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BL20 – USER MANUAL ECO-GATEWAY FOR CANopen

1. 2 6 1 1 Random Module Arrangement ete E RE u usu AR 2 6 1 2 Gomplete Planning ERIT 2 6 2 Maximum System Extension 3 6 3 Power Supphly 6 6 3 1 Power Supply to the Gateway uuu tiara 6 6 3 2 Module Bus Reftreshing u l uu Iit dete tt iibri erit bat eri br talia leased ei aac bee ke gene 6 6 3 3 Creating Potential Groups cx e oe decd e enced dyna a CHER Ee SR Rex ER RR REM eS 6 6 3 4 G Rall Cross COnnectlOn ccs aec ep anne rex aiana SERERE ER AR RARA O a ankan 7 6 3 5 Ell ease de ee EE 9 6 4 Protecting the Service Interface on the Gateway 10 6 5 Plugging and Pulling Electronics Modules 10 6 6 Extending an Existing Station 10 6 7 Firmware Download 10 D301108 1211 BL20 ECO CANopen 6 1 Guidelines for Station Planning 6 1 Module Arrangement 6 1 1 Random Module Arrangement The
2. Electronics Modules Standard Product Line ECO Electronics Modules E Base Modules EndiPlat aa ee ee End Ba y Vo a 012 EPA A A A Marking Material eterne Shield Connection Standard Product Line Shield Connection ECO Product Line an Shield Connection 2 Pole for Analog Modules U u u 2 11 Short description of CANopen CANopen ic uc As AP e OE 3 2 BL20 aN CANOPEN 3 5 Electronic data sheet EDS file 3 6 Eco Gateway for CANopen A M 4 2 dune 4 2 Technical Data nc c S 4 3 General Technical Data of a Station ENEE 4 4 Technical Data for the Push in tension clamp terminals ENEE 4 6 Connection Possibilities at the Gateways Voltage Supply r neresservsssvrsssesssserssererssresseresseresserssserssssessssrnes Fieldbus Connection via Push in Tension Clamp Terminals Service Interface CONMECION m M 4 9 Connection through an l O
3. Permissible range according to EN 61 131 2 18 to 30 V DC Residual ripple according to EN 61131 2 Isolation voltage U to Usy 500 Veg Voltage anomalies according to EN 61 131 2 lus supply of module bus nodes 700 mA Connection technology Push in tension clamp terminals LSF from Weidmueller Physical interfaces Fieldbus Protocol CANopen Transmission rate 20 kBit s to 1 Mbit s Isolation voltage field to U and to U Sys 500 Veg Fieldbus connection Push in tension clamp terminals LSF from Weidmueller Address setting via DIP switch addresses 1 to 63 Service interface connection RS232 via PS2 mini DIN female connector Ambient conditions Ambient temperature tambient 0 to 55 C 32 to 131 F tstore 25 to 85 C 13 to 185 F Relative humidity according to EN 61131 2 EN 50178 5 to 95 indoor Level RH 2 no condensation storage at 45 C no function test 4 4 D301108 1211 BL20 ECO CANopen Technical Data Industri A Climatic tests according to IEC 61131 2 Resistance to vibration according to IEC 61131 2 10 to 57 Hz constant Yes amplitude 0 075 mm 0 003 inch 1 g 57 to 150 Hz constant Yes acceleration 1 g Mode of vibration Frequency sweeps with a change in speed of 1 Octave min Period of oscillation 20 frequency sweeps per axis of
4. ie estadia 4 7 3 Electromagnetic Compatibility EMC 5 7 3 1 Ensuring Electromagnetic Compatibility AAA 5 7 3 2 Grounding of Inactive Metal Components J u u u 5 7 3 3 PE Conmection C 5 7 3 4 Earth Eree Operations uu uu case S bu Eee kaka Ee eeneg 5 7 3 5 Protection against high frequency interference signals u 6 7 3 6 MOUNTING RAMS RC R 6 7 3 7 EMC Compliant Cabinet Installation a 7 7 4 Shielding of cables 8 7 4 1 Potential GOmpelnsation u um aps bi qa 8 7 4 2 SWITCHING Inductive Loads aa uu uuu uuu rana 10 7 4 3 Protection against Electrostatic Discharge ED 10 D301108 1211 BL20 ECO CANopen 7 1 Guidelines for Electrical Installation 7 1 7 1 1 7 1 2 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 cables must always be routed as close as possible to ground potential surfaces for example support bars c
5. the configured module bus station corresponds to the physically connected station communication is active Green flashing Station is in the Deactivate the 1Hz l O ASSISTANT Force Mode l O ASSISTANT Force Mode Red and Controller is not ready U Check the wiring for U at the gateway LED GW off level is not within the required range 4 14 D301108 1211 BL20 ECO CANopen Status Indicators Diagnostic Messages Gateway Industri A Table 4 6 LED Status Meaning Remedy LED displays lOs Red Module bus not ready to Check the correct mounting of the single operate BL20 modules Red Non adaptable modification Compare the planned BL20 station with flashing of the physically connected the physical station 1Hz station Checkthe physical station for defective or incorrectly fitted electronics modules Red flashing no module bus Check the station configuration and the 4 Hz communication voltage supply at the gateway and at the supply modules Red green Adaptable modification of Check the physical station for pulled or flashing 1Hz the physically connected new but not planned modules station data transfer possible 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 termination resistor if the BL20 CANopen BL20 CANopengatewayand gateway is the last node in the bus
6. 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 Potential Compensation Potential differences can occur between installation components that are in separate areas and these are fed by different supplies have double sided conductor shields which are grounded on different installation components A potential compensation cable must be routed to the potential compensation Warning A Never use the shield as a potential compensation D301108 1211 BL20 ECO CANopen Shielding of cables Connection 1 Connection 2 CAN_H 0 0 CAN H CAN L 0 en 0 CAN_L GND Oe 0 GND Figure 7 5 pete Bee EEN f Potential l I compensation E Shield Hi Potential compensation cable Reference potential Reference potential A potential compensation cable must have the follo
7. other CANopen topology Possible causes Check the seating of the CANopen bus CAN BusOff connector or the joints in the case of Heartbeat error direct wiring All connections must be Guarding error correct and properly seated Transmit timeout 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 green NMT slave state of the BL20 CANopen gateway is Operational red NMT slave state of the BL20 Reset Node command from NMT CANopen gateway is master forthe respective node necessary Stopped If this command is not successful execute a voltage reset orange NMT slave state of the BL20 Start Node command from NMT master CANopen gateway is Pre Operational necessary ERR red flashing BUS alternately 4 Hz Invalid Node ID has been set Set the correct Node ID with the DIP switches 1 to63 D301108 1211 BL20 ECO CANopen Eco Gateway for CANopen D301108 1211 BL20 ECO 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 under www turck de D301108 1211 BL20 ECO CANopen 5 1 Industri A 6 Guidelines for Station Planning 6 1 Module Arrangemetnt
8. ASSISTANT Cable EEN 4 9 4 5 4 6 4 7 4 8 4 9 4 9 1 6 1 6 1 1 6 1 2 6 2 6 3 6 3 1 6 3 2 6 3 3 6 3 4 6 3 5 6 4 6 5 6 6 6 7 7 1 7 1 1 7 1 2 7 1 3 7 1 4 7 2 7 2 1 7 2 2 7 3 7 3 1 7 3 2 7 3 3 7 3 4 7 3 5 7 3 6 7 3 7 7 4 7 4 1 Setting the Node ID pen 4 10 Setting the Bit tire E 4 11 Activating the Bus Terminating Resistor 4 12 Acceptance of the BL20 Station Configuration 4 13 Status Indicators Diagnostic Messages Gateway 4 14 Re e EE RE BER 4 14 BL20 Communication in CANopen Guidelines for Station Planning Module Arran ge E E 6 2 Random Module Arrangement 6 2 Complete Planning EE EIL 6 2 Maximum System Extension 6 3 Power Supply suwasqa ayau M Esi 6 6 Power Supply to the Gat way ann dEr eet 6 6 Module Bus Refteshing tete pe eaaa debeo tpe EE rebelle ete sete ua a ga 6 6 Creating Potential Groupes e 6 6 C Rail Cross COnnecti Fri cocotte ua mua namen EA 6 7 Direct Wiring of Relay Modules u
9. D301108 1211 BL20 ECO 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 D301108 1211 BL20 ECO CANopen 8 1 BL20 Approvals for Zone 2 Division 2 8 2 D301108 1211 BL20 ECO CANopen Industri A Glossary Acknowledge Acknowledgment of a signal received Active metal component Conductor or conducting component that is electrically live during operation Address Identifier of e g 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 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 connectio
10. E 2 6 D301108 1211 BL20 ECO CANopen BL20 Components 2 2 5 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 4 x 2 3 wire 4 channel Figure 2 7 Base module with tension clamp connection Figure 2 8 Base module with Screw connection Figure 2 9 Base module in block design D301108 1211 BL20 ECO CANopen 2 7 BL20 Philosophy 2 2 6 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 10 End plate 2 2 7 EndBracket 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 11 End bracket 2 8 D301108 1211 BL20 ECO CANopen BL20 Components 22 8 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 12 i Jumpers N 2 2 9 Marking Material m Labels for labeling BL20 electronics modules Markers for colored identi
11. 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 E Analog input and output modules amp Technology modules counters RS232 interface A complete BL20 station counts as one station on the bus and therefore occupies one fieldbus address in any given fieldbus 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 i 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 with different numbers of channels 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 standard gateway 50 4 mm
12. 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 Industri A Table of Contents 1 1 1 1 2 1 2 1 1 2 2 1 3 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 2 2 10 2 2 11 2 2 12 3 1 3 1 1 3 1 2 3 2 3 3 4 1 4 1 1 4 2 4 2 1 4 2 2 4 3 4 3 1 4 3 2 4 4 4 4 1 D301108 1211 BL20 ECO CANopen About this Manual Documentation COncept 1 2 Le ET WU 1 3 Prescribed RE 1 3 Notes Concerning Planning Installation of this Product u 1 3 Description of Symbols Used 1e eee eee ee esee u ee seen sena seen esatta sess etos ease tos esa seas ease to sess etna seu 1 4 A CIEL E 1 5 BL20 Philosophy The Basic TT E 2 2 BL20 Components eee e esee ee eee eee eee eee enses osos ose eee eso stet etes o assesses ee eese Pose sese s eee e ette teens asse eese s eee ee eee ee eene soos aoo 2 3 CAN s EE Power Distribution Modules
13. for each transmission cycle PDO see chapter 3 Short description of CANopen Seite 3 3 PLC Programmable Logic Controller D301108 1211 BL20 ECO 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 descrip
14. gateway E All BL20 modules gateway 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 with the ECO gateway BL20 E GW DP Figure 7 2 Block diagram of a BL20 station with an ECO DP gateway Power gateway I O module 1 O module Feeding field bus sv IS module bus e e U GND SZ PE logic logic uj GND U GND PE U VA VA 20 21 7 2 2 Potential Free Installation 7 4 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 Floating DC load circuits The potential free installation does not depend on the method of grounding D301108 1211 BL20 ECO CANopen Electromagnetic Compatibility EMC Industri A 7 3 Electromagnetic Compatibility EMC BL20 products comply in full with the requirements pertaining to EMC regulations Nevertheless an EMC plan should be made before installation Hereby all potential electromechanical sources of interference should be cons
15. seperate manual D301255 Note The publication of this manual renders all previous editions invalid D301108 1211 BL20 ECO CANopen 1 5 About this Manual 1 6 D301108 1211 BL20 ECO CANopen Industri A 2 BL20Philosophy 2 1 The EEDIATIOO H P 2 2 2 BL20 Components 3 2 2 1 E ME 3 F GOSGSISMWSVYS censal decapitaci n 3 Gateways with Integrated Power Supply U u u uuu 4 Gateways without Power Supply JII asia sasa asan asasakskansawawawkaqaassqaasasaqkkun 4 2 2 2 Power Distribution Modules uuu u eigen are X aoaia wass apasi ren 5 2 2 3 Electronics Modules Standard Product Line 5 2 2 4 ECO Electronics 1 9 0 1 treo ru RRRR PR RRRUSRERBERS CERS REN NERR Re S ERURERKRen ENUN aaa E aaa adai daadaa 6 2 2 5 Base NIOGDISS mu EM 7 2 2 6 End Plate cocos H 8 2 2 7 End Backe unus u arado ai Ita Ee EIN aa pi Per asan 8 2 2 8 JUMPE e uu unu M 9 2 2 9 Marking Material l RES 9 2 2 10 Shield Connection Standard Product Lime 10 2 2 11 Shield Connection ECO Product Line AA 10 2 2 12 Shield Connection 2 Pole for Analog Modules eene nnne nen 11 D301108 1211 BL20 ECO CANopen 2 1 BL20 Philosophy 2 1 2 2
16. transfer any length of information Emergency object Sync frame evaluation Event driven PDOs Synchronous PDOs clock synchronous Remote requested PDO polling D301108 1211 BL20 ECO 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 D301108 1211 BL20 ECO CANopen Industri A 4 Eco Gateway for CANopen 4 1 Introduction 2 4 1 1 FUNCION tia 2 4 2 Technical Data 3 4 2 1 General Technical Data of a Station LIL IIIIIIIILIIIiISIit asss sassak RENAA ANI ARKAA 4 Approvals and Testsieger rennen 6 4 2 2 Technical Data for the Push in tension clamp terminals AA 6 4 3 Connection Possibilities at the Gateways 7 4 3 1 VONAGE SUPPIV LEES 7 4 3 2 Fieldbus Connection via Push in Tension Cla
17. 1 98 inch ECO gateway 34 mm 1 34 inch standard slice 12 6 mm 0 49 inch ECO slice 13 mm 0 51 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 of the standard line 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 of the standard line are designed as terminal blocks The wiring is secured by tension clamp or screw connection The electronics modules can be plugged or pulled when the station is being commissioned or for maintenance purposes without having to disconnect the field wiring from the base modules The ECO electronics modules combine base module and electronics module in one housing All BL20 ECO modules can be used with the standard products with tension clamp connection technology D301108 1211 BL20 ECO CANopen BL20 Components Industri A 2 2 BL20 Components 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 I O ASSISTANT ECO Gateways The BL20 ECO gateways enlarge the product portfolio of BL20 They offer an excellent cost performance ratio Fu
18. 24V DC 10 n Ius 14 2414 2414 2414 24 ne SBC 4 8 SBC SBB SBBC SBCS SBCS SBCS SBCS 1 Mil JO Cross connecting relay module roots is achieved by the use of jumpers The corresponding wiring diagram including the jumpers can be found the manuals for BL20 I O modules German D300716 English D300717 6 3 5 Direct Wiring of Relay Modules 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 D301108 1211 BL20 ECO CANopen 6 9 Guidelines for Station Planning 6 4 Protecting the Service Interface on the Gateway During operation the label protecting the service interface and the DIP switches must remain closed due to EMC and ESD 6 5 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 6 6 Extending an Existing Station Attent
19. 27 Each Node ID can only be assigned once in the entire CANopen bus structure Note i Pull the label upwards out of the housing in order to reach the DIP switches The gateway s bus address results from the addition of the valences 2 to 2 of the switched DIP switches position 1 Default setting 0x3FH ADR 63 Example Bus address 38 0x26 100110 Figure 4 7 Bus address 38 O1 ADDRESS WOU DO UD RT off lt gt on The internal module bus does not require any addressing D301108 1211 BL20 ECO CANopen Setting the Bit Rate Industri A 4 6 Setting theBit Rate The gateway BL20 E GW CO offers 3 DIP switches for setting the bit rate BR Figure 4 8 0441 DIP switches for a settingthebitrate y L ES Ta 2 EH Bg 2 lt ra 2 L 1 20 maj CI 22 Fri I Off lt on DIP Bit rate switch D D o reserved 20 kBit s 50 kBit s 125 kBit s 250 kBit s 500 kBit s 800 kBit s 1 MBit s 29 1 0 1 0 1 0 1 0 2 1 1 0 0 1 1 0 0 2 1 1 1 1 0 0 0 0 D301108 1211 BL20 ECO CANopen 4 11 Eco Gateway for CANopen 4 7 Activating the Bus Terminating Resistor If the gateway is used as the first or the last station in the bus communication the fieldbus line has to be terminated using a terminating resistor The BL20 E GW CO allows the activation of the resistors R using the last DIP switch Figure 4 9 Bus terminating resistor Bus ter
20. 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 Before commencing 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 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 equal ization The system installer is responsible for implementing this connection Connecting cables and signal lines should be installed so that inductive or capacitive interfer ence do not impair the automation functions Install automation devices and related operating elements in such a way that they a
21. E e Ie dee cbe 7 6 EMC Compliant Cabinet Installation eese 7 7 Shielding of cabl s u See arte eie SUO e eva e Ne UR ee pae a unes tus Ie etae eoe TEE E a 7 8 Potential Compensation a 7 8 D301108 1211 BL20 ECO CANopen Industri A 74 2 Switching Inductive Loads sssssssssscssssecssssscessecessscecsnseecssssccessscecsnscecsnscecesseceessecessunseessnsescsssecessnseseesseeessseeesunseseesnseseesseseesnecs 7 10 7 4 8 Protection against Electrostatic Discharge ESD enn 7 10 8 BL20 Approvals for Zone 2 Division 2 9 Glossary 10 Index D301108 1211 BL20 ECO CANopen ili D301108 1211 BL20 ECO CANopen 1 About this Manual 1 1 Documentation Concept 1 2 Overview 1 2 1 Prescribed USO ici career 1 2 2 Notes Concerning Planning Installation of this Product 1 3 Description of Symbols Used 1 4 List of revisions D301108 1211 BL20 ECO CANopen Industri A 1 1 About this Manual 1 1 1 2 Documentation Concept This manual contains allinformation about the BL20 CANopen gateway of the product series BL20 ECO BL20 E GW CO The following chapters contain a short BL20 system description
22. a description of the field bus system CANopen exact information about function and structure of the 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 amp BL20 I O modules TURCK Documentation No English D300717 Furthermore the manual mentioned above contains a short description of the project planning and diagnostics software for TURCK l O systems the software I O ASSISTANT D301108 1211 BL20 ECO CANopen Overview Industri A 1 2 Overview Attention 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 gateway BL20 E GW CO products It has been specially conceived for personnel with the necessary qualifications 1 2 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 thes
23. abinet 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 Group 1 shielded bus and data cables E shielded analog cables unshielded cables for DC voltage lt 60 V unshielded cables for AC voltage lt 25 V Group 2 unshielded cables for DC voltage 60 V and x 400 V unshielded cables for AC voltage gt 25 V and lt 400 V Group 3 unshielded cables for DC and AC voltages gt 400 V Various types of cables within the groups can be routed together in bundles or in cable ducts 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 amp Group 1 Group 3 and Group 2 Group 3 must be routed in separate cable ducts with a minimum distance of 10 cm apart This is equally valid for inside buildings as well as for inside and outside of switchgear cabinets Cable Routing Outside Buildings Outside of buildings cables should be routed in closed where possible cage type cable ducts made of metal The cable duct joints must be electrically connected and the cable ducts must be earthed Warning A Observe all valid guidelines concerning internal and external lightning protection and grounding specifications w
24. andard pin assignment has to be used m O ASSISTANT KABEL BL20 BL67 A Attention Standard commercial cables will have to be rewired 4 4 1 Connection through an I O ASSISTANT Cable Thel O ASSISTANT cable is fitted with a PS 2 plug connection to the socket on the gateway and a SUB D socket connection to the plug on the PC Note The service interface can be found under the upper label of the gateway Pull the label upwards out of the housing in order to reach the service interface Figure 4 4 PS 2 plug on the connection cable to the gateway top view Figure 4 5 9 pole SUB D socket connector on the cable for connecting to PC ee ee 5 4 3 2 1 top view i 9876 Table 4 5 Pin BL20 gateway Sub D interface at the PC Pin Pin assignment PS 2 socket PS 2 and SUB D interface 1 CLK DTR DSR 4 6 2 GND GND 5 3 DATA 4 n c DATA2 RxD 2 5 5V RTS 7 6 n c CLK2 TxD 3 D301108 1211 BL20 ECO CANopen 4 9 Eco Gateway for CANopen 45 Settingthe Node ID The setting of the Node ID for the BL20 ECO gateway for CANopen is done via the DIP switches at the gateway These DIP switches can be found under the gateway s upper label Figure 4 6 DIP switches on the gateway 4 oun TUR BR Attention The Node ID of an ECO gateway is limited to values of 1 to 63 Other nodes at the CANopen bus can use Node IDs up to 1
25. 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 i A mixed usage of gateways of the BL20 ECO and the BL20 standard product line and I O modules of both product lines base modules with tension clamp terminals is possible without any problems Figure 6 1 Example of a station structure with ECO gateway ECOand standard O modules Note i 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 2 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 The power to BL20 systems is supplied from a common external source This avoids the occurrence of potential compensating currents within the BL20 station 6 2 D301108 1211 BL20 ECO CANopen Maximum System Extension 62 Maximum System Extension Industri A The maximum number of modules within BL20 station with the gateway BL20 E GW CO depends on the following factors a
26. ata 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 communication profile area are set to their power on values The third sub state is initializing which a node enters automatically after power on Power on values are the last stored parameters The Heartbeat protocol is for error control purposes and signals the presence of a node and its state The Heartbeat message is a perio
27. ayer Layers 1 and 2 of the ISO OSI communication model m 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 m CiA DS 401 Device Profile for I O modules m CiA DS 406 Device Profile for Encoders CANopen device profile for counter modules m 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 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 amp Network management messages E Service data objects SDO E 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 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 D301108 1211 BL20 ECO CANopen CANopen Industri A The NMT message is mapped to a single CAN frame with a d
28. 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 each IEC 68 2 29 case in direction per space coordinate Topple and fall according to IEC 68 2 31 and free fall according to IEC 68 2 32 Height of fall weight 10 kg 1 0 m Height of fall weight 10 to 40 kg 05m Test runs 7 Device with packaging electrically tested printed circuit board Electromagnetic compatibility EMC according to EN 50 082 2 Industry Static electricity according to EN 61 000 4 2 Discharge through air direct 8 kV Relay discharge indirect 4 kV Electromagnetic HF fields according to EN61 10 V m 000 4 3 and ENV 50 204 AThis devicecan Conducted interferences induced by HF 10V cause radio fields according to EN 61 000 4 6 disturbances in residential Fast transients Burst according to EN 61 000 4 4 areas Additional Emitted interference according to EN 50081 according to EN 55 011 Class A Group 1 measures to 2 Industry suppress the disturbance are necessary D301108 1211 BL20 ECO CANopen 4 5 Eco Gateway for CANopen Approvals and Tests Table 4 2 Description Approvals and tests Approvals UL in preparation cUL Tests EN 61131 2 Cold DIN IEC 68 2 1 tempe
29. dic 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 a block of segments so that a peer to peer communication client server takes place Process Data Objects PDOs Process Data Objects PDOs are mapped to a single CAN frame using up to 8 bytes of the data field to transmit application objects Each PDO has a unique identifier and is transmitted by only one node but i
30. e 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 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 3 4 D301108 1211 BL20 ECO CANopen BL20 and CANopen Industri A 3 2 BL20 and CANopen BL20 supports the following CANopen functions SDO
31. e devices 1 2 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 D301108 1211 BL20 ECO CANopen 1 3 About this Manual 1 3 1 4 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 A 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 D301108 1211 BL20 ECO 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
32. effective resistance that a component or circuit has for an alternating current at a specific frequency Inactive metal components Conductive components that cannot be touched and are electrically isolated from active metal components by insulation but can adopt voltage in the event of a fault Inductive coupling Magnetic inductive couplings occur between two cables through which an electrical current is flowing The magnetic effect caused by the electrical currents induces an interference voltage Typical sources of interference are for example transformers motors parallel routed network and HF signal cables Instance An Instance is defined as being an Object that is actually set up in a device 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 Allinterconnected 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
33. fication of connection levels of BL20 base modules E Dekafix connector markers for numbering the mounting slots on BL20 base modules Figure 2 13 uw oa X Z I D301108 1211 BL20 ECO CANopen 2 9 BL20 Philosophy 2 2 10 Shield Connection Standard Product Line If the gateway is wired directly to the fieldbus it is possible to shield the connection using an attachment BL20 SCH 1 on the gateway Figure 2 14 Shield connection gateway 2 2 11 Shield Connection ECO Product Line The shielding of the fieldbus connection at the BL20 E GW xx can be realized using shielding brackets on the mounting rail Figure 2 15 Shielding the bus cable via shielding brackets on the mounting rail 2 10 D301108 1211 BL20 ECO CANopen BL20 Components Industri A 2 2 12 Shield Connection 2 Pole for Analog Modules The 2 pole shield connection can be used to connect signal cable shielding to the base modules of analog input and output modules A special tension clamp operating tool BL20 ZBW5 2 is required to mount the shield connection onto the base module Figure 2 16 Shield connection D301108 1211 BL20 ECO CANopen 2 11 BL20 Philosophy 2 12 D301108 1211 BL20 ECO CANopen Industri A 3 Shortdescription of CANopen 3 1 CANopen 2 3 1 1 Gene
34. hen routing cables outside of buildings D301108 1211 BL20 ECO CANopen General Notes Industri A 7 1 3 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 4 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 DIP switch R on the gateway Figure 7 1 Representation of a bus cable Rt Rt terminating terminating resistor resistor Station 0 Station x n Station x Cable Types Turck offers a variety of cable types for fieldbus lines as premoulded or bulk cables The ordering information for the available cable types can be found in the TURCK BL20 catalogs D301108 1211 BL20 ECO CANopen 7 3 Guidelines for Electrical Installation 7 22 Potential Relationships 7 2 1 General The potential relationship of a PROFIBUS DP system realized with BL20 modules is characterized by the following The system s power supply to the gateway I O modules and the field level is connected to the
35. herefore it is necessary to reload the whole station parameterization Note Ed The green IOs LED indicates that the current BL20 configuration matches the stored D301108 1211 BL20 ECO CANopen 4 13 Eco Gateway for CANopen 4 9 Status Indicators Diagnostic Messages Gateway 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 via individual LEDs E via the software of the respective host system i e PLC 4 9 1 Diagnostic Messages via LEDs Every BL20 gateway displays the following statuses via LEDs E 2LEDs for module bus communication module bus LEDs GW and IOs E 2LEDsfor CANopen communication fieldbus LEDs ERR and Bus Table 4 6 LED Status Meaning Remedy LED displays GW OFF CPU not supplied Check the wiring at the gateway or at the Bus refreshing module Green 5V DC operating voltage is present firmware is active gateway is ready for operation and transfer green undervoltage at U or U Check that the supply voltage is within the blinking 1 Hz permissible range GW green Firmware not active Reload the firmware flashing 1 Hz IOs red Green Firmware active gateway Replace the gateway flashing hardware is defect 4 Hz IOs OFF CPU not supplied Check the voltage supply Green Module bus is running
36. idered 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 Correct and large surface grounding of inactive metal components E 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 top hat 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 components as its quick oxidizing properties make it unsuitable for grounding Warning A The grounding must never including cases of error take on a dangerous touch
37. ion Please note that extensions to the station mounting further modules should be carried out only when the station is in a voltage free state 6 7 Firmware Download Firmware can be downloaded via the service interface on the gateway using the software tool O ASSISTANT More information is available in the program s online help Attention A The station should be disconnected from the fieldbus when downloading Firmware must be downloaded by authorized personnel only The field level must be isolated 6 10 D301108 1211 BL20 ECO CANopen Industri A 7 Guidelines for Electrical Installation 7 1 General Notes 2 7 1 1 General ceca c s 2 7 1 2 Cable ROUT oz e HEURES 2 Cable Routing Inside and Outside of Cabinets U u uu 2 Cable Routing Outside Buildings vrerrrnnnnvnornnnnnnnnnrnnnnnnennnrnnnnnnnnnnnnnnnnnannnnnnennennnnnnennnnnnnneenennnneennn 2 7 1 3 Breinert ansen 3 7 1 4 Transmission Cables PUES 3 Capo Types vu l au k Eege Sau sawu ee 3 7 2 Potential Relationships 4 7 2 1 e nrcm HI 4 7 2 2 Potential Free Installation
38. m 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 If the power supply from the module bus is not guaranteed the software I O ASSISTANT 3 FDT DTM generates an error message when the user activates the DTM Additional functtions Verify station 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 Note nmi The system can be supplied with power independent of the potential group formation D301108 1211 BL20 ECO CANopen Power Supply When using a digital input module for 120 230 V AC it should be ensured that a potential group is created in conjunction with the Power Feeding module BL20 PF 120 230VAC D 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 3 4 C Rail C
39. mA BL20 2DO R CO 1 28 mA BL20 1CNT 24VDC 9 40 mA BL20 1RS232 9 140 mA BL20 1RS485 422 9 60 mA BL20 1SSI 9 50mA D301108 1211 BL20 ECO CANopen Maximum System Extension Industri A Table 6 1 Module Number of Nominal current Communication communication bytes consumption at the module bytes and bus nominal current consumptions of the BL20 modules BL20 2RFID x 9 30 mA BL20 E 1SWIRE 9 60 mA D301108 1211 BL20 ECO CANopen 6 5 Guidelines for Station Planning 6 3 6 3 1 6 3 2 6 3 3 6 6 Power Supply Power Supply to the Gateway The gateways BL20 E GW CO offer an integrated power supply see also Voltage Supply page 4 7 Module Bus Refreshing The number of BL20 modules which can be supplied via the internal module bus by the gateway or a Bus Refreshing module depends on the modules nominal current consumptions at the module bus see page 6 3 Attention A The sum of the nominal current consumptions of the modules following directly the gateway BL20 E GW CO must not exceed 700 mA If a Bus Refreshing module is mounted the sum of the current consumptions which follow the Bus Refreshing module must not exceed 1 5 A Note i The Bus Refreshing modules which are used in a station with BL20 E GW CO have to be combined with the base modules BL20 P3T SBB B or BL20 P4T SBBC B tension clamp or with the base modules BL20 P3S SBB B or BL20 P4S SBBC B screw terminals With the syste
40. minating resistor Bus terminating switched off switched on resistor Ry 01 01 A E E e HI CI ng rm CH E EI lt E LH Qc Qc e m fom RT RT II 4 12 D301108 1211 BL20 ECO CANopen Acceptance of the BL20 Station Configuration Industri A 4 8 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 of the BL20 gateway The configuration acceptance at this device is done via the DIP switches set to address 0 Please proceed as follows 1 2 3 Set the DIP switches at the gateway to a Node ID 0 Switch on the system supply LU and the field supply U Set the Node ID to 0 The device stores the station s configuration This is indicated by the flashing of the IOs LED After the storage procedure the IOs LED shortly flashes orange and than stops flashing The LEDs Err and Bus flash alternately red with 4 Hz due to the invalid Node ID 0 which is still set at the gateway De energize the gateway and set a Node ID z 0 at the gateway After power on the IOs LED changes to green after approximately 2 seconds reference module list Attention If the new configuration stored to the gateway does not match the old configuration all CANopen parameters are set to their default values T
41. mp The maximum permissible number of 252 communication bytes which are transmitted via the module bus from the modules to the gateway must not be exceeded see below Table 6 1 Communication bytes and nominal current consumptions of the BL20 modules E If the maximum sum of the modules nominal current consumptions see below Table 6 1 Communication bytes and nominal current consumptions of the BL20 modules right to the gateway max sum gt lyg 700 mA is reached a Bus Refreshing module has to be used in order to provide the module bus voltage Right to the Bus Refreshing module the sum of the modules current consumptions can amount to 1 5 A The station must not exceed the station limit of 62 modules Further limitations can occur using Power Feeding modules BL20 PF 24VDC D BL20 PF 120 230VAC D They are used to build up potential groups or in case of insufficient power supply Attention Ensure that a sufficient number of Bus Refreshing and Power Feeding modules are used if the system is extended to its maximum If the system limits are exceeded the software I O ASSISTANT generates an error message A SR when the user activates the command Station Verify For the calculation of the maximum system extension the following table contains an overview about communication bytes as well as about the modules nominal current consumptions Table 6 1 Module Communication bytes and nominal curre
42. mp Terminals a 7 4 4 Service Interface Connection 9 4 4 1 Connection through an I O ASSISTANT Cable essen nennen nennen nennen 9 4 5 Setting the 10 4 6 Setting the Bit 11 4 7 Activating the Bus Terminating Resistor 12 4 8 Acceptance of the BL20 Station Configuration 13 4 9 Status Indicators Diagnostic Messages Gateway 14 4 9 1 Diagnostic Messages Via RTE 14 D301108 1211 BL20 ECO CANopen 4 1 Eco Gateway for CANopen 4 1 Introduction This chapter contains a description of BL20 ECO 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 Funktion 4 1 1 Function The BL20 gateways enable BL20 modules to operate on CANopen The gateway is the connection between the BL20 modules and a CANopen host system It regulates the process data between the I O level and the fieldbus and generates diagnostic data for the higher level ho
43. n a CAN network The identifier determines the priority of that COB in the data link layer too Source CiA DS 401 V2 1 Coding elements Two piece element for the unambiguous assignment of electronic and base modules Configuration Systematic arrangement of the I O modules of a station CPU Central Processing Unit Central unit for electronic data processing the processing core of the PC Cyclic Messages are triggered time controlled in Cyclic I O connections by means of a time generator Digital A value e g a voltage which can adopt only certain statuses within a finite set mostly defined as 0 and 1 DIN German acronym for German Industrial Standard EDS Electronic Device Data Sheet which contains standardized DeviceNet station descriptions They simplify the planning of the DeviceNet nodes EIA Electronic Industries Association association of electrical companies in the United States D301108 1211 BL20 ECO 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
44. n is a connection between a DeviceNet client and an undetermined number of servers these being queried by commands sent by the client Bonding strap Flexible conductor normally braided that joins inactive components e g the door of a switchgear cabinet to the cabinet main body Bus Bus system for data exchange e g between CPU memory and I O levels A bus can consist of several parallel cables for data transmission addressing control and power supply Bus cycle time Time required for a master to serve all slaves or stations in a bus system i e reading inputs and writing outputs D301108 1211 BL20 ECO 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 i
45. nt consumptions of the BL20 modules Number of communication bytes Nominal current consumption at the module bus BL20 BR 24VDC D 2 BL20 PF 24VDC D 2 28 mA BL20 PF 120 230VAC D 2 25 mA BL20 2DI 24VDC P 1 28 mA BL20 2DI 24VDC N 1 28 mA BL20 2DI 120 230VAC 1 28mA BL20 4DI 24VDC P 1 29 mA BL20 4DI 24VDC N 1 28 mA BL20 4DI NAMUR 5 40 mA BL20 E 8DI 24VDC P 1 15 mA D301108 1211 BL20 ECO CANopen 6 3 Guidelines for Station Planning Table 6 1 Communication bytes and nominal current consumptions of the BL20 modules 6 4 Module Number of Nominal current communication bytes consumption at the module bus BL20 E 16DI 24VDC P 2 15 mA BL20 16DI 24VDC P 2 45 mA BL20 32DI 24VDC P 4 30mA BL20 1AI I 0 4 20MA 3 41 mA BL20 2AI I 0 4 20MA 5 35 mA BL20 1AI U 10 0 10VDC 3 41 mA BL20 2AI U 10 0 10VDC 5 35mA BL20 2AI PT NI 2 3 5 45 mA BL20 2AI THERMO PI 5 45 mA BL20 4AI U I 9 30 mA BL20 2DO 24VDC 0 5A P 2 32 mA BL20 2DO 24VDC 0 5A N 2 32 mA BL20 2DO 24VDC 2A P 2 33 mA BL20 2DO 120 230VAC 0 5A 2 35 mA BL20 4DO 24VDC 0 5A P 2 30 mA BL20 E 8DO 24VDC 0 5A P 2 15mA BL20 E 16DO 24VDC 0 5A P 2 25 mA BL20 16DO 24VDC 0 5A P 3 120 mA BL20 32DO 24VDC 0 5A P 5 30 mA BL20 1A0 1 0 4 20MA 4 39 mA BL20 2A0 1 0 4 20MA 7 40 mA BL20 2AO U 10 0 10VDC 7 43 mA BL20 2DO R NC 1 28 mA BL20 2DO R NO 1 28
46. p a Spa aaa Qua ttt otto ttt nominet tonnes 6 9 Protecting the Service Interface on the Gatewayy 6 10 Plugging and Pulling Electronics Modules 6 10 Extending n Existing Station siscicciscsccccccosssevusscsecescesssonsssecnstessessssussseaessusdsussenssecdsssessesesesssosscdsunssessse sesecesd 6 10 Firmware Download 6 10 Guidelines for Electrical Installation Ge eral Notes u W h Su wau Bana a eeu Sia Qaqa sys 7 2 Genera qasa qa aaa GAN EENEG 7 2 Cable AUN eee a a EE EE 7 2 Lightning Protection ee 7 3 Transmission Cables edge lan tn dern ln ua rr gre p ERRARE 7 3 Potential Relationships General neret Potential Free Installation Electromagnetic Compatibility EMC Ensuring Electromagnetic Compatibility ll teen teen EEN Grounding of Inactive Metal Components PE GONNECtON essens eek AS tire Diere eae Ust eive ha aa dente ie deve ee oa oet iwa e od Protection against high frequency interference signals NEEN 7 6 M unting Rails eee tele ether eerte an eode ede awa te e desig desee elio
47. 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 earth free system D301108 1211 BL20 ECO CANopen 7 5 Guidelines for Electrical Installation 73 5 Protection 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 for supplying the gateway with power are to be fed through a ferrite ring PS416 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 6 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 Mounting options A TS 35 mounting rail B Mounting rail C Mounting plate D TS 35 mounting rail 7 6 200 mm 7 87 inch B N N C x x x x A D N N N N Mount the mounting rails over a large surface area and with a low impedance to the support system using screws or rivets Remove the isolating layer from all painted anodized or isolated metal components at the connection point Protect the connection point against corrosion for e
48. ral 2 3 1 2 ele M TT WEE 2 Network Management Messages l u uu nennen 2 Service Data Objects SDO8 REENEN 3 Process Data Objects PDOS anne neuen ende 3 Special Function Objects ERRRSRRRREIELEELFEREIFERFEEFERERDEEEFEFERERIETEFLLTEBLBEEBEEFEEEEFEEIEEETEEERUEEELBEEREEERRELLELFERBERLERERER 4 3 2 BL20 and CANopen 5 3 3 Electronic data sheet EDS file 6 D301108 1211 BL20 ECO CANopen 3 1 Short description of CANopen 3 1 3 1 1 3 1 2 3 2 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 General CANopen is an open non proprietary network protocol It consists of a profile family based on a communication profile and several device profiles The CANopen communication profile is 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 E ISO 11 898 Physical and Data Link L
49. rature 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 Operational life MTBF 120 000 h Pollution severity according to 2 IEC 664 EN 61 131 2 Protection class according to IEC529 IP20 4 2 2 Technical Data for the Push in tension clamp terminals Table 4 3 Designation Technical data for the Push in Protection class IP20 tension clamp I terminals Insulation stripping length 8 mm 1 0 32 inch 0 039 Max wire range 0 14 to 1 5 mm 0 0002 to 0 0023 inch 26 to 16 AWG Crimpable wire e solid core H 07V U 0 14 to 1 5 mm 0 0002 to 0 0023 inch 26 to 16 AWG f flexible core H 07V K 0 5 to 1 5 mm 0 0008 to 0 0023 inch 25 to 16 AWG f with ferrules according to DIN 46228 1 ferrules crimped gas tight 0 25 to 1 5 mm 0 0004 to 0 0023 inch 30 to 16 AWG 4 6 D301108 1211 BL20 ECO CANopen Connection Possibilities at the Gateways Industri A 4 3 Connection Possibilities at the Gateways The fieldbus connection as well as the power supply connection are realized via Push in tension clamp terminals Figure 4 3 Push in tension clamp terminals at the gateway Unlock end bracket before dismounting Pull barrier for configuration and se
50. re 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 S2 Deviations of the mains voltage from the rated value must not exceed the tolerance limits given in the specifications otherwise this may cause malfunction and dangerous operation Emergency stop devices complying with IEC EN 60 204 1 must be effective in all operating modes of the automation devices Unlatching the emergency stop devices must not cause restart Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they have been installed with the housing closed Desktop or portable units must only be operated and controlled in enclosed housings Measures should be taken to ensure the proper restart of programs interrupted after a voltage dip or failure This should not cause dangerous operating states even for a short time If neces sary emergency stop devices should be implemented Wherever faults in the automation system may cause damage to persons or property external measures must be implemented to ensure a safe operating state in the event of a
51. ross 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 I O modules On power distribution modules the black line is only above the connection 24 This makes clear that the C rail is separated from the adjoining potential group to its left Figure 6 2 C rail front view Figure 6 3 C rail side view lt lt lt ea Le ER a Warning A It is permitted to load the C rail with a maximum of 24 V Not 230 V D301108 1211 BL20 ECO CANopen 6 7 Guidelines for Station Planning The C rail can be used as required by the application for example as a protective earth PE In this case the PE connection of each power distribution module must be connected to the mounting rail via an additional PE terminal which is available as an accessory Note i For information about introducing a BL20 station into a ground reference system please read chapter 6 Figure 6 4 Using the C rail as a protective earth 6 8 8 DI PF 2DO pco 2DO 2DI PF 2DO 2DI 2DO 2DI BL20 E GW CO ti PE
52. rther advantages of the BL20 ECO gateways E Available for PROFIBUS DP and CANopen amp Low required space width 34 mm 1 34 inch E Integrated power supply L Can be combined with all existing standard modules with tension clamp connection technology and ECO modules Simple wiring with Push in tension clamp terminals Setting of fieldbus address and bus terminating resistor via DIP switches E Service interface for commissioning with I O ASSISTANT without PLC Figure 2 1 Gateway BL20 E GW CO D301108 1211 BL20 ECO CANopen 2 3 BL20 Philosophy Gateways with Integrated Power Supply All standard gateways BL20 GWBR xxx as well as the BL20 gateways for DPV1 and Ethernet BL20 GW DPV1 BL20 GW EN BL20 GW EN IP BL20 PG EN and BL20 PG EN IP offer 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 2 Gateway example BL20 GWBR PBDP Gateways without Power Supply Note Gei 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 4 D301108 1211 BL20 ECO CANopen BL20 Components 22 2 Power Distribution Modules The power supply for gateways and I O modules is fed to the power distribution modules therefore it is not necessary to supply each individual module
53. rvice lt LEAD SD AD E IBU TBMM TM Y Q Y u D y ie H Y Y Attention Mixing up the connectors for power supply and bus connection can lead to the destruction of the gateways electronics 4 3 1 Voltage Supply The BL20 E GW CO provides an integrated power supply and has connectors for E field supply U GND and E system supply Usys GNDsys 4 3 2 Fieldbus Connection via Push in Tension Clamp Terminals Push in tension clamp terminals are also used for the gateway s communication via CANopen The pin assignment for the tension clamp terminals is as follows Table 4 4 Designation Description Pin assignment for the Push in CAN H CAN Bus H CAN bus connection with tension clamp T function terminals forthe CAN_L CAN Bus L bus connection CAN H CAN Bus H CAN_L CAN Bus L CANGaup CAN Bus Ground CANenp CAN Bus Ground D301108 1211 BL20 ECO CANopen 4 7 Eco Gateway for CANopen Note The shielding of the field bus cable is established directly on the mounting rail using a SHLD Note Equipotential bonding impedance lt 1 10 shielding impedance D terminal 4 8 D301108 1211 BL20 ECO CANopen Service Interface Connection 4 4 Service Interface Connection Industri A In order to connect the service interface on the gateway with a PC and the I O ASSISTANT software project planning and diagnostics software a cable with a pin assignment different from the PS2 st
54. se 6 2 N NODE ID setting 4 10 D301108 1211 BL20 ECO CANopen P potential compensation sse 7 8 power distribution a 2 5 AE 6 6 Process Data Objects PDOs 3 3 product overview U a 2 1 PS2 un hassan 4 9 S shield connection analog modules 2 11 GALO WAY 2 10 station planning senes 6 1 supply voltage unnnensenensennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 4 7 T technical data anne 4 3 tension clamp terminals 4 7 transmission cables sess 7 3 z ZOMG 2 uuu aka 8 1 10 1 Index 10 2 D301108 1211 BL20 ECO CANopen D301108 1211 BL20 ECO CANopen 10 3 Index 10 4 D301108 1211 BL20 ECO CANopen Industrial Automation www turck com Hans Turck GmbH amp Co KG 45472 M lheim an der Ruhr Germany WitzlebenstraBe 7 Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com D301108 1211
55. st system Information is made available to the software tool I O ASSISTANT via the service interface 4 2 D301108 1211 BL20 ECO CANopen Technical Data 4 2 Technical Data Figure 4 1 Gateway BL20 E GW CO AType designation BLEDs for BL20 module bus Cservice interface DDIP switch forthe Node ID EDIP switch for the bit rate FDIP switch for the terminating resistor GLEDsfor CANopen Hfield supply Isystem supply JCANopen Unlock end bracket before dismounting Pull barrier for configuration and service A Usys GNDsys CAN_H CAN_L CAN_H CAN_L CANGND Structure of a BL20 ECO gateway Figure 4 2 Structure of a BL20 ECO gateway Fleld bus External Service Interface D301108 1211 BL20 ECO CANopen Controller External RAM Module bus Internal P internal RAM External ROM Flash WDG 4 3 Eco Gateway for CANopen 4 2 1 General Technical Data of a Station Attention A 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 of a station U Nominal value 24V DC provision for other modules L at maximum station extension ca 500 mA sys gt see chapter 6 page 6 3 ff
56. t 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 E 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 D301108 1211 BL20 ECO CANopen 3 3 Short description of CANopen Special Function Objects CANopen also defines three specific protocols for synchronization emergency indication and time stamp transmission Synchronization object Sync The Sync Object is broadcast periodically by the Sync Producer The time period between Sync messages is defined by the Communication Cycle Period which may be reset by a configuration tool to the application devices during th
57. terminal TURCK q J BR ADDRESS TS ock avd bracket before damourtng Pudi barrir fr cordguraton ard saves A 1529 13 f 23 CANGND BC SBC SBBC SBC SBB A ee ey a 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 fora 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 D301108 1211 BL20 ECO CANopen Power Supply Figure 6 5 8 DI Using the C rail as PF 2DO ren 2DO 2DI PF NO NC NO NC SE MM TTL and for the power Cen supply with relay p SERVICE modules Y E PE TE terminal Es PAR kast off eon BE TS Bus zen NE N Sees UL lt TE H S 1 aii i1 21 o 111 21m a 21 11 111 111 21 ir GNDsys 10 e i CANH 58 H GS odd 225g 12 2212 ee PA IZ won 2212 22 t na THE lt MR 1 aT u Joh 31 13 23 T 23 1 T T 3 T8 Tai en Grail
58. the field as well as the signal voltage Fieldbus Data network on sensor actuator level A fieldbus connects the equipment on the field level Characteristics of a fieldbus are a high transmission security and real time behavior Force Mode Software mode which enables the userto set his plantto 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 10 Input output D301108 1211 BL20 ECO CANopen 9 3 Glossary 9 4 Impedance Total
59. tion of CANopen Seite 3 3 D301108 1211 BL20 ECO CANopen 9 5 Glossary 9 6 D301108 1211 BL20 ECO CANopen 10 Index A address setting unnesennennnnennnnenennenennenennenennnnennnnnnnan 4 10 B FA 2 7 baudrate aasan nennen nenne 4 11 BL20 components esee 2 3 bus terminating resistor eee 4 12 C CANOPEN EE 3 1 Boot up message sss 3 3 communication naai 3 2 EDS ere 3 6 emergency object EMCY sse 3 4 OA 3 2 Network Management messages 3 2 Process Data Objects PDOs 3 3 Service Data Objects SDOs 3 3 special function objects see 3 4 synchronization object a 3 4 time stamp object Time 3 4 communication bytes 6 3 C rail cross connection 6 7 D DIP SS Witches iii aan 4 10 Division L nn e eade 8 1 E electronics modules sse 2 5 EE er EL AL LLL 7 5 end bracket ull dues 2 8 end plate eee 2 8 F firmware download AA 6 10 G SEIT J 2 3 J jJ mper EE 2 9 L labels nn nes nennen 2 9 lightning protection 7 3 M markers E 2 9 maximum system extension sss 6 3 module arrangement s
60. ucting 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 Ifthe data cable is connected via a SUB D connector the shielding should never be connected via pin 1 but to the mass collar of the plug in connector 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 a low impedance for example fixing points of 10 to 20 cm apart and be connected to a reference potential area The cable shield should not be severed but routed
61. wing 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 inch If the cable length is greater than 200 m then a cross section of at least 25 mm 0 039 inch is required E The compensation cable must be made of copper or zinc coated steel E The compensation cable must be connected to the protective conductor over a large surface area and must be protected against corrosion amp 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 7 Potential A compensation between switch SS C AP gear cabinets Potential compensation D301108 1211 BL20 ECO CANopen 7 9 Guidelines for Electrical Installation 7 4 2 Switching Inductive Loads In the case of inductive loads a protective circuit on the load is recommended 7 4 3 Protection against Electrostatic Discharge ESD Attention Electronics modules and base modules are at risk from electrostatic discharge when disassembled Avoid touching the bus connections with bare fingers as this can lead to ESD damage 7 10
62. with a separate voltage Figure 2 3 Power distribu tion module 2 2 3 Electronics Modules Standard Product Line The standard electronics modules contain the I O functions of the BL20 modules power distribution modules digital and analog input output modules and technology modules They are plugged onto the base modules and are not directly connected to the wiring and 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 4 Electronics module in slice design D301108 1211 BL20 ECO CANopen 2 5 BL20 Philosophy Figure 2 5 Electronics module in block design 2 2 4 ECO Electronics Modules New ECONOMY modules with a high signal density and exceptionally low channel price expand the BL20 I O bus terminal system Depending on type up to 16 digital inputs and outputs can be connected on only 13 mm This high connection density considerably reduces the mounting width required for typical applications All advantages at a glance E Space saving thanks to 16 channels on 13 mm 0 51 inch width Cost saving thanks to electronics with integrated connection level High signal density Tool less connection via push in spring type terminal technology for simple and fast mounting Simple assembly reduces error sources Figure 2 6 ECO I O module I 2 En En Es es en Es es es es
63. xample with grease caution use only suitable grease D301108 1211 BL20 ECO CANopen Electromagnetic Compatibility EMC 7 3 7 EMC Compliant Cabinet Installation Figure 7 4 EMC compliant cabinet installa tion SES ES SSES SESSSSSZZRZUSSS B C 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 D301108 1211 BL20 ECO CANopen 7 7 Guidelines for Electrical Installation 7 4 7 4 1 Shielding of cables Shielding is used to prevent interference from voltages and the radiation of interference fields by cables Therefore use only shielded cables with shielding braids made from good cond

BL20 – USER MANUAL ECO-GATEWAY FOR CANopen

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BL20 &ndash; USER MANUAL ECO-GATEWAY FOR CANopen

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BL20 – USER MANUAL ECO-GATEWAY FOR CANopen