs is now adapted to the actual CANopen standard DS401 The firmware versions gt 4 02 for BL20 GW CANOPEN 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 4 2 D301087 1211 BL20 CANopen Function Industri A 4 2 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 VO 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 servi
33. ce interface D301087 1211 BL20 CANopen 4 3 BL20 Gateway for CANopen 4 3 Technical Information Figure 4 1 BL20 GW CANOPEN A Service interface 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 Dplug H CANopen direct wiring I LEDs for CANopen J CANopen SUB D socket onu Figure 4 2 BL20 GWBR CANOPEN A Service interface B Type designation C LEDs for module bus D DIP switch for transfer rate E Rotary encod ing switch for Node ID F SET button G Screw terminals for field supply and system sup ply H CANopen direct wiring I Open Style con nector onov 4 4 D301087 1211 BL20 CANopen Technical Data Industri A 4 4 Technical Data 4 4 1 General Technical Data Relating to a Station Note H The auxiliary power supply must comply with the stipulations of SELV Safety Extra Low Voltage according to IEC 364 4 41 Table 4 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 Tr 0 to 55 C 32to 131 F Tstore 25 to 85 C 13 to 185
34. d to prevent interference from voltages and the radiation 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 AN 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 securing 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 alow impedance for example fixing points of 10 to 20 cm apart and be connected to a reference potential area The cable shield should n
35. ed 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 1211 BL20 CANopen BL20 Components 2 2 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 assignment of electronics modules to base modules 2 2 1 Gateways The gateway connects the fieldbus to the I O modules It is responsible for handling the entire process data and generates diagnostic information for the higher level master and the software tool VOassistant 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 1 Gateway BL20 GWBR CANOPEN Gateways without power supply Note H The gateways without integrated power supply unit need an additional power supply module bus refreshing module which feeds the gateway an the connected I O modules 2 2 2 Power Distribution Modules D301087 1211 BL20 CANopen 2 3 BL20 Philosophy The power supply for gateways and I O modules is fed to the power distribution modules
36. em 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 7 6 D301087 1211 BL20 CANopen Electromagnetic Compatibility EMC 7 3 6 EMC Compliant Cabinet Installation Figure 7 4 EMC compliant cabinet installa tion A Bonding straps Bonding straps connect inactive metal components if it is not possible to create a large surface area contact Use short bonding straps with large surface areas B Mounting plates Mounting plates used to hold control components must have a large surface area contact with the cabinet housing C Protective conductor rail The protective conductor rail must also be connected over a large surface area to the mounting plates and additionally with an external cable cross section at least 10 mm2 0 015 inch2 to the protective conductor system to avoid interference currents D Protective conductor terminal block The protective conductor terminal block must be connected to the protective conductor rail E Protective conductor system cable grounding point The cable must be connected over a large surface area with the protective conductor system D301087 1211 BL20 CANopen 7 7 Guidelines for Electrical Installation 7A 7 8 Shielding of cables Shielding is use
37. em realized with BL20 modules is characterized by the following The system s power supply to the gateway VO modules and the field level is distributed via a Bus Refreshing module E All BL20 modules gateway Bus Refreshing Power Feeding and I O modules are connected capacitively via base modules to the mounting rails E Separate power supplies for the system and the field level allow a potential free installation The block diagram shows the arrangement of a typical BL20 station Figure 7 2 Gateway Bus Refreshing 1 0 module I O module Power Feeding I O module Bus Refreshing Block diagram of a BL20 station 5V Field V V bus 24V 24V 7 2 2 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 All AC load circuits for example when using the Power Feeding module BL20 PF 120 230VAC D E Floating DC load circuits The potential free installation does not depend on the method of grounding 7 2 3 Non isolated Installation In a non isolated installation the reference potentials of the control and load circuitry are galvanically connected 7 4 D301087 1211 BL20 CANopen Electromagnetic Compatibility EMC Industri A 7 3 Electromagnetic Compatibility EMC BL20 products comply in full with the require
38. es 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 influencing 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 can be routed together in bundles or in cable ducts Group 1 shielded bus and data cables shielded analog cables unshielded cables for DC voltage lt 60 V unshielded cables for AC voltage 25 V Group 2 unshielded cables for DC voltage gt 60 V and lt 400 V unshielded cables for AC voltage gt 25 V and lt 400 V Group 3 unshielded cables for DC and AC voltages 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 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 Danger A Observe all valid
39. ess in any given fieldbus structure 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 H The gateway is the only fieldbus dependent module on a BL20 station All other BL20 modules are not dependent on the fieldbus used 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 A BL20 station can contain modules in any combination which means itis possible to adapt the system to practically all applications 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 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 secur
40. essing eite De nee 4 2 B BL20 gateway UN ELIONG e en et red 4 3 bus CONNECTION is EER res 7 11 C cable types RE RE EE EF EN 7 3 CANO DOT EER RO EE EE N 3 1 Boot up message iriiria 3 3 SCOMMUMNMICATION 1 iri ne fasts dentin 3 3 EOS ee ee 3 6 Emergency object Emcy een 3 4 GENEVA 1 m 3 2 Network management messages sss 3 3 Process data objects PDOs sss 3 4 Service data objects SDOs sss 3 3 Special function objects 3 4 Synchronization object ee ee Ge ee Ge ee Ge ee Ge ee 3 4 Time stamp object Time see 3 4 D diagnostic messages ee ee Ge ek Ge ER Ge ER Ke Re Ge Re 4 20 PnUDDOPAD 8 1 E earth free operation sss 7 5 electromagnetic compatibility ese see se ke sess 7 5 electronic modules see 2 4 electrostatic discharge see 7 10 EMG sink batik doc ridurre oe ee er as 7 5 empty slot stets rette ER e aen 6 2 ESD electrostatic discharge esses 7 10 F Fieldbus connection Direct wiring eene 4 10 Open Style connector wee eie ee ee ee ek Ge ek Ge ek Ge eke Ge 4 12 G El SEE nnne nennen enne 2 3 gateway function ese ese eke Ge ke Ge ke Ge ke Ge ke Ge ke Ge ke ee 4 3 inductive loads protective circuit 7 10 L LEDS 4 20 M MOUNTING rail sis tices ER OR EE osava 7 6 D301087 1211 BL20 CANopen
41. f No voltage supply Check the wiring of the voltage supply D301087 1211 BL20 CANopen 4 21 BL20 Gateway for CANopen Table 4 11 LED indicators LED Status Meaning Remedy ERR Off No errors in communication between the BL20 CANopen gateway and other CANopen nodes Red Faulty or interrupted Check that the fieldbus ends with a communication between BL20 termination resistor if the BL20 CANopen gateway and other CANopen gateway is the last node CANopen in the bus topology Possible causes Check the seating of the CANopen CAN BusOff bus connector or the joints in the Heartbeat error case of direct wiring All Guarding error connections must be correct and Transmit timeout 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 functioning properly Bus OFF Fieldbus not operating Waituntil the firmware download is finished If the download is finished hardware error replace the gateway red NMT slave state of the BL20 CANopen gateway is Stopped orange NMT slave state of the BL20 CANopen gateway is Pre Operational green NMT slave state of the BL20 CANopen gateway is Operational ERR BUS red Invalid Node ID has been set Set the correct Node ID with the blinking rotary hexadecimal or decimal alternately encoding switches 4 Hz
42. g to a Station oo ccc ee ee RA Re Re tener ennemi nnne niter nennen nennen nennen nan 5 Approvals EE e n EE REED LC EE OE x 7 Base el AE ER EE OE RE EE EE EE EE 7 4 4 2 Structure Diagram of a Gateway ee ee ee ee ee ee Ge Re AR AR AAR nenne enne nnne nenne enne nennen nnne nennen 8 4 4 3 Technical Data BL20 GW CANOPEN 00 ee cet re Re ee Re ee be nnne nennen ener enn 8 4 4 4 Technical Data BL20 GWBR CANOPEN ee ee ee ee ee ee ee ee ee Re ek este ee be ee Re ee ee enn ee 9 4 5 Connections for data cables to BL20 GW CANOPEN 222s000s000000000000000000000000000000000000000000000000000000000 10 4 5 1 Fieldbus connection via SUB D socket ee ee ee ee ee ee ee Ge ee be emere enne 10 4 5 2 Fieldbus connection through direct wiring sssseee eem emnes 10 4 6 Connections of the data cables to BL20 GWBR CANOope cccccccccsscccscccccccccccccccccccccccsccccccsssccces 12 4 6 1 Fieldbus connection via Open Style connector ssssssseeeeee eene 12 4 6 2 Service Interface Connection uio ate e oae EO ERI ene e ni 14 Connection with VO ASSISTANT Connection Cable esssssesse e emen 14 4 7 Setting the bit transfer rate through DIP switches ecce eee GE EE se eese eee 0000000 15 4 8 Node ID Setting 17 4 9 Acceptance of the BL20 Station Configuration cccccccccssccssccsccescccscccsccccccccccccccccccccscccsccces
43. he SET button between the two decimal rotary coding switches see chapter 2 or by making the appropriate settings in the configuration software see chapter 3 D301087 1211 BL20 CANopen Firmware Download Industri A 6 5 Firmware Download Firmware can be downloaded via the service interface on the gateway using the software tool VO ASSISTANT More information is available in the program s online help Attention AN The station should be disconnected from the fieldbus when downloading Firmware must be downloaded by authorized personnel only The field level must be isolated D301087 1211 BL20 CANopen 6 13 Guidelines for Station Planning 6 14 D301087 1211 BL20 CANopen Industri A 7 Guidelines for Electrical Installation 7 1 General TO M 2 7 1 1 General aie RE AE EE N NE 2 7 1 2 Cable i 4 755 ie RR EE Eg Ee Pe Ee desea Galen ee EE Ee v lte Guidi Aria ee 2 7 1 3 Cable Routing Inside and Outside of Cabinets ie ee ek GR Ge Re emen eene 2 Cable Routing Outside Buildings ie eet eet Re RR eter ek ened eme emen 2 7 1 4 Lightning Protection AE EA OE EE P OE RE 3 7 1 5 Irene ee 3 7 1 6 od EE M rn 3 7 2 OC DnuLEdLupprl pp 4 7 2 1 General EE anne 4 7 2 2 Potential Free Installation iei tied do ka kaduvat usa 4 7 2 3 Non isolated Installation emen nennen nennen enne
44. hilosophy Figure 2 6 Base module with screw connection Figure 2 7 Base module in block design 2 6 D301087 1211 BL20 CANopen BL20 Components 2 2 5 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 2 8 End plate 2 2 6 End Bracket A 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 2 9 End bracket Note H The end plate an the end bracket are delivered together with each gateway D301087 1211 BL20 CANopen 2 7 BL20 Philosophy 2 2 7 Jumpers Jumpers QVRs are used to bridge a 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 2 10 Jumpers 2 2 8 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 2 11 a uu a Ar 2 8 D301087 1211 BL20 CANopen BL20 Components Industri A 2 2 9 Shield Connection 2 Pole for Analog Modules The 2 pole shield connection can be used
45. ication 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 several other nodes It indicates 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
46. instance to configure the data transmission mechanism 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 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 transmitted by the NMT master forces the nodes to transit to another NMT state The CANopen state machine specifies the states Initialization 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 commun
47. l 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 Attention A It is not permitted to use the modules with 24 V DC and 120 230 V AC field supply in a joint potential group 6 2 4 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 8 D301087 1211 BL20 CANopen Power Supply 6 2 5 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 a C in their designation for example BL20 S4T SBCS The corresponding connection level is indicated on these modules by a thick black line The black line is continuous on all VO 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 6 4 C rail front view Figure 6 5 C rail side view AA lt A Danger A It 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
48. ller D301087 1211 BL20 CANopen Industri A Polling Establish a Polled I O Connection i e a conventional Master Slave relationship 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 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 VO modules of the control and load circuits Protective earth Electrical conductor for protection against dangerous shock currents Generally 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 Reaction 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 3 Short description of CANopen Seite 3 1 D301087 1211 BL20 CANopen 9 5 Glossary 9 6 D301087 1211 BL20 CANopen 10 Index A addr
49. ments 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 7 3 1 Ensuring Electromagnetic Compatibility The EMC of BL20 modules is guaranteed when the following basic rules are adhered to M Correct and large surface grounding of inactive metal components M 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 7 3 2 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 standardized reference potential area for all control elements and reduces the influence of coupled disturbances E Inthe 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 E Connect all free moving groundable components cabinet doors separate mounting plates etc by using short bonding straps to large surface areas E Avoid the use of aluminum c
50. nce potential A potential compensation cable must have the following characteristics E 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 E Should the length of the compensation cable be less than 200 m then its cross section must be at least 16 mm 0 025 inch2 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 D301087 1211 BL20 CANopen 7 9 Guidelines for Electrical Installation E 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 7 6 Potential compensation between switch gear cabinets 7 5 1 Switching Inductive Loads 7 5 2 Protection against Electrostatic Discharge ESD 7 10 Potential compensation In the case of inductive loads a protective circuit on the load is recommended A Attention Electronic modules and base modules are at risk from electrostatic discharge when disassembled Avoid touching the bu
51. ncluding the jumpers can be found in chapter 4 6 2 6 Direct Wiring of Relay Modules 6 10 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 1211 BL20 CANopen Plugging and Pulling Electronics Modules Industri A 6 3 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 Attention If the 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 D301087 1211 BL20 CANopen Guidelines for Station Planning 6 4 Extending an Existing Station Attention Please note that extensions to the station mounting further modules should be carried out only when the station is off circuit Once alterations have been made to the order of the 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 t
52. nnen 2 3 EER AE EE RE RE EE EE EE N Power Distribution Modules Electronics Modules Base Modules m EnA Plate os ESE OE EED EE EE DE OE EE M AU IM M End Bracket a EG GR GE EE ED OE AE GE AD EA AE RA Id PUnPtrct Marking NEGE seem ona araaKGAEEK AA AELEKALAEKAAAEARAAIKAALERAAALUAOLEKAOLEKASELKADALKALLIKAALIKALIKAALEKAAA AAA Shield Connection 2 Pole for Analog Modules sssecsssscsseessssccssssesstscssescsssccsscecsueecsucessscessscessessscessseesanceesuecesecssseceseesnseestecs 2 9 Short description of CANopen CANopen EG GE GN Ee ecu m Communication BL20 nd Es NU IT 3 5 Electronic data sheet EDS file m 3 6 BL20 Gateway for CANopen dieere Ta 3 01 AEA TT 4 2 Aao TT 4 3 Technical Information cscsccesssccsocc sesscesseoscccsssoscsossveescccscesccsscessosssssssssceuceeccescenesevsdseecccoscesssencsesssesescbeseseseesosesos 4 4 Technical Data see ee ee gee General Technieal Dat a eter ehe bee ee ue ele ee E ker ge De ee Re ees te Structure Diagram of a Gateway sssecssssesssssesssnseessnnsessnsseesssseesssssessssssessusecssusecssssseesusecessessessssseesssssessssneessuseessnseessussesensseessasess Technical Data BL20 GW CANOPEN essens Technical Data BL20
53. omponents as its quick oxidizing properties make it unsuitable for grounding Danger A The grounding must never including cases of error take on a dangerous touch potential For this reason always protect the ground potential with a protective cable 7 3 3 PE Connection A central connection must be established between ground and PE connection protective earth 7 3 4 Earth Free Operation Observe all relevant safety regulations when operating an earthfree system D301087 1211 BL20 CANopen 7 5 Guidelines for Electrical Installation Protect against high frequency interference signals Attention A 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 7 3 5 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 7 3 200 mm 7 87 inch Mounting options B gt ATS 35 rn MA BE x B Mounting rail C C Mounting plate D 7535 A M UU E x x E 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 syst
54. on 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 automa tion 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 52 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 neces sary emergency stop devices should be implemented Wherever faults in the automation system may cause damage to persons or
55. op ee view eo ee 9 8 7 6 Table 4 6 Pin No Designation Meaning Pin assignments for gateway SUB 1 not used D plug socket A The shieldingof 5 CAN L inverted data signal dominant the fieldbus is low connected throughthe 3 CAN_GND ground optional for CAN data metal housing signals ofthe SUB D connectorand 4 not used the contact with themoun 5 CAN SHLD A ting rails see page 4 11 6 GND 7 CAN H non inverted data signal dominant high 8 not used 9 CAN Vr 4 5 2 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 D301087 1211 BL20 CANopen Connections for data cables to BL20 GW CANOPEN The passive bus termination must be applied externally if the BL20 gateway is the last station in the bus structure Table 4 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 Attention A Ifthe gateway is wired up directly then the bus connection must be shielded e g with the help of a BL20 SCH 1 damp Figure 4 5 Shielding connec tion for an BL20 GW CANOPEN Attention No compensating current should fl
56. ot be severed but routed further within the system for example to the switchgear cabinet right up to the interface connection Note Should it not be possible to ground the shield on both sides due to switching arrangements or device specific reasons then it is possible to route the second cable shield side to the local reference potential 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 separated whereby the innermost shield is connected on one side and the outermost shield is connected on both sides D301087 1211 BL20 CANopen Potential Compensation 7 5 Potential Compensation Industri A Potential differences can occur between installation components that are in separate areas and these E are fed by different supplies have double sided conductor shields which are grounded on different installation components A potential compensation cable must be routed to the potential compensation Danger A 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 Figure 7 5 aa dee da TRO T eet 1 Potential 1 compensation B Shield a Reference potential Potential compensation cable Refere
57. ow through the shielding To achieve this a reliable system of eguipotential bonding must be installed Note Eguipotential bonding impedance lt 1 10 shielding impedance D301087 1211 BL20 CANopen BL20 Gateway for CANopen 4 6 Connections of the data cables to BL20 GWBR CANopen 4 6 1 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 4 8 1 2 red Pin assignment for the socket 3 4 white CAN H 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 4 6 Open Style connector u female top 4 4 NV lt 1 4i 3 Cr 5 7 9 Figure 4 7 Open Style connector I N female bottom B e L L va E E N KN e m a e a Figure 4 8 L Open Style connector male CAN H SHIELD CAN L GND 4 12 D301087 1211 BL20 CANopen Connections of the data cables to BL20 GWBR CANopen Figure 4 9 Shielding connec tion for an BL20 GWBR CANOPEN Attention No compensating current should flow through the shielding To achieve this a reliable system of equipotential bonding must be installed
58. pen 8 3 BL20 Approvals for Zone 2 Division 2 8 4 D301087 1211 BL20 CANopen Industri A D301087 1211 BL20 CANopen 8 5 BL20 Approvals for Zone 2 Division 2 8 6 D301087 1211 BL20 CANopen Industri A 9 Glossary A Acknowledge Acknowledgment of a signal received Active metal component Conductor or conducting component that is electrically live during operation Address Identifier of e g a memory position a system or a module within a network Addressing Allocation or setting of an address e g for a module in 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 B Baud Baud is a measure for the transmission speed of data 1 Baud corresponds to the transmission of one bit per second Bit s Baud rate Unit of measurement for data transmission speeds in Bit s Bidirectional Working in both directions 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 sen
59. ply EN 61131 2 interruption up to 10 ms is not stored Please secure the U for BL20 BR 24VDC D modules by using an appropriate power supply unit Current drawn from the module bus Without service without fieldbus 280 mA Without service with fieldbus 1 Mbps 410 mA With service without fieldbus 300 mA Maximum 350 MA Dimensions Width length height mm 50 6 x 114 8 x 74 4 mm Service Connections PS 2 socket Fieldbus terminations 1x 9 pole SUB D socket 1x 9 pole SUB D plug 2 x tension spring connector type LPZF 5 08 5 pole Fieldbus shielding connection via BL20 SCH 1 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 4 8 D301087 1211 BL20 CANopen Technical Data 4 4 4 Technical Data BL20 GWBR CANOPEN Industri A Table 4 5 Designation Value Technical data BL20 GWBR Supply CANOPEN Field supply U Nominal value range 24V DC 18 to 30 V DC I max field current 10A Isolation voltage U to Usys U to fieldbus 500V U to FE Connections 2 pole screw terminal System supply Usys nominal value range 24V DC 18 to 30 V DC lys for Imp 1 2 A Usy 18 V DC max 900 mA lus supply to the module bus stations 1 2A Isolation voltage Uys to U 500V Uys to fieldbus Usy to FE Connections 2 pole screw terminal Ph
60. s connections with bare fingers as this can lead to ESD damage D301087 1211 BL20 CANopen Bus Connection Industri A 7 6 Bus Connection 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 4 6 Connections of the data cables to BL20 GWBR CANopen page 4 12 D301087 1211 BL20 CANopen 7 11 Guidelines for Electrical Installation 77 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 7 7 Two pole shield connection for analog modules The following cable diameters are permissible for the shield connection Diameter of the shielding braid max 4 9 mm 0 19 inch Outer diameter of the cable max 6 5 mm 0 26 inch D301087 1211 BL20 CANopen 8 BL20 Approvals for Zone 2 Division 2 Note i The Zone 2 approval certificates for BL20 can be found in a separate manual for approvals D301255 on www turck de D301087 1211 BL20 CANopen 8 1 BL20 Approvals for Zone 2 Division 2 8 2 D301087 1211 BL20 CANopen Industri A D301087 1211 BL20 CANo
61. t 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 D301087 1211 BL20 CANopen 9 1 Glossary 9 2 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 contactors 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 which is made of one or more CAN frames Any information transmitted via CANopen has to be mapped into COBs Source CiA DS 401 V2 1 COB ID COB Identifier Identifies a COB uniquely in a CAN network The identifier determines the priority of that COB in the data link layer too Source CiA DS 401 V2 1
62. therefore it is not necessary to supply each individual module with a separate voltage Figure 2 2 Power distribu tion module 2 2 3 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 Section 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 2 3 Electronics module in slice design 2 4 D301087 1211 BL20 CANopen BL20 Components Industri A Figure 2 4 Electronics module in block design 2 2 4 Base Modules Thefield 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 2 5 Base module with tension clamp connection D301087 1211 BL20 CANopen 2 5 BL20 P
63. tion AN 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 1 3 1 Prescribed Use Danger A The devices described in this manual must be used only in applications prescribed in this manual or in the respective technical descriptions 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 1 3 2 Notes Concerning Planning Installation of this Product Danger A All respective safety measures and accident protection guidelines must be considered carefully and without exception 1 4 D301087 1211 BL20 CANopen List of Revisions Industri A 1 4 List of Revisions In comparison to the previous manual edition the following changes revisions have been made Table 1 1 Chapter Subject Description new changed deleted List of revisions 5 6 BL20 Communication in CANopen Diagnostics X Emergency Frames seperate manual D301230 8 BL20 Approvals for Zone 2 Division 2 X seperate manual D301255 Note The publication of this manual renders all previous editions invalid D
64. tion and structure of the BL20 CANopen gateway as well as all bus specific information concerning the connection to automation 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 VO modules TURCK Documentation No English D300717 Furthermore the manual contains a short description of the project planning and diagnostics software for TURCK I O systems the software I O ASSISTANT D301087 1211 BL20 CANopen Description of Symbols Used Industri A 1 2 Description of Symbols Used A Danger This sign can be found next to all notes that indicate a source of hazards 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 AN Attention This 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 software and to the facility Note This sign can be found next to all general notes that supply important information about one or more operating steps These specific notes are intended to make operation easier and avoid unnecessary work due to incorrect operation D301087 1211 BL20 CANopen 1 3 About this Manual 1 3 Overview Atten
65. to EN 61 10 V m 000 4 3 and ENV 50 204 Conducted interferences induced by HF fields 10V according to EN 61 000 4 6 Fast transients Burst according to EN 61 000 4 4 Interference criteria A unrestricted operation 1 kV normal operating behavior Interference criteria B temporary interference 2 kV normal operation possible Emitted interference according to EN 50 081 2 Industry according to EN 55 011 Class A Group 1 Reliability Operational life MIBF 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 13 F duration 96 h not in use 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 IEC 529 IP20 4 6 D301087 1211 BL20 CANopen Technical Data Industri A Danger 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 reguired to take appropriate measures to suppress the disturbance at his own cost
66. 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 2 12 Shield connection D301087 1211 BL20 CANopen 2 9 BL20 Philosophy 2 10 D301087 1211 BL20 CANopen Industri A 3 Short description of CANopen 3 1 CANopen 2 3 1 1 General RO ER RE ER OE PETE 2 3 1 2 COmtmunie AU OM coc ee Ee GE EN Dee ee EE tare DO Ee tants 3 Network Management MessageS ee ee ee enne nennen ee ee ee be ee be ee be ee be 3 Service Data Objects S DOS iicet GAD ken Ee ls DEEG KERE cones DE Ge eie kg GARA 3 Process Data Objects PDOS ee ee ee ee RR RA Re GR Ke ee ee Ge Ke ee ee eek ee Ge ee enn nnn nnns 4 Special Function Objects RE ER N OE EE innen Gees 4 3 2 BL20 and CANopen 5 3 3 Electronic data sheet EDS file sssesosssnuensnnuunonsunuensnnunnnnsnununssnunnnnnnnsenssnnnnnsnsnunnsnssnnnssununnsnssunne 6 D301087 1211 BL20 CANopen 3 1 Short description of CANopen 3 1 CANopen Note i The following description of CANopen is an excerpt from the homepage of CiA CAN in Automation the international users and manufacturers organization for CAN 3 1 1 General CANopen is an open non proprietary network protocol It consists of a profile family based ona communication profile and se
67. ts 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 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 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 station The BL20 modules communicate with the gateway via the module bus which is independent of the fieldbus MSB Most Significant Bit NMT see chapter 3 Short description of CANopen Seite 3 1 Overhead System administration time required by the system for each transmission cycle PDO see chapter 3 Short description of CANopen Seite 3 1 PLC Programmable Logic Contro
68. veral device profiles The CANopen communication profile is standardized as CiA DS 301 Application Layer and Communication Profile The CANopen device profile for I O modules has been published as CiA DS 401 Device Profile for I O Modules CANopen is based on the following standards M ISO 11 898 Physical and Data Link Layer Layers 1 and 2 of the ISO OSI communication model CiA DS 301 Application Layer and Communication Profile C ANopen communication profile E 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 3 2 D301087 1211 BL20 CANopen CANopen Industri A 3 1 2 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 transmitting Telegrams 4 different types of telegram message are defined for CANopen E Network management messages M Service data objects SDO M Process data objects PDO E 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
69. ysical interfaces Fieldbus Transfer rate 10 kbps to 1 Mbps Isolation voltage fieldbus to Uys 500V ore fieldbus to U fieldbus to FE 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 connection Via connector Node ID setting 2 rotary decimal encoding switches Service Connections PS 2 socket Danger A 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 suppress the disturbance at his own cost D301087 1211 BL20 CANopen 4 9 BL20 Gateway for CANopen 4 5 Connections for data cables to BL20 GW CANOPEN 4 5 1 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 application 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 4 54321 SUB D socket on the gateway t

BL20 - User manual for CANopen (EN)

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