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BL67 - USER MANUAL FOR CANOPEN

1. Communication Mapping Parameter Parameter i Fixed 1400h 46000 HEN m m 8 Byte 0 1 RPDO1 Receive Entry gt ig gt pono gt into 0 1 Single CAN 6200h Digital Reception Output Error Mode 6206h pai 0h 1h Switch if Error Value device 0 1 i 6207h failure 4 122 D301006 0806 BL67 CANopen I O Module Objects Table 69 Objects 6200 6200 The object presents the values for the digital output modules in 8 bit groups A total of 36 groups each 8 bit can be defined 288 digital output channels Write Output 8 Bit hex A PDO mapping of this object is always made automatically as a default for the first 8 Sub indices This corresponds to 64 digital output channels If more than 64 output channels are present then the PDO mapping must be carried out by the user Feature Description Value Name Write output 8 Bit Object code ARRAY PDO mapping Yes Sub index 00 Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 24 6 Data Type Unsigned8 Access rw Default value BL67 0 D301006 0806 BL67 CANopen 4 123 BL67 Communication in CANopen Table 70 Objects 6220hex 6221 ney 6222hex 4 124 6220 Write Output Bit 1 to 128 6221 Write Output Bit 129 to 256 6222 Write Output Bit 257 to 288 The objects are a bit wise representation of the values of th
2. m 5 Electromagnetic Compatibility EMC esee eere erre 6 Ensuring Electromagnetic Compatibility seeesseeeee eee 6 Grounding of Inactive Metal Components rrvnnnnnnvnnnnnnnnvnnnnnnrennnnnnnnennnnnne 6 PE CORR CHO T E He 7 Earth Free Operation sise 7 MOUNINO MAS Rene T 7 Shielding of cables cuusensi inan ka s Vasa Cau o Ed Mi RR UU Rr RR DC RR ER T a EDT TT RR 9 Potential Compensation nn nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 11 Switching Inductive Loads ss 12 Protection against Electrostatic Discharge ESD 12 D301006 0806 BL67 CANopen 7 1 Guidelines for Electrical Installation General Notes 7 2 General Cables should be grouped together for example signal cables data cables heavy current cables power supply cables Heavy current cables and signal or data cables should always be routed in separate cable ducts or bundles Signal and data cables must always be routed as close as possible to ground potential surfaces for example support bars cabinet sides etc Cable Routing Correct cable routing prevents or suppresses the reciprocal influ encing of parallel routed cables Cable Routing Inside and Outside of Cabinets To ensure EMC compatible cable routing the cables should be grouped as follows Various types of cables within the groups can
3. Industrial Automation BLG7 USER MANUAL FOR CANopen All brand and product names are trademarks or registered trade marks of the owner concerned V1 1 version 08 06 Hans Turck GmbH M lheim an der Ruhr All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed dupli cated or distributed by means of electronic systems without written permission of Hans Turck GmbH amp Co KG M lheim an der Ruhr Subject to alterations without notice Safety Notes Before starting the installation Disconnect the power supply of the device Ensure that devices cannot be accidentally restarted Verify isolation from the supply Earth and short circuit Cover or enclose neighboring units that are live Follow the engineering instructions AWA of the device concerned Only suitably qualified personnel in accordance with EN 50 110 1 2 VDE 0 105 Part 100 may work on this device system Before installation and before touching the device ensure that you are free of electrostatic charge The functional earth FE must be connected to the protective earth PE or to the potential equalization The system installer is responsible for implementing this connection Connecting cables and signal lines should be installed so that inductive or capacitive interference do not impair the automation fu
4. essere 67 Object TO2 Fiex Module LISE i2 rni is d te a 69 Objects for the Transfer of Service Data 71 Object 1200hex to 1203hex Server SDO Default Parameters 71 Objects for the Transfer of Process Output Data 73 Object 1400hex to 141Fhex Receive PDO Comm Default Parameters rrrrrnnnnnrnnnnnrrnnnnnrnnnnnrnnnnnnn 74 Object 1600hex to 161Fhex Receive PDO Mapping Parameter 78 Objects for the Transfer of Process Input data 82 Object 1800 to 181Fhex Transmit PDO Parameters 82 Object 1A00hex to 1A1Fh Transmit PDO Mapping Param 88 Objects for Network Management 91 Object 1F80hex NMT Startup rrnrnnnnnrnnnnnnnnnnnrrnnnnnrnnnnnrnnnnnrnnnnnrnnnnnnee 91 Object 1F81hex Slave Assignment runnnnnnnnnnnnnnnnnnnnnnnrvnnnnnnnennnnnnnrennnn 93 Object 1F82hex Request NMT rrannnennnnnonnnnnvnnnnnnnnnnnnnnnnnnvnnnnnennnnnnennnnn 97 Object 1F83hex Request Guarding eeeeseeeeseeeeeeee 100 Manufacturer Specific Objects 102 Object 2000hex Serial Number rrrannennnrnnnnrnnnnrnnnnrnnnnrnnnnnnnnnennnssnnnnee 102 Object 2010hex Reset Node Modifiers sseeeeeeeees 103 Object 2400hex System Voltages rnrrrennnnnnrvvnnnnnrennnnnnrrennnnnnrennnnnn 107
5. Dismount modules Replace the gateway Non adaptable modifi cation of the physically connected station Compare the planned BL67 station with the physical station Check the physical station for defective or incorrectly fitted elec tronics modules D301006 0806 BL67 CANopen Status Indicators Diagnostic Messages Gateway Table 4 LED indicators LED Status Red flashing 4 Hz Red green flashing 1 Hz Green Green Green flashing 1 Hz Green flashing 4 Hz Off Green Green flashing 1 Hz Green flashing 4 Hz D301006 0806 BL67 CANopen Meaning no module bus communication Adaptable modification of the physically connected station data transfer possible CPU not supplied Module bus and CPU running Supply of outputs ok undervoltage Vo System running Overvoltage Vo System running No voltage supply sensor supply ok undervoltage V system running Overvoltage V system running Remedy At least one module has to be plugged and has to be able to communicate with the gateway Check the physical station for pulled or new but not planned modules Check the system supply at the gateway Check the wiring at the gateway and the voltage supply Check the system supply at the gateway Check the wiring ofthe voltage supply at the gateway 3 21 BL67 Gateway for CANopen Table 4 LED Sta
6. 6222hex Write Output Bit 257 to 288 rnrrrnnnnrrnnnnrvnnnnnrnnnnnrnnnnnnennn 124 6300hex Write Output 16 Bit rrrrnnrrnnnnrrnnnnrrnnnnrvnnnnrnnnnnnrnnnnnvnnnnnnennn 125 6320hex Write Output 32 Bit rrrnrnnrrnnnnrrnnnnrrnnnnrvrnnnrnnnnnnrennnnvnnnnnnennn 126 6206hex Error Mode Output 8 Bit rrrnnrnnnnnrrnnnnrvrnnnrrnnnnnrnnnnnrnnnnnnennn 127 6207hex Error State Output 8 Bit rrrrnrrnnnnrrrnnnrvrnnnrennnnnrnnnnnennnnnnennn 128 6250hex Error Mode Output Bit 1 to 128 sss 129 6251hex Error Mode Output Bit 129 to 256 129 6252hex Error Mode Output Bit 257 to 288 ssssss 129 6260hex Error State Output Bit 1 to 128 eesssssss 131 6261hex Error State Output Bit 129 to 256 131 6262hex Error State Output Bit 257 to 288 sssssss 131 6306hex Error Mode Output 16 Bit rrrrnnnrrrnnnrrnnnnrvrnnnnrnnnnnnnnnnnnennn 133 6307hex Error State Output 16 Bit rrrrrrnnnrrrnnnrrrnnnrvrnnnnrnnnnnrnnnnnnennn 134 6326hex Error Mode Output 32 Bit rrrerrnnnrrrnnnrrnnnnrvrnnnnrnnnnnrnnnnnnennn 135 6327hex Error State Output 32 Bit rrrrrrnnnrrnnnnrrrnnnrvrnnnnrnnnnnrnnnnnnennn 136 Objects for Digital Combi Modules seeren 137 Object 3064hex X
7. Default 0 Bit 0 hex Number of invalid bits on the MSB side of the position value supplied by the SSI encoder The meaningful word width of the position value transferred to the module bus master is as follows SSILFRAME_LEN INVALID_BITS_MSB INVALID_BITS_LSB The invalid bits on the MSB side are zeroed by masking the position value INVALID BITS MSB INVALID BITS LSB must always be less than SSI FRAME LEN Default 0 0 hex D301006 0806 BL67 CANopen I O Module Objects Table 117 Designation Value Meaning of the data bits for SSI modules SSI BIT RATE 0 Bit transmis sion rate 1A 2 3 4 5 6 7 8 to 15 SSI FRAME LE 1 to 32 N Number of data frame bits SSI CODE G D OA Data format D301006 0806 BL67 CANopen Description 1000000 Bit s 500000 Bit s 250000 Bit s 125000 Bit s 100000 Bit s 83000 Bit s 71000 Bit s 62500 Bit s Reserve Number of bits of the SSI data frame SSI FRAME LEN must always be greater than INVALID BITS Default 25 19 hex SSI encoder sends data in binary code SSI encoder sends data in Gray code 4 181 BL67 Communication in CANopen Table 118 Objects 5802 Byte 6 Table 119 Meaning of the status data bits 4 182 Object 5802 Encoder Status On the BL67 1SSI module bits 6 and 7 of the Encoder status object are emulated for the counter The bits describe the up down direc tion of the current values Feature Desc
8. Description Value Analog input interrupt negative delta Unsigned ARRAY No 00 Unsigned8 ro No 01 to 8E Unsigned32 rw 0000 0000 The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL67 I O modules D300529 D301006 0806 BL67 CANopen I O Module Objects 6428 Analog Input Interrupt Positive Delta Unsigned The object 6428 hex defines a Delta value Values greater than the input value by this Delta value can be defined as the condition for generating an interrupt signal 6421 hex Table 100 Objects 64284 Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Note Analog input interrupt trigger selection page 4 149 Description Value Analog input interrupt positive delta Unsigned ARRAY No 00 Unsigned8 ro No 01 to 8Ehex Unsigned32 rw 00000000 The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL67 I O modules D300529 D301006 0806 BL67 CANopen 4 157 BL67 Communication in CANopen Objects for Analog Output Modules General Overview for Analog Output Objects Table 101 Object Name Page General overview for an
9. Fieldbus Data network on sensor actuator level A fieldbus connects the equipment on the field level Characteristics of a fieldbus are a high transmission security and real time behavior Force Mode Software mode which enables the user to set his plant to a required state by forcing certain variables on the input and output modules GND Abbreviation of ground potential 0 Ground Expression used in electrical engineering to describe an area whose electrical potential is equal to zero at any given point In neutral grounding devices the potential is not necessarily zero and one speaks of the ground reference Ground connection One or more components that have a good and direct contact to earth Ground reference Potential of ground in a neutral grounding device Unlike earth whose potential IS always zero it may have a potential other than zero D301006 0806 BL67 CANopen H Hexadecimal System of representing numbers in base 16 with the digits 0 9 and further with the letters A B C D E and F Hysteresis 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 fig I O Input output Impedance Total effective resistance that a component or circuit ha
10. PDO3 PDO12 own Node ID 96 60 3 PDO4 PDO13 own Node ID 32 20 2 PDO1 PDO14 own Node ID 32 20 PDO2 PDO15 own Node ID 32 20 PDO3 PDO16 own Node ID 32 20 2 PDO4 4 30 D301006 0806 BL67 CANopen Transmission of Process Data Objects PDO Mappable Objects The maximum of 64 mapping entries per PDO that is specified by Communication Profile CiA DS 301 is supported The following objects from the Object Dictionary can be mapped Overview of mappable objects Table 7 Name Index Sub index Direction 4 A Objects xxx1 Dummy mapping 0001 ex Receive and xxx2 will be Boolean generated if the number of digital Dummy mapping 0002 Receive input or output Boolean Integer8 channels exceeds the value 128or Dummy mapping 0003 Receive 256 respectively Boolean Integer16 Dummy mapping 0004 ex Receive Boolean Integer32 Dummy mapping 0005 ex Receive Boolean Unsigned8 Dummy mapping 0006 ex Receive Boolean Unsigned16 Dummy mapping 0007 rex Receive Boolean Unsigned32 Error register 1001 ex Transmit Manu Spec Analog 5420 1 ton Transmit Input Range RS232 RS4xx RxD 5601 1 ton Receive RS232 RS4xx TxD 5602 1 ton Transmit Encoder status 5802 1 ton Transmit Encoder flags 5803 1 ton Transmit SSI Native status 5805 1 ton Transmit D301006 0806 BL67 CANopen 4 31 BL67 Communication in CANopen Table 7 Name Index Sub index Direction Overview of mappable objects
11. A Objects xxx1 SSI Optional 5806 ex 1 ton Transmit and xxx2 willbe encoder status generated if the number of digital Encoder control 5808 1ton Receive input or output channels exceeds Read input 8 bit 6000 ex 1 ton Transmit the value 128 or 256 respectively Read input bit 6020 1ton Transmit 1to 128 A Read input 16 bit 6100 1 ton Transmit Read input 32 bit 6120hex 1 ton Transmit Write output 8 bit 6200 1 ton Receive Write output bit 6220 1 ton Receive 1 to 128 A Write output 16 bit 6300 1 ton Receive Write output 32 bit 63204 1 ton Receive Read analog input 6401 1 ton Transmit 16 bit Write analog output 6411 1 ton Receive 16 bit Position Value for 6820 1 ton Transmit Multi Sensor Devices CAM1 State register 6B00 ex 1ton Transmit Area State register 6C00 1 ton Transmit 4 32 D301006 0806 BL67 CANopen Transmission of Process Data Objects PDO Procedure for Altering PDO Mappings The Communication Profile CiA DS 301 Version 4 defines a detailed procedure for altering PDO mappings For the BL67 gateway this results in the following method for modi fying PDO mappings The node state of the gateway must be Pre Operational M The number of mapping entries Sub index 0 for a PDO must be set to 0 The mapping entries Sub index 1 to 64 can be written The number of mapping entries Sub index 0 must now be set to the valid number of mapped objects
12. Alternatively the new mapping can be saved in non volatile memory Store Communication parameters The following abort codes Abort Domain Protocol may be sent back by the gateway in case of an error Table 8 Abort code Abort codes 0604 0041 ex 0604 0042 ex 0609 0011 0800 0022 Descriptionas Possible cause per CiA DS 301 Object cannot Invalid object index transferred be mapped while writing the mapping entries Number or Attempted to map too many or length of the excessively long objects to a objectsexceeds PDO This will be returned on the PDO length writing to the sub index O Sub index does A sub index 64 was not exist addressed Access not Write access is only possible in possible in this the Pre Operational node node state state Write access to Sub indices 1 to 64 is only possible if sub index O is written with value O Object Dictionary D301006 0806 BL67 CANopen 4 33 BL67 Communication in CANopen Object Dictionary Table 9 Overview of all objects 4 34 Overview of all Objects The following table provides an overview of all the objects that are supported by the BL67 CANopen gateway Index Name CANopen Standard Objects 1000 ex 1001 ex 1005 1008 ex 1009 ex 100A ex 1000 ox 100D ex 1010 ex 1011 1014 ex 1016 1017 1018 1020 ex 1027 Device type Error register SYNC COB ID Device name Manufacturer hardware vers
13. Communication in CANopen Table 3 Abort codes for errors in SDO transfer Abort code 0503 0000 0504 0001 0601 0000 0601 0001 0601 0002 0602 0000 06040041 06040042 06040043 06040047 06070010 0607 0012 0607 0013 06090011 06090030 06090031 06090032 06090036 08000000 08000020 Description Toggle bit not altered Client server command specifier not valid or unknown Unsupported access to an object Attempt to write a read only object Attempt to read a write only object Object does not exist in the object dictionary Object cannot be mapped to the PDO The number an length of objects exceeds PDO length General parameter incompatibility reason General internal incompatibility in the device Data type does not match wrong length Data type does not match length too high Data type does not match length too low Sub index does not exist Value range of parameter exceeded Value range of parameter written too high Value range of parameter written too low Maximum value is less than minimum value Other error Data cannot be stored to the application D301006 0806 BL67 CANopen Parameterization through Service Data Objects SDO Table 3 Abort code Description Abort codes for errors in SDO transfer 08000021 hex Data cannot be stored to the app because of local control 08000022 ex Data can
14. Default value BL67 1 4 58 D301006 0806 BL67 CANopen Object Dictionary Object 1014 Emcy COB ID Object 1014 contains the Identifier for the emergency messages MSB LSB Bits 31 30 29 28 to 11 10 to 0 11 bit ID 0 1 0 0 00 0000 0000 0000 0000 11 bit identifier 29 bit ID 0 1 0 1 29 bit identifier Table 24 Bit Value Description Description of the number SYNC COB ID entry 31 MSB 0 EMCY exists is valid EMCY does not exist is not valid 30 0 reserved always 0 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28to11 0 if bit 29 0 X if bit 29 1 bits 28 to 11 of 29 bit COB ID 10to0 X Bit 10 to O of COB ID LSB i Note B it 30 is static i e cannot be changed Table 25 Object description Object 1014 ex INDEX 1014 Name Emcy COB ID Object code VAR Data Type Unsigned32 D301006 0806 BL67 CANopen 4 59 BL67 Communication in CANopen Table 25 Object description Object 1014 ex Value description Access rw No PDO mapping Value range BL67 Default value BL67 Unsigned32 0000 0080 Node ID 4 60 D301006 0806 BL67 CANopen Object Dictionary Object 1016 Consumer Heartbeat Time The Heartbeat Protocol is used to monitor the operational capability of other CANopen bus nodes The Heartbeat Protocol must be seen as an alternative to Node Life Guarding which unlike Guarding does not use Remote Frames A device generates the Heartbeat w
15. modules hex 707Frex Additional modules Meaning Error Reset System voltage too high System voltage too low Field voltage too low Error of a RS232 RS4xx module I O module list adaptable change e g module removed I O module list incompatible change I O module list extended 1 module removed from I O module list 5 5 Diagnostics Emergency Frames Table 144 Diagnostics Error Designation Diagnostics for Code as per CiA the BL67 DS 301 DS CANopen 401 gateway CAN Warning 8100 Communication Level reached CAN Transmit 8100 Communication Timeout Life Guard Error 8130 Life Guard error or Heartbeat Error or Heartbeat error Left CAN BusOff 8140 Recovered from Bus Off Meaning CAN communica tion faulty at least one of the error counters for the CAN controller of the BL67 CANopen gateway has reached the value 96 The BL67 CANopen gateway was not able to transmit a frame within the specified time The BL67 CANopen gateway has detected an error in the CANopen Guarding or Heartbeat Protocol e g a time out The system has left the CAN Bus Off state i e the CAN controller for the BL67 CANopen gateway has moved out of this serious fault condition 5 6 D301006 0806 BL67 CANopen Gateway Diagnostics Table 144 Diagnostics Error Designation Diagnostics for Code as per CiA the BL67 DS 301 DS CANopen 401 gateway l O Assistan
16. 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master 4 7 Enter Pre Operational change over to Pre Operational Master Byte 0 Byte 1 Node cs 128 ID COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master D301006 0806 BL67 CANopen 4 7 BL67 Communication in CANopen 5 8 Stop Remote Node stop the CAN node Master Byte 0 Byte 1 Node Gel ID COB ID 0 Slave The internal change of state of the CANopen slave now requires a pause of at least 20 ms before another request may be made by the master 9 10 11 Reset Node reset the complete CAN node Master Byte 0 Byte 1 Node cs 129 ID COB ID 0 Slave The execution of this command is confirmed by a boot up message This is in the form of a guard frame with the data contents 00 ex 12 13 14 Reset Communication reset communication for the CAN node Master Byte 0 Byte 1 Node cs 130 ID COB ID 0 Slave The execution of this command is confirmed by a boot up message This is in the form of a guard frame with the data contents 00 ax 4 8 D301006 0806 BL67 CANopen Setting up communication Table 2 Identifiers for basic objects Identifier for the Standard Objects Node ID The identifier for each device in a CANopen
17. 5420 X Analog input mode page 4 117 manufacturer specific object 5440 Analog output mode page 4 117 manufacturer specific object 5801 Encoder config page 4 179 5802 Encoder status page 4 182 5803 Encoder flags page 4 183 5804 Encoder diag page 4 185 5805 ex SSI Native status page 4 187 5806 SSI Optional encoder status page 4 191 5808 Encoder control page 4 192 5840 SSI Diag mapping page 4 193 6000 Read input 8 bit page 4 117 6020 Read input bit 1 to 128 page 4 118 6021 Read input bit 129 to 256 page 4 118 6022 Read input bit 257 to 288 page 4 118 D301006 0806 BL67 CANopen 4 109 BL67 Communication in CANopen Table 58 Index Name Page Overview of all BL67 1 0 module objects 6100 Read input 16 bit page 4 119 6120 Read input 32 bit page 4 120 6200 Write output 8 bit page 4 123 6206 Error mode output 8 bit page 4 127 6207 Error state output 8 bit page 4 128 6220 Write output bit 1 128 to Write output bit page 4 124 to 257 288 6222 6250 Error mode output bit 1 128 to Error page 4 129 to mode output bit 257 288 6252 6260 Error value output bit 1 to Error value page 4 131 to output bit 257 288 6262 6300 Write output 16 bit page 4 125 6306 Error mode output 16 bit page 4 133 6307 Error value output 16 bit page 4 134 6320 Write output 32 bit page 4 126 6326 Error mode output 32 bit page 4 135 6327 Error value output 32 bit
18. Index Object Name Type Access M O Object overview red for the communi cation profile Receive PDO mapping parameter 1600 ARRAY 1st receive PDO rw O PDO mapping mapping page 4 78 1601 ARRAY 2nd receive PDO rw O PDO mapping mapping page 4 78 1602 ARRAY 3rd receive PDO rw O PDO mapping mapping page 4 78 161F ARRAY 32nd receive PDO rw O PDO mapping mapping page 4 78 Transmit PDO communication parameter 1800 RECORD 1st transmit PDO rw O PDO parameter CommPar page 4 82 1801 RECORD 2nd transmit PDO rw O PDO parameter CommPar page 4 82 1802 RECORD 3rd transmit PDO rw O PDO parameter CommPar page 4 82 181F RECORD 32nd transmit PDO rw O PDO parameter CommPar page 4 82 4 44 D301006 0806 BL67 CANopen Object Dictionary Table 12 Index Object Name Type Access M O Object overview red for the communi cation profile Transmit PDO mapping parameter 1A00 ARRAY ind transmit PDO rw O PDO mapping mapping page 4 88 1A01 ARRAY 2nd transmit PDO rw O PDO mapping mapping page 4 88 1A02 ARRAY 3rd transmit PDO rw O PDO mapping mapping page 4 88 1A1F ex ARRAY 32nd transmit PDO rw O PDO mapping mapping page 4 88 NMT Master related Objects 1F80 VAR NMT startup Unsigned32 rw O page 4 91 1F81 ARRAY Slave Unsigned32 rw O assignment page 4 93 1F82 ARRAY Request NMT Unsigned8 rw O page 4 97 hex 1F83 ARRAY Request Unsigned8 rw O
19. Object 2401hex System Currents sees 108 l O Module ODIGCIS iocis nasuss e us aos auno nea snas Ses ssnaasasusae abana 109 Overview of the l O Module Objects 109 General Ober 112 Object 67FFh Device Type rnnnrennnnnnnnvnnnnnnnrnnnnnnnnennnnnnnrnnnnnnnennnnnnnnene 112 Objects for Digital Input Modules 113 General Overview for Digital Input Objects ssess 113 Object 3064hex XBI Param Dword rranrnnnnrnnnnnnnnnrnnnnnnnnnrnnnnennnnsennnee 114 Object 6000hex Read Input 8 Bit errnrrrnnnnrrrnnnrrrnnnrevnnnnrvnnnnrennnnnrennn 117 6020hex Read Input Bit 1 to 128 rrrrnnnnnnnvrnnnrrnnnnnrnnnnnrnnnnnennnnnnennn 118 6021hex Read Input Bit 129 to 256 rrrnnnrrnnnnnvnnnnrennnnnrnnnnnrennnnnennn 118 6022hex Read Input Bit 257 to 288 rrrnnnnrnnnnrvnnnnnnnnnnnrnnnnnvnnnnnnennn 118 6100hex Read Input 16 Bit rernnnrrnnronnnrrnnnrrnnnnnnnnrvnnnnnnnnnnnnnennnnnnnnnee 119 6120hex Read Input 32 Bit else 120 Objects for Digital Output Modules nn kr knnnee 121 General Overview for Digital Output Objects 121 6200 Write Output 8 Bit ae 123 D301006 0806 BL67 CANopen 6220hex Write Output Bit 1 to 128 rrrrnnnrrrnnnrrnnnnrrennnnvnnnnrennnnnnennn 124 6221hex Write Output Bit 129 to 256 rrrrnnnnrronnnrvrnnnnnnnnnnrnnnnnnennn 124
20. PDO16 8000 0520 Node ID 140F ox PDO18 8000 0000 1411 PDO19 8000 0000 1412 hex The COB IDs for the RSxxx Module must be defined by the user Example The own Node ID of an BL67 CANopen gateway is 1 There are more than 12 analog input channels As a result appropriate mapping entries are set up for TPDO13 Object 1A0Chex and the COB ID Object 180C Sub Index 1 is pre loaded with the value 8000 01A1hex This PDO can only be enabled without alteration if a node with the Node ID 33 own Node ID 32 does not exist or at least its TPDO is not used The following table illustrates the systematic relationship Table 6 PDO Relationship between a Node ID and BL67 specific PDOs PDO5 PDO6 PDO7 Node ID assigned to this COB ID in the Default Master Slave Connection Set own Node ID 64 40 own Node ID 64 40 own Node ID 64 40 D301006 0806 BL67 CANopen Original PDO to which this COB ID is assigned in the Default Master Slave Connection Set PDO1 PDO2 PDO3 4 29 BL67 Communication in CANopen Table 6 PDO Node ID assigned to Original PDO to which Relationship this COB ID in the this COB ID is assigned between a Node Default Master Slave in the Default Master ID and BL67 Connection Set Slave Connection Set specific PDOs PDO8 own Node ID 64 40 PDO4 PDO9 own Node ID 96 60 2 PDO1 PDO10 own Node ID 96 60 PDO2 PDO11 own Node ID 96 60
21. The value of the object is interpreted as a multiple of 1 ms D301006 0806 BL67 CANopen 4 87 BL67 Communication in CANopen Object 1A00 to 1A1Fh Transmit PDO Mapping Param Objects 1A00 ax to TATF ox with TPDO1 to TPDO32 The data content here process input data is represented by product specific mappable objects define which data have to be transferred Mappable Objects page 4 31 For example the process input data for the digital channels are entered in objects 6000 6020 etc The description of these objects can be found in section I O Module Objects page 4 109 ff Sub indices 01 to 40 of the objects 1A00 to 1A1F contain the object number the sub index and the length of the data that have to be transferred via the respective TPDO hex hex An TPDO can transfer a maximum number of 8 bytes 64 bit Objects 1A00 to 1A03 TPDO1 to TPDO4 references by default the values for the first 64 digital output channels and for the first 12 analog output channels provided that the values are represented by the objects 6000 digital values and 6401 x analog values Table 40 Object description Object 1A00 to TATF e INDEX 1A00 to 1A1Fh Name Transmit PDO mapping parameters Object code RECORD Data Type PDO mapping 4 88 D301006 0806 BL67 CANopen Object Dictionary Table 40 Object description Object 1A00 to TA1F rex Value description Sub index Descrip
22. Under certain circumstances a network manager may fail to detect a short drop out of an BL67 gateway for example as a result of voltage variations This could occur under the following conditions mM The drop out and initialization of the gateway happen in the time between two Guarding Frames The gateway was already in the Pre Operational state before hand The last state of the toggle bit was 1 If a Boot up message is sent out after a reset or initialization then the drop out mentioned above will also not be missed by the network manager D301006 0806 BL67 CANopen Parameterization through Service Data Objects SDO Parameterization through Service Data Objects SDO SDO Service Data Object is a confirmed CANopen service that is primarily used for parameterization and configuration of the CANopen slaves BL67 and less frequently for transmitting process data Confirmed means that an BL67 CANopen gateway SDO server that is addressed by this procedure must acknowledge it through an response In this way the SDO client obtains information about whether the BL67 gateway that it addressed was contacted and whether the access was achieved without any errors error code in the response from the SDO server SDO access means that the contents of the Object Dictionary entries for an SDO server can be read or written and that the settings for an BL67 station can be made in this way Four parallel SDO servers
23. even 3 Data bits O 7A 1 8 5 4 data flow control 00 none A 01 XON XOFF 10 RTS CTS 11 reserved 7 6 reserved 2 XON character 0 to 255 XON character 17 A This character is used to start the data transfer of the data terminal device when the soft ware handshake is activated 3 XOFF character 0 to 255 XOFF character 19 A This character is used to stop the data transfer of the data terminal device when the soft ware handshake is activated D301006 0806 BL67 CANopen 4 169 BL67 Communication in CANopen 5601 RS232 RS4xx RxD Process input data is data that is transmitted from the connected field device via the BL67 1RS232 module to the communication partner e g PLC The data received from the device by the BL67 1RS232 module is entered in a 128 byte receive buffer and then transferred in segments to the communication partner via the module bus and the gateway This is transferred in an 8 byte format as follows 6 bytes or 7 bytes are used to contain the user data 1 byte contains the diagnostics data depending on the param eter setting 1 status byte is required to ensure trouble free transmission of the data Table 111 Feature Description Objects 5601 Name RS232 RS4xx RxD Object code ARRAY Data type Unsigned64 Access ro Default value No PDO mapping Yes 4 170 D301006 0806 BL67 CANopen I O Module Objects Structure of the data bytes with DisableReducedControl 1
24. in object 5600 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 STAT TX CNT ACK RX CNT RX BYTE CNT Status Byte 1 BufOfl Frame HndSh Hw PrmErr X X X Diagnostics Err Err Failure Byte 2 Data byte 0 Byte 7 Data byte 5 Structure of the data bytes with DisableReducedControl 0 in object 5600 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 STAT TX CNT ACK RX CNT RX BYTE CNT Status Byte 1 Data byte 0 Byte 7 Data byte 6 D301006 0806 BL67 CANopen 4 171 BL67 Communication in CANopen Table 112 Designation Value Meaning of the data bits for RS232 485 modules STAT 0 1 TX CNT ACK 0 3 RX CNT 0 3 RX BYTE CNT 0 7 BufOvfi Bit 7 4 172 Description 1 Communication with the data terminal device is not faulty 0 Communication with the data terminal device is faulty diagnos tics signal is sent if DisableDiagnos tics 0 diagnostics activated The diagnostics data indicates the cause of the communication fault This bit must be reset by the user with STATRES in the process output data field object 5602 The value TX CNT ACK is a copy of the value TX CNT The value TX CNT was transferred together with the last data segment of the process output data The value TX CNT ACK is a confir mation of successful acceptance of the data segment using TX CNT The value RX CNT is linked and transferred together with every data segment of the process input data The sequence o
25. 03A0 Node ID hex C000 04A0 Node ID hex C000 0000 hex C000 0000 hex Overview of the BL67 specific RPDOs Meaning 2nd group digital output channels Bits 64 to 127 ard group digital output channels Bits 128 to 191 4th group digital output channels Bits 192 to 255 oth group digital output channels Bits 256 to 319 1st group encoders Channels 0 1 2nd group encoders Channels 2 3 3rd group encoders Channels 4 5 4th group encoders Channels 6 7 4th group analog output channels Channels 12 to 15 4 28 RPDOs PDO5 1404 hex PDO6 1405 PDO7 1406 hex PDO8 1407 hex PDO9 1408 hex PDO10 1409 hex PDO11 140A hex PDO12 140B hex PDO13 140C hex COB ID RPDO 8000 0240 Node ID 8000 0340 Node ID 8000 0440 Node ID 8000 0540 Node ID 8000 0260 Node ID 8000 0360 Node ID 8000 0460 Node ID 8000 0560 Node ID 8000 0220 Node ID D301006 0806 BL67 CANopen Transmission of Process Data Objects PDO Meaning 5th group analog output channels Channels 16 to 19 6th group analog output channels Channels 20 to 23 7th group analog output channels Channels 24 to 27 1st group RSxx I Os Channel 0 1st group RSxx I Os Channel 1 Attention RPDOs COB ID RPDO PDO14 8000 0320 Node ID 140D ox PDO15 8000 0420 Node ID 140E
26. 0806 BL67 CANopen I O Module Objects 6426 Analog Input Interrupt Delta Unsigned The object 6426 hex defines a Delta value Values that deviate from the input value by this Delta value can be defined as the condition for generating an interrupt signal 6421 hex Table 98 Objects 64264 Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Note Analog input interrupt trigger selection page 4 149 Description Value Analog input interrupt delta Unsigned ARRAY No 00 Unsigned8 ro No 01 to 8Ehex Unsigned32 rw 00000000 The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL67 I O modules D300529 D301006 0806 BL67 CANopen 4 155 BL67 Communication in CANopen Table 99 Objects 6427 hex 4 156 6427 Analog Input Interrupt Negative Delta Unsigned The object 6427 hex defines a Delta value Values lesser than the input value by this Delta value can be defined as the condition for generating an interrupt signal 6421 hex Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Note Analog input interrupt trigger selection page 4 149
27. 185 F according to IEC 61131 2 according to IEC 61131 2 according to IEC 68068 42 43 according to IEC 61131 2 according to IEC 60529 IP67 according to IEC 61131 2 according to IEC 61131 2 according to EN 55011 Class A according to IEC 61131 2 according to IEC 61131 2 according to IEC 61131 2 according to IEC 61000 4 6 10 V Criteria according to IEC 61000 4 5 0 5 kV CM 12 Q 9 uF 0 5 kV DM 2 Q 18 uF Criteria B D301006 0806 BL67 CANopen Technical Information Reliability Operational life MTBF min 120000 h Electronics modules pull 20 plug cycles Dimensions Width x length x height 64 5 x 145 0 x 77 5 mm inch 2 54 x 5 71 x 3 05 Diagnostic interface PS 2 female connector Warning This device can cause radio disturbances in residential areas and in small industrial areas residential business and trading In this case the operator can be required to take appropriate measures to sup press the disturbance at his own cost D301006 0806 BL67 CANopen 3 9 BL67 Gateway for CANopen Connection Options Figure 5 CAN male connector Figure 6 CAN female connector Table 2 PIN assignment of the M12 x 1 connectors Fieldbus Connections M12 Connection Two M12 x 1 connectors are provided for gateway communication via the CANopen fieldbus M12 x 1 male connector 2 S 3 1 4 5 2 O 1 09090 3 O 5 4 Pin No M12 x 1 Description 1 Shield Shield connection protect
28. 6000 Read Input 8 Bit The object presents the values for the digital input modules in 8 bit groups A total of 36 groups each 8 bit can be displayed 288 digital input channels PDO mapping of this object is always made automatically as a default for the first 8 Sub indices This corresponds to 64 digital input channels If more than 64 input channels are present then the PDO mapping must be carried out by the user Table 64 Object 6000 Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 D301006 0806 BL67 CANopen Description Value Read input 8 bit ARRAY Yes 00 Unsigned8 ro No 24hex Unsigned8 ro No 4 117 BL67 Communication in CANopen Table 65 Objects 6020hex 6021 ox and 6022 4 118 6020 Read Input Bit 1 to 128 6021 Read Input Bit 129 to 256 6022 Read Input Bit 257 to 288 The objects are a bit wise representation of the values of the digital input modules Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital input channels If more than 128 input channels are present then object 6021 is used If more than 256 input channels are present then object 6022 IS used Since the number of digital input channels in a station is limited to 288 it is not possible to make use of the complete ran
29. 75 BL67 Communication in CANopen Structure of the COB ID entry MSB LSB Bits 31 30 29 28 to 11 10to 0 11 bit ID 0 1 0 1 0 00 0000 0000 0000 0000 11 bit identifier 29 bit ID 0 1 0 1 1 29 bit identifier Table 33 Bit number Value Meaning Description of the COB ID entry 31 msb 0 PDO exists is valid 1 PDO does not exist is invalid 30 0 RTR is possible in this PDO 1 RTR is not possible in this PDO 29 0 11 bit ID CAN 2 04 Standard appli cation 1 29 bit ID CAN 2 0B 28 to 11 0 if bit 2920 Standard application X if bit 2921 bits 28 to 11 of COB ID 10 to O Isb X Bit 10 to 0 of COB ID 4 76 D301006 0806 BL67 CANopen Object Dictionary The Transmission type Sub index 02 can have the following values Table 34 Transmis PDO transmission Description of the sion type Transmission type cyclic acyclic synchr asynchr only with 4 RTR 0 x x 1 x x 2 to 254 reserved 255 x D301006 0806 BL67 CANopen 4 77 BL67 Communication in CANopen Object 1600 to 161F Objects 1600 to 161F with RPDO1 to RPDO32 The data content here process output data is represented by product specific mappable objects hex 7 Receive PDO Mapping Parameter define which data have to be transferred Mappable Objects page 4 31 For example the process output data for the digital channels are entered in objects 6200 6220 etc The description of these objects can be found in section I O
30. Access ro PDO mapping No Default value BL67 4 D301006 0806 BL67 CANopen Object Dictionary Table 28 Object description Object 1018 Sub index Description Category Access PDO mapping Value range BL67 Default value BL67 Sub index Description Category Access PDO mapping Value range BL67 Default value BL67 Value description Sub index Description Category Access PDO mapping Value range BL67 OT hex Manufacturer ID Mandatory ro No Unsigned32 0000 0003 02 hex Product Code Option ro No Unsigned32 6827200 03 Revision Number Option ro No Unsigned32 No Default value BL67 D301006 0806 BL67 CANopen 4 65 BL67 Communication in CANopen Table 28 Object description Object 1018rex Sub index 04 ex Description Serial number Category Option Access ro PDO mapping No Value range BL67 Unsigned32 Default value BL67 6827200 4 66 D301006 0806 BL67 CANopen Object Dictionary Table 29 Object 1020 Object 1020 Verify Configuration Object 1020 device reset is used to check the station configuration after a The BL67 CANopen gateway supports the non volatile storage of parameters A network configuration tool or an CANopen Manager can use object 1020 to test the station configuration after a reset and so check whether a reconfiguration is necessary The configu ration tool saves the time and date simultaneously in object 1020 sx and
31. BL67 CANopen Transmission of Process Data Objects PDO Default PDOs and PDO Mappings The 4 Transmit and 4 Receive PDOs which are specified by the Communication Profile CiA DS 301 are supported by BL67 The mapping of these PDOs and their Transmission types are specified by the I O Device Profile CIA DS 401 Note The Default PDOs are only activated if the planned objects and sub indices actually exist for the corresponding PDO If for instance no analog I Os are used in a BL67 station then the PDOs 2 to 4 are set to Invalid and no mapping entries will be present In addition to the default PDOs which are standardized by the CiA DS 301 and DS 401 profiles other PDOs for an BL67 CANopen gateway may be provided with mapping entries and communication parameters These additional PDOs 5 to 16 will be set to Invalid as a default Default PDOs as per CiA DS 301 and DS 401 The TPDOs in the following table have the following characteristics m The COB ID is part of sub index 01 ex The PDO is active The first digit of the 8 digit hexadecimal COB ID number shows amongst others if the PDO is valid Active PDOs are marked by a hex digit lt 7 Normally the digit is 0 or 4 page 4 83 D301006 0806 BL67 CANopen 4 25 BL67 Communication in CANopen Overview of the Default TPDOs as per CiA DS 301 and DS 401 Meaning 1st group digital input channels Bits 0 to 63 1st group analog input channels Cha
32. BL67 CANopen 4 55 BL67 Communication in CANopen Table 22 Object description Object 10101 ex Value description Sub index O2 Description Save communication parameters Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 1 Sub index 03 Description Save application parameters Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 1 4 56 D301006 0806 BL67 CANopen Object Dictionary Object 1011 Restore Default Parameters Object 1011 can be used to restore the default parameters The command is executed by writing the data contents 0x6461 6F6C load to one of the Sub indices Table 23 Object description Object 1011 INDEX 1011 Name Restore default parameters Object code ARRAY Data Type Shex Value description Sub index 00 6 Description Highest supported sub index Access ro PDO mapping No Sub index OT hex Description Restore all parameters Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 hex D301006 0806 BL67 CANopen 4 57 BL67 Communication in CANopen Table 23 Object description Object 1011 Value description Sub index 02 Description Restore communication parameters Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 1 Sub index 03 Description Restore application parameters Access rw PDO mapping No Value range BL67 Unsigned32
33. BL67 No Sub index 01 Description COB ID of the PDO Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 Index 1800 ex 0000 0180 Node ID Index 1801 ex 0000 0280 Node ID Index 1802 0000 0380 Node ID Index 1803 0000 0480 Node ID Index 1804 to 181F invalid hex D301006 0806 BL67 CANopen 4 83 BL67 Communication in CANopen Table 37 Object description Object 1800 ex to 181F rey Value description Sub index Description Access PDO mapping Value range BL67 Default value BL67 Sub index Description Access PDO mapping Value range BL67 Default value BL67 Sub index Description 4 84 02 hex Transmission type rw No Unsigned8 FFh O3hex Inhibit time rw No Unsigned16 0 04 reserved D301006 0806 BL67 CANopen Object Dictionary Table 37 Object description Object 1800 to 181F ex Value description Sub index O5 Description Event timer Access rw PDO mapping No Value range BL67 Unsigned16 0 is not used Default value BL67 0 The COB ID Sub index 01 shows the following structure MSB LSB Bits 31 30 29 28 to 11 10 to 0 11 bit ID 0 1 0 1 0 00 0000 0000 0000 0000 11 bit identifier 29 bit ID 0 1 0 1 1 29 bit identifier D301006 0806 BL67 CANopen 4 85 BL67 Communication in CANopen Table 38 Value Description Description of the COB ID entry Sub index 01
34. DS406 is used for zero point adaption The content of this object is added to the value of the SSI encoder The resulting value is stored in object 6820hex Table 132 Feature Description Objects 6810 Name Position value for multi sensor devices Object code ARRAY Data type Integer32 Access rw Default value No PDO mapping Yes D301006 0806 BL67 CANopen 4 195 BL67 Communication in CANopen Object 6820 Position Value hex Position value for multi sensor devices Object 6820 corresponds to object 6020 as per CIA DS406 contains the SSI encoder value of the BL67 1SSI module The content of the object 6810 Preset values for multi sensor devices contains a value that is added to correct the measured value for a zero point adjustment Table 133 Feature Description Objects 682016 Name Position value Object code ARRAY Data type Integer32 Access ro Default value No PDO mapping Yes 4 196 D301006 0806 BL67 CANopen I O Module Objects Object 6BOO CAM State Register The object CAM State register indicates in accordance with DS406 whether the actual counter status is within the range defined by CAM Low limit and CAM1 High limit object 6B10 and 6B20hex hex Table 134 Feature Description Objects 6B00 Name CAM State register Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes Table 135 Value Meaning Meaning of the data byte A Ifobject CAM 0046 T
35. Error mode output 16 bit Object code ARRAY PDO mapping Yes Sub index OOhex Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 124 Data Type Unsigned16 Access rw Default value BL67 FFFF hex D301006 0806 BL67 CANopen 4 133 BL67 Communication in CANopen 6307 Error State Output 16 Bit The object defines values in 16 bit groups A total of 18 groups each 16 bit can be defined 288 digital output channels The substitute value is defined for each digital output channel The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object e g 6306 for the partic ular output channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs Feature Description Value Table 78 Objects 6307 hex Name Error state output 16 bit Object code ARRAY PDO mapping Yes Sub index 00 ex Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 12hex Data Type Unsigned16 Access rw 0000 ex Default value BL67 4 134 D301006 0806 BL67 CANopen I O Module Objects 6326 Error Mode Output 32 Bit The object defines values in 32 bit groups total of 9 groups each 32 bit can be defined 288 digital output channels It is possible to define for each digital output channel whether or not the output should take on a substitute value in the
36. Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Note Analog input interrupt trigger selection page 4 149 Description Value Analog input interrupt upper limit Integer ARRAY No 00 Unsigned8 ro No 01 to SEnex Integer32 rw 00000000 The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL67 I O modules D300529 D301006 0806 BL67 CANopen 4 153 BL67 Communication in CANopen Table 97 Objects 6425 ex 4 154 6425 Analog Input Interrupt Lower Limit Integer The object 6425 defines the value for a lower limit Values below this lower limit can be defined as the condition for generating an interrupt signal 6421 hex Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Note Analog input interrupt trigger selection page 4 149 Description Value Analog input interrupt lower limit Integer ARRAY No 00 Unsigned8 ro No 01 to SEnex Integer32 rw 00000000 The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL67 I O modules D300529 D301006
37. No D301006 0806 BL67 CANopen 4 103 BL67 Communication in CANopen Table 49 Object 20101 ex Table 50 Hard Reset processor reset selection 4 104 Object description Sub index 02 Description Save reference module list Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 No Sub index 03 Description Save current module list Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 No The Reset Node Identifier Sub index 01 determines whether in the event of a Reset Node command a normal fast reset should be performed or a hard processor reset which can take several seconds to be carried out For writing the value that is transferred in Unsigned32 format will be interpreted as a string MSB LSB t S r h ex 1 3hex Y nx 68 D301006 0806 BL67 CANopen Object Dictionary Table 51 Normal Reset selection Table 52 Save and Hard ware Reset selec tion Table 53 Normal Reset selection MSB LSB t S r S 14 ex 1 3hex m fuss After the next Reset Node or the next Reset Communication command the operating mode will in all cases be reset to normal Reset Node The Index Save reference module list Sub index 02 deter mines that in the event of a Reset Node command the BL67 refer ence module list Objects 3080 and 3081 will be saved in non volatile memory and then followed by a hard processor reset This hardware reset
38. STATRES bit is used for resetting the STAT bit of the process input data object 5601 pex The STAT bit is reset from 0 to 1 with the transition from 1 to 0 falling edge If this bit is 0 all changes in the data fields TX BYTE CNT TX CNT and RX CNT ACK are ignored The clearing of the receive and transmit buffer by RXBUF FLUSH TXBUF FLUSH is possible The value 1 or the transition from 0 to 1 disables the clearing of the receive and transmit buffer by the RXBUF FLUSH TXBUF FLUSH The value RX CNT ACK is a copy of the value RX CNT The value RX CNT was transferred together with the last data segment of the process input data object 5601 The value RX_CNT_ACK is a confir mation of successful acceptance of the data segment using RX CNT The value TX CNT is transferred together with every data segment of the process output data The sequence of the TX CNT values is 00 gt 01 gt 10 11 OO decimal 0 gt 1 gt 2 gt 3 gt 0 A faulty sequence indicates that data segments are missing Number of valid user data bytes in this data segment D301006 0806 BL67 CANopen I O Module Objects Table 114 Designation Value Description Meaning of the data bits for RS232 485 modules RXBUF FLUSH 0 1 The RXBUF FLUSH bit is used for clearing the receive buffer If STATRES 1 A request with RXBUF FLUSH 1 will be ignored If STATRES 0 RXBUF FLUSH 1 will clear the receiv
39. a TPDO will be transmitted even though no event has occurred This means that the Event timer determines the maximum interval between two transmissions of a TPDO The expiry of the interval set for the Event timer is detected as an event If any other event occurs the Event timer is reset and restarted The value of the object is interpreted as a multiple of 1 ms D301006 0806 BL67 CANopen 4 23 BL67 Communication in CANopen Table 5 Object Dictionary for mapping parameters 4 24 Available PDOs 64 PDOs are supported m 32 Receive PDOs TPDO1 to TPDO32 Index 1800 to 181F ox 32 Transmit PDOs RPDO1 to RPDO32 Index 1400 to 141F ox The corresponding Default Master Slave Connection Set is supported for each of the PDOs 1 to 4 so that a COB ID distribution is not necessary for these PDOs If one of the COB IDs from xPDO1 to xPDO4 is reconfigured then the use of a COB ID from the Default Master Slave Connection Set can be achieved by setting this COB ID to 0 Mapping Objects in PDOs Mapping is the assignment of objects from an Object Dictionary ina PDO for transmission reception through the CAN bus More than one object can be transmitted in a single PDO The Mapping parameters determine which items of information are transmitted in a PDO PDO Object Dictionary entries Type Range Range Transmit PDOs TPDO1 to 1A00 to TATF ox TPDO32 Receive PDOs RPDO1 to 1600 ex to 161Fhex RPDO32 D301006 0806
40. 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 D301006 0806 BL67 CANopen 2 3 Short description of CANopen communication profile area are set to their power on values The third sub state is initializing which a node enters automatically after power on Power on values are the last stored parameters The Heartbeat protocol is for error control purposes and signals the presence of a node and its state The Heartbeat message is a periodic message of the node to one or several other nodes It indi cates that the sending node is still working properly Besides Heartbeat protocol there exists an old and out dated error control services which is called Node and Life Guarding protocol It is not recommend for implementation 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 Service Data Object SDO reads from entries o
41. are supported There are three addi tional SDOs as well as the default SDO As a default these are inactive but can be parameterized and enabled through the Object Dictionary entries 1201 to 1203 The communication parameters for the default SDO follow the Predefined Connection Set and cannot be modified see CiA DS 301 V4 01 In the following representations of the messages the identifier of the CANopen message that is to be sent can be found below the frame and the contents of the data byte to be transmitted are within the frame The following representations use the Expedited SDO Transfer i e a maximum of 4 bytes of user data can be transferred within one telegram i Note C ANopen also offers the possibility of segmented SDO transfer of data with data length of more than 4 bytes D301006 0806 BL67 CANopen 4 15 BL67 Communication in CANopen Read Read from Object Dictionary Client Byte 0 Byte1 Byte 2 Byte3 Byte4 Byte5 Byte6 Byte 7 _ Index Isb COB ID 1537 Node ID 1 Le Byte0 Byte1 Byte 2 Byte3 Byte 4 Byte5 Byte6 Byte7 Index CCS Sub Index Data 4xh Ich msb P d COB ID 1409 Node ID 1 Client X depending on the length of data read LSB Least Significant Byte gt lowest value byte MSB Most Significant Byte gt highest value byte SCS Server Command Specifier gt server command specifier CCS Client Command Specifier gt client command specifier
42. be routed together in bundles or in cable ducts Group 1 shielded bus and data cables M shielded analog cables E unshielded cables for DC voltage lt 60 V E unshielded cables for AC voltage lt 25 V Group 2 unshielded cables for DC voltage gt 60 V and x 400 V E unshielded cables for AC voltage gt 25 V and x 400 V Group 3 unshielded cables for DC and AC voltages gt 400 V The following group combination can be routed only in separate bundles or separate cable ducts no minimum distance apart Group 1 Group 2 D301006 0806 BL67 CANopen General Notes The group combinations Group 1 Group 3 and Group 2 Group 3 must be routed in separate cable ducts with a minimum distance of 10 cm apart This is equally valid for inside buildings as well as for inside and outside of switchgear cabinets Cable Routing Outside Buildings Outside of buildings cables should be routed in closed where possible cage type cable ducts made of metal The cable duct joints must be electrically connected and the cable ducts must be earthed Warning Observe all valid guidelines concerning internal and external light ning protection and grounding specifications when routing cables outside of buildings Lightning Protection The cables must be routed in double grounded metal piping or in reinforced concrete cable ducts Signal cables must be protected against overvoltage by varistors or inert gas filled
43. event of an error The rule is 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by an Error state output object e g 6327 Table 79 Feature Description Value Objects 6326 hex Name Error mode output 32 Bit Object code ARRAY PDO mapping Yes Sub index OOhex Data Type Unsigned8 Access ro Default value BL67 No Sub index OT hex to O9hex Data Type Unsigned32 Access rw Default value BL67 FFFF FFFF hex D301006 0806 BL67 CANopen 4 135 BL67 Communication in CANopen 6327 Error State Output 32 Bit The object defines values in 32 bit groups total of 9 groups each 32 bit can be defined 288 digital output channels The substitute value is defined for each digital output channel The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object e g 6326 for the partic ular output channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs Feature Description Value Table 80 Objects 6327 Name Error state output 32Bit Object code ARRAY PDO mapping Yes Sub index 00 Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 09 Data Type Unsigned32 Access rw 0000 0000 ex Default value BL67 4 136 D
44. hex 300 hex 301 to 37F hex 380 381 t0 SFF hex 400 hex 40T ex to 47F hex 480 hex 481 to AFF hex 900 hex 501 to 57F hex 580 581 ex to OFF hex Function Application Transmit PDO 1 Digital input free Receive PDO 1 Digital output Transmit PDO 2 Analog input free Receive PDO 2 Analog output free Transmit PDO 3 Analog input Receive PDO 3 Analog output free Transmit PDO 4 Analog input free Receive PDO 4 Analog output free Transmit SDO D301006 0806 BL67 CANopen Setting up communication Table 2 COB ID Function Application Identifiers for c basic objects dec hex 1536 600 ox free 1537to 601 to Receive SDO 1663 67F hex 1664to 680 to free hex 1772 6EC ex 1793t0 701 t0 NMT Error Node 1919 77F Guarding Heartbeat Boot up hex 1920 to 800 to free 2014 7DE hex 2015to 7DF to NMT LMT DBT 2031 7EF hex D301006 0806 BL67 CANopen 4 11 BL67 Communication in CANopen Set up Node Guarding Protocol i Note F urther information on Node Guarding can be found in CiA DS 301 Node Guarding is the name for the monitoring of network nodes by a network manager In addition the CANopen network nodes check that their network manager is operating correctly and that the network is functioning reliably In the default state Node Guarding is inactive To activate the Node Guard
45. is necessary because changes to the BL67 refer ence module list cannot be dynamically accepted in the CANopen I O mirror If the module list is altered all the CANopen parameters will be reset to the default values For writing the value that is transferred in Unsigned32 format will be interpreted as a string MSB LSB V a S r Tex 61 hex f nas re ux MSB LSB t S r S T r ex 1 3hex Fees TS tes D301006 0806 BL67 CANopen 4 105 BL67 Communication in CANopen Table 54 After the next Reset Node or the next Reset Communication command the operating mode will in all cases be reset to normal Reset Node The Index Save current module list Sub index 03 determines that in the event of a Reset Node command the present BL67 module list Objects 3090 and 3091 will be saved in non vola tile memory and then followed by a hard processor reset This hard ware reset is necessary because changes to the BL67 reference module list cannot be dynamically accepted in the CANopen I O mirror If the module list is altered all the CANopen parameters will be reset to the default values For writing the value that is transferred in Unsigned32 format will be interpreted as a string MSB LSB Save and Hard ware Reset selec tion Table 55 Normal Reset selection V a S C Tex 61 hex T Shes 63 MSB LSB t S r S Sex Snes Lanes f Sto 4 106 After the next Reset Node or the next Reset Communication comman
46. network is the Node ID The CANopen slaves can be assigned the Node IDs 1 to 127 Node ID Setting page 3 15 COB ID Communication Object Identifier The identifier for each communication object in a CANopen network is the COB ID The COB IDs for the standard objects digital input digital output analog input analog output are assigned automatically The ranges for the COB IDs are defined by the Predefined Master Slave Connection Set Each range for the COB IDs has 127 numerical values The COB IDs are calculated according to the following rule COB ID Base ID Node ID Base ID decimal 128 384 512 640 768 896 1024 1152 1280 1408 1536 1792 Node ID decimal 1 to 127 COB ID Function Application dec hex 0 000 ex Network Management Broadcast object NMT 01t0127 001 210 free 07 Fhex 128 080 Synchronization SYNC Broadcast object 129 to 081 to Emergency Message 255 OFF ox 256 100 ex Timestamp Message Broad cast object 257 to 101 to free 384 180 hex D301006 0806 BL67 CANopen 4 9 BL67 Communication in CANopen Table 2 Identifiers for basic objects COB ID dec 385 to 511 512 513 to 639 640 free 641 to 167 768 769 to 895 896 897 to 1023 1024 free 1025 to 1151 1152 1153 to 1279 1280 1281 to 1407 1408 1409 to 1535 hex 181 to 1FF hex 200 201 to 27F hex 280 hex 281 ex to hex
47. overvoltage arrestors Varistors and overvoltage arrestors must be installed at the point where the cables enter the building Transmission Cables The slaves on the bus are connected to one another with fieldbus lines that correspond to the DeviceNet specification ODVA Spec Rel V2 0 D301006 0806 BL67 CANopen 7 3 Guidelines for Electrical Installation The bus cables must be terminated at the beginning and end with a bus terminating resistor This can be connected via the number 4 DIP switch on the gateway Figure 6 Representation of Rt Rt a bus cable terminating I M I terminating resistor resistor EE Cable Types TURCK offers a variety of premoulded bus cables please refer to the BL67 catalog TURCK documentation number D300575 7 4 D301006 0806 BL67 CANopen Potential Relationships Potential Relationships General The potential relationship of a CANopen system realized with BL67 modules is characterized by the following The system supply of gateway and I O modules as well as the field supply are realized via one power feed at the gateway E All BL67 modules gateway Power Feeding and I O modules are connected capacitively via base modules to the mounting rails The block diagram shows the arrangement of a typical BL67 station Figure 7 gateway l O module 1 0 module power feeding Block diagram ofa fieldbus module bus BL67 station ogic 7 E i E
48. page 4 136 6401 X Read analog input 16 bit page 4 147 6411 Write analog output 16 bit page 4 160 6421 X Analog input interrupt trigger selection page 4 149 6422 X Analog input interrupt source page 4 151 6423 Analog input global interrupt enable page 4 152 4 110 D301006 0806 BL67 CANopen I O Module Objects Table 58 Index Name Page Overview of all BL67 1 0 module objects 6424 Analog input interrupt upper limit Integer page 4 153 6425 Analog input interrupt lower limit Integer page 4 154 6426 Analog input interrupt delta Unsigned page 4 155 6427 Analog input interrupt negative delta page 4 156 Unsigned 6428 Analog input interrupt positive delta page 4 157 Unsigned 6443 Analog output error mode page 4 160 6444 X Analog output error value Integer page 4 163 67FF ex Device type page 4 112 6800 Operating parameters page 4 195 6810 Preset value for multi sensor devices page 4 195 6820 Position value for multi sensor devices page 4 196 6B00 CAM State register page 4 197 6B10 CAM1 Low limit page 4 200 6B20 CAM High limit page 4 200 D301006 0806 BL67 CANopen 4 111 BL67 Communication in CANopen Table 59 Object 67FF ex 4 112 General 1 0 Objects Object 67FFh Device Type The object Device type sends the type of the first supported device profile It contains the value 000x0191 The low word 0191 specifies the device profile 401 I
49. property external measures must be implemented to ensure a safe operating state in the event of a fault or malfunc tion for example by means of separate limit switches mechan ical interlocks etc The electrical installation must be carried out in accordance with the relevant regulations e g with regard to cable cross sections fuses PE All work relating to transport installation commissioning and maintenance must only be carried out by qualified personnel IEC 60 364 and HD 384 and national work safety regulations All shrouds and doors must be kept closed during operation Table of Contents About this Manual Documentation Concept sise 0 2 General Information SE ad OT 0 3 PENNE 0 3 Notes Concerning Planning Installation of this Product 0 3 Description of Symbols Used ss 0 4 1 BL67 Philosophy The Basic Concept iii 1 2 PTS MMT EEE 1 3 Convenient Handling ss 1 3 BEG COMPONE G dan asset ete aie eee et ete 1 4 EEE FENG Eri 1 4 Electronic MOQUIRS tette m 1 5 Base Modules 1 6 EP 1 7 2 Short description of CANopen GANOPEN 2 2 Eia REN 2 2 Communication Me RRRREON 2 3 Bl or ard CANO DCM Eee PADO Oud edu it din 2 7 Electronic data sheet EDS file rarnrnnnnrnvnvnnnnnvvnvnvnrnrnnnnnnnnnnennnnnnnnnnnnenenenene 2 8 3 BL67 Gateway for CANo
50. see CiA DS 301 The stated COB ID refers to the default SDO server Note i T he BL67 gateway generates length information as to how many data bytes are to be read see CiA DS 301 Page 9 24 ff This infor mation is found in byte 0 CCS 4xh The value x depends on the length of data read 4 16 D301006 0806 BL67 CANopen Parameterization through Service Data Objects SDO Write Write to Object Dictionary Client Byte 0 Byte Byte 2 Byte3 Byte4 Byte5 Byte6 Byte 7 _ Index P Sub Index Data Isb msb COB ID 1537 Node ID 1 w Server Byte0 Byte 1 Byte2 Byte 3 Byte 4 Byte5 Byte6 Byte7 Index CCS Sub Index reserved 60h Isb msb P COB ID 1409 Node ID 1 Client LSB Least Significant Byte lowest value byte MSB Most Significant Byte gt highest value byte SCS Server Command gt Specifier server command specifier CCS Client Command Specifier client command specifier see CiA DS 301 The stated COB ID refers to the default SDO server Note i T he information in byte 0 SCS 2xh can optionally contain the length information for the transmitted data bytes see CiA DS 301 Page 9 21 ff The information in byte 0 SCS 22 x means that no length information is present A Attention f an incorrect data length is given the error code Abort SDO Trans fer Service will be generated see CIA DS 301 Page 9 26 D301006 0806 BL67 CANopen 4 17 BL67
51. taken into account in the event of an error if a 01 was entered for the relevant output channel in object Analog output error mode object 6443 The Sub indices of 01 to 8E output channels 1 to 142 hex define the value for the analog Table 104 Feature Description Value Objects 6444 ox Name Analog output error state Object code ARRAY PDO mapping No Sub index 00 Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 8E Data Type Unsigned16 Access rw Default value BL67 0000 0000 ox Note 1 T he appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL67 I O modules D300529 D301006 0806 BL67 CANopen 4 163 BL67 Communication in CANopen 5440 Manu spec Analog Output Range The object Manu spec analog output range defines the parame ters of the analog output channels Write accesses initiate a param eter update on the BL67 module bus The parameter is stored retentively in the gateway and in the appro priate module and is restored with every node reset The Sub indices 01 8E input channel 1 to 142 nex define the parameters for the analog Table 105 Feature Description Value Objects 5440 Name Manu spec analog output range Object code ARRAY PDO mapping No Sub index OOhex Data Type Unsigned8 Access ro Default value BL67 No Sub index Ola 9E Data Ty
52. the system for each transmission cycle PDO see Chapter 2 Short description of CANopen Page 2 4 PLC Programmable Logic Controller Polling Establish a Polled I O Connection i e a conventional Master Slave relation ship between a controller and a DeviceNet device Potential compensation The alignment of electrical levels of electrical components and external conductive components by means of an electrical connection D301006 0806 BL67 CANopen Potential free Galvanic isolation of the reference potentials in I O modules of the control and load circuits Potential linked Electrical connection of the reference potentials in I O modules of the control and load circuits Protective earth Electrical conductor for protection against dangerous shock currents Gener ally represented by PE protective earth R Radiation coupling A radiation coupling appears when an electromagnetic wave hits a conductive structure Voltages and currents are induced by the collision Typical sources of interference are e g sparking gaps Spark plugs commutators from electric 8 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
53. undervoltage Firmware active gateway hardware defect Controller is not ready Voc level is not within the required range gt possible reasons too many modules connected to the gateway short circuit in connected module hardware error in gateway Remedy firmware download necessary Check that the supply voltage is within the permissible range Replace the gateway Check wiring at the gateway and the voltage supply Dismount modules Replace the gateway BL67 Gateway for CANopen Table 4 LED indicators LED Status lOs Green Green flashing 1 Hz Green flashing 4 Hz Redand LED GW off Red flashing 1 Hz 3 20 Meaning Remedy CPU not supplied Check the voltage supply at the gateway Module bus is running the configured module bus station corre sponds to the physi cally connected station communication is active Deactivate the I O ASSISTANT Force Mode Station is in the I O ASSISTANT Force Mode Check the number of modules connected to the gateway dismount modules Maximum number of modules at the gateway is exceeded Controller is not ready Voc level is not within the required range possible reasons too many modules connected to the gateway short circuit in connected module hardware error in gateway Check wiring at the gateway and the voltage supply
54. 0 Default status i e the register contents have not yet matched REG SSI POS REG CMP1 since the last reset 1 The contents of the registers match REG SSI POS REG CMP1 This marker must be reset when CLR CMP1 1 in the process output data D301006 0806 BL67 CANopen 4 183 BL67 Communication in CANopen Table 121 Designation Value Description Meaning of the encoder flags FLAG CMP2 0 Default status i e the register contents have not yet matched REG SSI POS REG CMP2 since the last reset 1 The contents of the registers match REG SSI POS REG CMP2 This marker must be reset with CLR CMP2 1 in the process output data SIS UFLW 0 comparison of the register contents has produced the following result REG_SSI_POS 2 REG LOWER LIMIT 1 comparison of the register contents has produced the following result REG SSI POS lt REG LOWER LIMIT SIS OFLW 0 comparison of the register contents has produced the following result REG SSI POS x REG UPPER LIMIT 1 comparison of the register contents has produced the following result REG SSI POS gt REG UPPER LIMIT 4 184 D301006 0806 BL67 CANopen I O Module Objects Table 122 Objects 5804 Table 123 Meaning of the data bits Object 5804 The Encoder diag object reads the diagnostics byte of the BL67 1SSI module hex Encoder Diag Feature Description Name Encoder diag Object code ARRAY Data type Unsi
55. 006 0806 BL67 CANopen Node ID Setting Node ID Setting A Node ID is assigned to every BL67 gateway in the CANopen structure The setting for the Node ID of the BL67 GW CO in a CANopen 3 structure is made through the two rotary coding switches The switches can be found beneath a cover below the service inter face The BL67 gateway can be used as a CANopen node at any point in the bus structure Figure 12 Decimal coding switches for ad dress setting 901 2 X 10 9 6 5 4 9 0 8 2 6 5 4 Address A Attention fthe BL67 gateway is used as the last node in the bus communica tion then a special bus connector with a built in or add on termina tion resistor is absolutely necessary Note It is not necessary to address the internal module bus D301006 0806 BL67 CANopen 3 15 BL67 Gateway for CANopen Attention maximum of 127 Node IDs 1 to 127 can be assigned in a CANo pen structure Each Node ID can only be assigned once in the com plete 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 NODE ID switch on the BL67 CANopen gateway can be used to assign Node IDs from 1 to 99 To set a NODE ID proceed as follows Switch off the supply voltage for the BL67 gateway Set the rotary coding switches to the required NODE ID Switch on the supply voltage for the gateway again i Note After setti
56. 0806 BL67 CANopen I O Module Objects Table 68 General overview for digital output objects D301006 0806 BL67 CANopen Objects for Digital Output Modules General Overview for Digital Output Objects Object 6200 hex 6220 hex 6221 hex 6222 hex 6300 hex 6320 hex 6206 hex 6207 hex 6250 hex 6251 hex 6252 hex 6260 hex 6261 hex 6262 hex 6306 hex 6307 hex 6326 6327 hex Name Write output 8 bit Write output 8 bit 1 to 128 Write output 8 bit 129 to 256 Write output 8 bit 257 to 288 Write output 16 bit Write output 32 bit Error mode output 8 Bit Error state output 8 Bit Error mode output Bit 1 to 128 Error mode output Bit 129 to 256 Error mode output Bit 257 to 288 Error state output Bit 1 to 128 Error state output Bit 129 to 256 Error state output Bit 257 to 288 Error mode output 16 bit Error state output 16 bit Error mode output 32 Bit Error state output 32 Bit Page 4 123 4 124 4 124 4 124 4 125 4 126 4 127 4 128 4 129 4 129 4 129 4 131 4 131 4 131 4 133 4 134 4 135 4 136 4 121 BL67 Communication in CANopen The following figure shows the relationship between the digital output objects for an 8 bit access Figure 3 Relationship be tween the digital Communication Objects A Hardware Objects output objects i Default Default
57. 09 Manufacturer Hardware Version Object 1009 contains the designation for the Hardware Version Table 18 Object description Object 1009 ex INDEX 1009 ex Name Hardware version Object code VAR Data Type Visible String Value range Access const PDO mapping No Value range BL67 Default value BL67 X 01 D301006 0806 BL67 CANopen 4 51 BL67 Communication in CANopen Object 100A Manufacturer Software Version hex Object 1004 contains the designation for the software version Table 19 Object description Object 100A INDEX 100A ex Name software version Object code VAR Data Type Visible String Value range Access const PDO mapping No Value range BL67 Default value BL67 1 01 Note i T he value description corresponds to the state as delivered at the time this manual was printed Object 100C Guard Time Object 100C contains the Guard time in ms The product of Life time factor Object 100D and Guard time is the Lifetime for Node Guarding Table 20 Object description Object 100C ex INDEX 1000 ex Name Guard time Object code VAR Data Type Unsigned16 4 52 D301006 0806 BL67 CANopen Object Dictionary Table 20 Object description Object 100Cex Value range Access rw PDO mapping No Value range BL67 Unsigned16 Default value BL67 0 D301006 0806 BL67 CANopen 4 53 BL67 Communication in CANopen Table 21 Object 100Dhex 4 5
58. 2 Short description of CANopen Page 2 4 D301006 0806 BL67 CANopen 8 7 Glossary 8 8 D301006 0806 BL67 CANopen 9 Index A addressing rrrrnnrnvnnnnvennnnernnnnveennnnr 3 2 B base modules rrrrrrnnnrvvnnnnrennnnrennn 1 6 BL67 gateway Eres 3 3 Boot up message 4 14 C cable types ccceeseeecesseecesseneeaees 7 4 GANOPEN 2 52 2 1 Boot up message 2 4 Communication 2 3 EDS US nn ne 2 8 Emergency object Emcy 2 6 General eese 2 2 Network management messages ee 2 3 Process data objects PDOs 2 4 Service data objects SDOs 2 4 Special function objects 2 6 Synchronization object 2 6 Time stamp object Time 2 6 eolcpp 4 9 connection options 3 10 current consumption 8 2 D Default Mappings 4 25 Default PDOs 4 27 diagnostic messages 3 18 Diagnostics O modules 5 8 CIAGQNOSUCS mE 5 1 E earth free operation 7 7 electromagnetic compatibility 7 6 electronic modules 1 5 electrostatic discharge 7 12 D301006 0806 BL67 CANopen zn p en 1 6 Emergency Frame
59. 20 Transmission of Process Data Objects PDO 4 21 Communication Parameter COB ID nen nen ne nn kk nner 4 21 TSB buo 4 22 RODE MIME Me mm 4 23 EVENT MER NE 4 23 Available R DOS ae 4 24 Mapping Objects ir PDOS nant uen tiennent 4 24 Default PDOs and PDO Mappings rrnnnnnrnnnnnrnnnnnrrnnnnnrnnnnnnennnnnsnnnnnnee 4 25 BL67 Specific Default PDOSs nennen 4 27 Mappable ObI C IS en MR On tats 4 31 Procedure for Altering PDO Mappings eene 4 33 PET DEION see 4 34 Overview of all Objects 4 34 Commands for Parameter Save and Restore Defaults 4 39 Objects for the Communication Profile rrrnnnrennnnnernnnnnonnnnnennnnnennnnn 4 41 Objects for the Transfer of Service Data 4 71 Objects for the Transfer of Process Output Data 4 73 Objects for the Transfer of Process Input data 4 82 Objects for Network Management rrrnnnnnnnnnnnnnnnnnnnennnnnnrennnnnnnnnnnnnnnne 4 91 Manufacturer Specific Objects 4 102 l O Module Objects cccccccccsesceececeeceseeeceaucecsaeeceeseecsuceeceueeeseaeeessaes 4 109 Overview of the I O Module Objects 4 109 General l O ODJecls une mov OR AT drake dine 4 112 Objects for Digital Input Modules 4 113 D301006 0806 BL67 CANopen Objects for Digital Output Modules 4 121 Objects for Digital Combi Modules rrrrennnnnnnvennnnnnevnnnnnnrennnnnnrennnnnnnee 4 137 Objects
60. 27 PE connection 7 7 elige 6 3 plugging electronic modules 6 6 potential groups 6 5 potential relationships 7 5 potential compensation cable 7 11 power distribution modules 1 5 power supply 3 11 Process Data Objects PDO 2 4 4 21 protection class IP67 1 7 pulling electronic modules 6 6 R RPDOs BL67 specific 4 28 S Service Data Objects SDO 4 15 service interface 3 12 set button eese 3 17 SAE O LALE ge 7 9 status displays 3 2 status indicators 3 17 status messages SSI encoder 4 191 supply voltage 3 7 system extension 6 7 system extension maximum 6 4 T TRAN STS Tale ee 3 13 transmission cables 1 3 Transmission Type 4 22 9 2 D301006 0806 BL67 CANopen TURCK WORLD WIDE HEADQUARTERS GERMANY Hans Turck GmbH amp Co KG WitzlebenstraBe 7 D 45472 Mulheim an der Ruhr P O Box 45466 Mulheim an der Ruhr Phone 49 208 4952 0 Fax 49 208 4952 2 64 E Mail more turck com Industr A
61. 301006 0806 BL67 CANopen I O Module Objects Objects for Digital Combi Modules Note For the objects for digital combi modules please refer to the objects of the digital input modules page 4 113 ff and the digital output modules page 4 121 ff Object 3064 XBI Param Dword The object XBI Param Dword writes the first parameter Dword Byte 0 to 3 of a module Attention The sub index corresponds to the slot number of the respective module in a station i Note O bjects 3000 to 3097 enable direct access to the internal mod ule bus of the BL67 station Table 81 Feature Description Value Object 3064 ex Name XBI Param Dword Object code ARRAY Data Type Unsigned32 Access rw Default value No PDO mapping No D301006 0806 BL67 CANopen 4 137 BL67 Communication in CANopen Table 82 parameters BL67 4DI4DO PD A default setting 4 138 The structure of the 4 bytes of parameter data depends on the module concerned sub index is assigned for each Module The following explains the structure for each module type E BL67 4DI4DO PD Byte 0 Bit Parameter 0 Input filter 1 Input filter 4 Digital input 1 Digital input 3 Output on overcurrent 1 Output on overcurrent 4 reserved Value Meaning 0 deactivate A 1 activate 0 normal A 1 inverted 0 automatic recoveryA 1 controlled recovery D301006 0806 BL67 CANopen I O Module Objec
62. 4 Object 100D If the Lifetime factor is multiplied by the Guard time the result is the Lifetime for Node Guarding ne Lifetime Factor Example Guard time 100 ms Lifetime factor 3 The Guard time of 100 ms means that the network nodes expect a Guard Frame from the master every 100 ms The Lifetime factor enables a setting to be made in the BL67 CANopen gateway for how often a Guard Frame from the Master can be missed before an error condition is recognized In this example the relevant time would be 300 ms The evaluation would only become active after the message had been missing for 300 ms Object description INDEX 100D Name Lifetime factor Object code VAR Data Type Unsigned8 Value range Access rw PDO mapping No Value range BL67 Unsigned8 Default value BL67 0 D301006 0806 BL67 CANopen Object Dictionary Object 1010 Store Parameters The object 1010 can be used to save parameter changes in non volatile memory The command is executed by writing the data contents 0x6576 6173 save to one of the Sub indices Table 22 Object description Object 1010 INDEX 1010 Name Store parameters Object code Shex Data Type Unsigned32 Value description Sub index OOhex Description highest supported sub index Access ro PDO mapping No Sub index 01 Description Save all parameters Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 hex D301006 0806
63. 401 pex Sub index OT hex to SEnex Data Type Integer16 Access ro Default value BL67 No 4 148 D301006 0806 BL67 CANopen I O Module Objects 6421 Analog Input Interrupt Trigger Selection Note Objects 6421 6428 can be used to control the event triggered transmission of the process input data As well as these event trig gered control objects the transmission frequency of the process in put data is also controlled by means of objects 1800 to 181F Attention hex Remember that the object a 6423 Analog input global interrupt enable page 4 152 must be used in order to enable the possibility of transmitting the process input data using an interrupt signal The object defines which event is to trigger the transmitting of the analog input data TPDOs by means of an interrupt signal The triggering event is defined for each input channel using a corre sponding sub index of the object Table 92 Feature Objects 6421 hex Name Object code PDO mapping Sub index Data Type Access Default value BL67 D301006 0806 BL67 CANopen Description Value Analog input interrupt trigger selection ARRAY No 00 Unsigned8 ro No 4 149 BL67 Communication in CANopen Table 92 Feature Description Value Objects 6421 ex Sub index 01 to 8E Data Type Unsigned8 Access rw Default value BL67 No Table 93 Bit Triggering event A The upper 0 1 upper limit A exceeded the va
64. 5 Object 6820hex Position Value rrrnnnnrnnnnnnnrnnnnvnnnnnennnnnrennnnennnnnennn 196 Object 6BOOhex CAM State Register rrrnnnrrnnnnnnrvnnnnnnnrennnnnnrennnnnn 197 Object 6BO1hex CAM Enable Register ccccccsssseeeeeeeeeeeeeeneeees 198 Object 6B02hex CAM Polarity Register ccccccsssseeeeeeeseeeeeeneeees 199 Object 6B10hex CAM1 Low Limit rrannnnnnnnnnnnnnvnnnnnennnnnrnnnnnvnnnnnnennn 200 Object 6B20hex CAM1 High Limit rarerenrnnnrrrennnnnrennnnnnrrennnnnnvennnnnn 200 4 4 D301006 0806 BL67 CANopen Setting up communication Setting up communication Minimum Boot up BL67 supports the Minimum Boot up function described in CiA DS 301 Table 1 Abbrevia Meaning Explanation Meaning of the tion abbreviations CS NMT command designation label for the specifier required service Node ID Node identifier Identifier for the node an iden tification byte that is set through the rotary decimal encoding switches for the CAN node Possible values for CANopen are 01 to 7F 1 to 127 D301006 0806 BL67 CANopen 4 5 BL67 Communication in CANopen Booting with the Minimum Boot up function is the typical applica tion option for CANopen and runs according to the following state diagram Figure 1 Fower on or hardware reset Boot procedure 1 with Minimum Boot up Initialization state 2 14 Pre Operational state 13 Stopped s
65. 54 Diagnostics for the BL67 2AI U E BL67 2AI U Error Code 3008 Diagnostics Al U voltage out of range The input voltage is outside of the permissible range i Note F or the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 D301006 0806 BL67 CANopen 1 0 Module Diagnostics E BL67 2AI PT Table 155 Error Code Diagnostics Diagnostics for the BL67 2AI PT A threshold 2323 ex Output current out of range 1 of the positive The current is outside of the permissible range A measurement range end value 2330 Load dump at outputs Open circuit or current too low threshold posi tive converter limit value 2310 ex Output current too high Current too high threshold approx 5 Q only with temperature measuring ranges Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 E BL67 2AI TC Table 156 Error Code Diagnostics Diagnostics for the BL67 2AI TC 3003 ex Al U voltage out of range The input voltage is outside of the permissible range i Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 D301006 0806 BL67 CANopen 5 17 Diagnostics Emergency Frames E BL67 4AI U I Table 157 Error Code Diagnostics Diagnostics for the BL67 4AI U I A threshold 2110 Input current too high 1 of
66. 67 module bus The parameter is stored retentively in the gateway and is restored with every node reset hex 7 Encoder Config Table 116 Feature Description Objects 5801 Name Encoder config Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No Structure of the data bytes for the SSI module Bit 7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 X X DIS ERR X X X X X Status SSI Byte 1 X INVALID BITS MSB INVALID BITS LSB Byte 2 X X X X SSI BIT RATE Byte 3 SSL X SSI FRAME LENGTH CODE _ G D D301006 0806 BL67 CANopen 4 179 BL67 Communication in CANopen Table 117 Meaning of the data bits for SSI modules A default setting 4 180 Designation Value DIS ERR SSI OA Encoder data cable test INVALID BITS LSB Number of invalid bits LSB Oto 15 INVALID BITS _ MSB Number of invalid bits MSB 0 7 Description Activate ZERO test of data cable Deactivate After the last valid bit a ZERO test of the data cable is not carried out Number of invalid bits on the LSB side of the position value supplied by the SSI encoder The meaningful word width of the position value transferred to the module bus master is as follows SSI FRAME LEN INVALID BITS MSB INVALID BITS LSB The invalid bits on the LSB side are removed by shifting the position value to the right starting with the LSB INVALID BITS MSB INVALID BITS LSB must always be less than SSI FRAME LEN
67. 67 1RS232 module to the field device The data received from the communication partner in the BL67 1RS232 module is entered in a 64 byte transmit buffer This is transferred in an 8 byte format as follows 6 bytes or 7 bytes are used to contain the user data With the corresponding parameters 1 byte contains signals for triggering the clearing of the transmit and receive buffer 1 control byte is required to ensure trouble free transmission of the data Table 113 Feature Description Objects 5602 Name RS232 RS4xx TxD Object code ARRAY Data type Unsigned64 Access ro Default value No PDO mapping Yes 4 174 D301006 0806 BL67 CANopen I O Module Objects Structure of the data bytes with DisableReducedControl 1 in object 5600 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 STATR RX CNT ACK TX CNT TX BYTE CNT Status ES Byte 1 reserved RXBU TXBU FFLUS FFLU Diagnostics H SH Byte 2 Data byte 0 Byte 7 Data byte 5 Structure of the data bytes with DisableReducedControl O in object 5600 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Biti Bito Byte 0 STATR RX CNT ACK TX CNT TX BYTE CNT Status 22 Byte 1 Data byte 0 Byte 7 Data byte 6 D301006 0806 BL67 CANopen 4 175 BL67 Communication in CANopen Table 114 Designation Value Meaning of the data bits for RS232 485 modules STATRES 0 1 RX CNT ACK 0 3 TX CNT 0 3 TX BYTE CNT 0 7 4 176 Description The
68. 7 Communication in CANopen Table 45 Byte Bit Value Meaning Structure of object 1F81 hex Slave assignment 0 5 0 Verification of the application software version is not required for this node 1 Verification of the application software version is required for this node 6 0 Automatic update of the application software download is not permitted 1 Automatic update of the application software download is permitted 7 Reserved set to 0 1 8 bit value for the Retry Factor 2to3 0 16 bit value for the Guard time 4 96 D301006 0806 BL67 CANopen Object Dictionary Object 1F82 Request NMT Object 1F82 describes as per CIA DSP 302 all the slaves that can present queries to the Network Management NMT Table 46 Object description Object 1F82hex INDEX 1F82 Name Query NMT Object code ARRAY Data Type Unsigned8 Access ro rw Value description Sub index OG ex Description Supported number of slaves Access ro PDO mapping No Value 128 Sub index 01 Description Request NMT Service for slave with Node ID 1 Access rw PDO mapping No Value range BL67 Unsigned8 Default value BL67 No D301006 0806 BL67 CANopen 4 97 BL67 Communication in CANopen Table 46 Object description Object 1F82hex Sub index 7Fh Description Request NMT Service for slave with Node ID 127 Access rw PDO mapping No Value range BL67 Unsigned8 Default value BL67 No Sub index 80 Description Request NMT S
69. 7 4DI P 128 32 A limited due to the high current BL6 8DI P 296 32 consumption on the module bus BL67 4DO xA P 128 32 REM BL67 8DO 0 5A P 256 32 BL67 2AI I 64 32 BL67 2AI V 64 32 BL67 2AI PT 64 32 BL67 2AI TC 64 32 BL67 2AO I 64 32 BL67 2AO V 50 A 25 A BL67 1RS232 15A 15A BL67 1RS485 422 22 22 BL67 1SSI 22 22 A Attention E nsure that a sufficient number of Power Feeding modules are used if the system is extended to its maximum 6 4 D301006 0806 BL67 CANopen Maximum System Extension Note If the system limits are exceeded the software I O ASSISTANT gen erates an error message when the user activates the command Station Verify Creating Potential Groups 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 D301006 0806 BL67 CANopen 6 5 Guidelines for Station Planning Plugging and Pulling Electronic Modules BL67 enables the pulling and plugging of electronic modules without having to disconnect the field wiring The BL67 station remains in operation if an electronic module is pulled The voltage and current supplies as well as the protective earth connections are not interrupted A Attention f the field and system supplies remain connected when electronic modules are plugged or pulled short interruptions to the module bus communications c
70. 7 CANopen 2 1 Short description of CANopen CANopen Note i T he following description of CANopen is an excerpt from the home page of CiA CAN in Automation the international users and man ufacturers organization for CAN General CANopen is an open non proprietary network protocol It consists of a profile family based on a communication profile and several device profiles The CANopen communication profile is standard ized as CiA DS 301 Application Layer and Communication Profile The CANopen device profile for I O modules has been published as CiA DS 401 Device Profile for I O Modules CANopen is based on the following standards 2 2 ISO 11 898 Physical and Data Link Layer Layers 1 and 2 of the ISO OSI communication model CiA DS 301 Application Layer and Communication Profile C ANopen communication profile CiA DS 302 Framework for Programmable CANopen Devices CANopen Network Management NMT CiA DS 401 Device Profile for I O modules CiA DS 406 Device Profile for Encoders CANopen device profile for counter modules CiA DS 102 CAN Physical Layer for Industrial Applications General application in the field sector connectors and bit rates on the basis of ISO 11898 D301006 0806 BL67 CANopen CANopen Communication The lower layers of CANopen are defined according to the ISO OSI model in the ISO 11898 standard Communication between the individual nodes is made by transmit ting T
71. Access PDO mapping Default value BL67 Sub index Description Access PDO mapping Value range BL67 Default value BL67 D301006 0806 BL67 CANopen 1200 ex to 1203 Server SDO parameters RECORD hex SDO parameters O0 ex Number of entries ro No 02nex 01 hex COB ID Client Server rx Index 1200 ro Index 1201 to 1203 rw No Unsigned32 Index 120046 0000 0600 Node ID Index 1201 to 1203 No 4 71 BL67 Communication in CANopen Table 31 Object description Object 1200 to 1203 pex Sub index O2 nex Description COB ID Server gt Client rx Access Index 1200 ro Index 1201 to 1203 rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 Index 1200 0000 0580 Node ID Index 1201 to 1203 No 4 72 D301006 0806 BL67 CANopen Object Dictionary Objects for the Transfer of Process Output Data The objects 1400 to 141F ex define together with objects 1600 to 161F ex which output data have to be transferred via RPDO In addition to that the priority and the transmission type for the RPDO transfer are defined Object 1400 defines the priority and the transmission type for the RPDO1 object 1600 defines the object index the sub index and the data length for the data which have to be transferred via RPDO1 Objects 1401 and 1601 thus define the RPDO2 objects 1402 and 1602 define RPDOS etc he
72. BI Param Dword rrnnennnnnnvnnnnnrnnnnnrnnnnnrnnnnnnnnnnnnennn 137 Objects for Analog Input Modules sne kk tk knnnee 140 General Overview for Analog Input Objects 140 5420hex Manu Spec Analog Input Range eesssssss 142 6401hex Read Analog Input 16 Bit rrrevnnrrvrnnnnvennnrrennnnrennnnrennnvreen 147 6421hex Analog Input Interrupt Trigger Selection 149 6422hex Analog Input Interrupt Source seeeessssess 151 6423hex Analog Input Global Interrupt Enable 152 6424hex Analog Input Interrupt Upper Limit Integer 153 6425hex Analog Input Interrupt Lower Limit Integer 154 6426hex Analog Input Interrupt Delta Unsigned 155 6427hex Analog Input Interrupt Negative Delta Unsigned 156 6428hex Analog Input Interrupt Positive Delta Unsigned 157 Objects for Analog Output Modules nn nn knnnee 158 General Overview for Analog Output Objects 158 6411hex Write Analog Output 16 Bit rrnnnnrrennnnnnvnnnnnnrennnnnnrrennnnnn 160 6443hex Analog Output Error Mode rrrnnnnnnvnnnnnnnrvnnnnnnnrennnnnnrennnnnn 161 6444hex Analog Output Error State rrrennnnnrrrenn
73. Bit number 31 MSB 0 PDO exists is valid 1 PDO does not exist is invalid 30 0 RTR is possible with this PDO 1 RTR is not possible with this PDO 29 0 11 bit ID CAN 2 0A 1 29 bit ID CAN 2 0B 28to11 0 if bit 29 0 X if bit 2921 bits 28 to 11 of the COB ID 10to0 X Bit 10 to 0 of the COB ID LSB Table 39 The Transmission type Sub index 02 can have the following values Transmis PDO transmission Transmission type of BL67 sion type cyclic acyclic 0 x 1 x 2 to 252 253 254 synchr asynchr only with RTR X X reserved X x reserved 255 4 86 D301006 0806 BL67 CANopen Object Dictionary Inhibit time The setting of an Inhibit time for the PDOs Object 1800 x ff Sub Index 03hex is only supported for TPDOs Unlike the other time values which are given as multiples of 1 ms the Inhibit time is defined as a multiple of 100 ms However since the time resolution of the system clock in the BL67 CANopen gateway is 1 ms Inhibit time values below 10 x 100 ms are pointless Event timer The Event timer Object 1800 ff Sub Index 05 defines the maximum interval after which a TPDO will be transmitted even though no event has occurred This means that the Event timer determines the maximum interval between two transmissions of a TPDO The expiry of the interval set for the Event timer is detected as an event If any other event occurs the Event timer is reset and restarted
74. CANopen gateway have changed since the last transmission Type 1 Immediately after receiving each Sync Frame the BL67 CANopen gateway puts out the mapped contents as a PDO on the network even if they have not changed since the last transmission Type 253 The PDO is only transmitted if a transmitted Remote Frame requests this from the BL67 CANopen gateway D301006 0806 BL67 CANopen Transmission of Process Data Objects PDO Attention The following Transmission type Type 255 is only permissible for TPDOs Type 255 In this mode of operation the BL67 CANopen gateway does not depend on any Sync or Remote Request for PDO communication Whenever this is envisaged for an internal event within the BL67 CANopen gateway the gateway will transmit a PDO to the CANopen network The Transmission types of the individual PDOs are independent which means that a freely mixed operation with synchronous and asynchronous PDOs is possible Inhibit Time The setting of an Inhibit time for the PDOs Object 1800 ff Sub Index 03 6 is only supported for TPDOs Unlike the other time values which are given as multiples of 1 ms the Inhibit time is defined as a multiple of 100 us However since the time resolution of the system clock in the BL67 CANopen gateway is 1 ms Inhibit time values below 10 x 100 us are pointless Event Timer The Event timer Object 1800 ff Sub Index 05 defines the maximum interval after which
75. D The structure of the 2 bytes of diagnostic data depends on the module concerned nm BL67 4DI4DO PD Diagnosis Bit Diagnosis byte 0 0 overcurrent sensor 1 sensor supply A 1 overcurrent sensor 2 sensor supply B 2 overcurrent sensor 3 sensor supply C 3 overcurrent sensor 4 sensor supply D 1 0 overcurrent K1 1 overcurrent K2 2 overcurrent K3 3 overcurrent K4 D301006 0806 BL67 CANopen 1 0 Module Diagnostics E BL67 8XSG PD Table 152 Diagnosis Bit Diagnosis Diagnostic Bytes byte for BL67 8XSG PD 0 0 overcurrent sensor 1 sensor supply A 1 overcurrent sensor 2 sensor supply B 2 overcurrent sensor 3 sensor supply C 3 overcurrent sensor 4 sensor supply D 1 0 overcurrent K1 overcurrent K2 overcurrent K3 overcurrent K4 overcurrent K5 overcurrent K6 overcurrent K7 NII AJ OJN overcurrent K8 D301006 0806 BL67 CANopen Diagnostics Emergency Frames Table 153 Diagnostics for the BL67 2AI I A threshold 1 of the positive measurement range end value E BL67 2AI I Error Code 21104 21304 Analog Output Modules Diagnostics Input current too high The input current is outside of the permissible range A Input current too low Open circuit or input current for the measuring range 4 to 20 mA too low The threshold is 3 mA i Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 Table 1
76. Diagnostic 3 Channel Kx 4to Element 1 0 measurement mode 4 144 Value Meaning 0 50 Hz A 1 60 Hz 0 Integer 15 bit sign A 1 reserved 0 release A 1 block 0 activate A 1 deactivate 0000 Pt100 200 850 C A 0001 Pt100 200 150 C 0010 Ni100 60 250 C 0011 Ni100 60 150 C 0100 Pt200 200 850 C 0101 Pt200 200 150 C 0110 Pt500 200 850 C 0111 Pt500 200 150 C 1000 Pt1000 200 850 C 1001 Pt1000 200 150 C 1010 Ni1000 60 250 C 1011 Ni1000 60 150 C 1100 Resistance 0 100 Q 1101 Resistance 0 200 Q 1110 Resistance 0 400 Q 1111 Resistance 0 1000 Q 0 2 wire A 1 3 wire D301006 0806 BL67 CANopen I O Module Objects E BL67 2AI TC Table 89 Byte Bit Parameter Value Meaning Parameters BL67 2AI TC A default setting 0 0 Mains 0 50 HZ A suppression 1 60 Hz 1 Value 0 Integer 15 bit sign A representation 1 reserved 2 Diagnostic 0 release A 1 block 3 Channel 0 activate A 1 deactivate 6to Element 0000 type K 270 1370 C A 4 0001 type B 100 1820 C 0010 type E 270 1000 C 0011 type J 210 1200 C 0100 type N 270 1300 C 0101 type R 50 1760 C 0110 type S 50 1540 C 0111 type T 270 400 C 1000 50 mV 1001 100 mV 1010 500 mV 1011 1000 mV 7 reserved D301006 0806 BL67 CANopen 4 145 BL67 Com
77. Module Objects page 4 109 ff Sub indices 01 to 40 of the objects 1600 to 161F contain the object number the sub index and the length of the data that have to be transferred via the respective RPDO hex hex An RPDO can transfer a maximum number of 8 bytes 64 bit Objects 1600 to 1603 RPDO1 to RPDO4 references by default the values for the first 64 digital output channels and for the first 12 analog output channels provided that the values are represented by the objects 6200 digital values and 6411 analog values Table 35 Object description Object 1600 to 161F ex INDEX 1600 to 161F ox Name Receive PDO mapping parameter Object code RECORD Data Type PDO mapping Value description Sub index 00 6 Description highest sub index used Access rw PDO mapping No Value range BL67 Oto 64 4 78 D301006 0806 BL67 CANopen Object Dictionary Table 35 Object description Object 1600 to 161F hex Default value BL67 see Table 12 Sub index OT ag Description 1st mapping object Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 see Table 12 Sub index 40 Description 64th mapping object Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 No D301006 0806 BL67 CANopen 4 79 BL67 Communication in CANopen Table 36 Possible default values for objects 1600 ex to 1603 hex 4 80 hex Note The nu
78. O modules the high word 000xh the l O types see CANopen standard DS401 hex Feature Description Value Name Device type Object code VAR Data Type Unsigned32 Access ro Default value No PDO mapping No D301006 0806 BL67 CANopen I O Module Objects Objects for Digital Input Modules General Overview for Digital Input Objects Table 60 Object Name Page General overview for digital output 3064 XBI Param Dword 4 114 objects 6000 ex Read input 8 bit 4 117 6020 ex Read input 8 bit 1 to 128 4 118 6021 ex Read input 8 bit 129 to 256 4 118 6022 ex Read input 8 bit 257 to 288 4 118 6100 Read input 16 bit 4 119 6120 Read input 32 bit 4 120 The following figure shows the relationship between the digital input objects for an 8 bit access Figure 2 Relationship between the digital input objects Hardware Objects Communication Objects Default Default Mapping Communication Parameter s Parameter Fixed 1A00h 1800h per EON Single Entry Ma AE p Transmit Digital into gt into SON p o gt CAN Input 1 0 6000h TPDO1 Transmission Unsigned8 8 Byte TPDO1 D301006 0806 BL67 CANopen 4 113 BL67 Communication in CANopen Object 3064 XBI Param Dword The object XBI Param Dword Reads the first parameter Dword Byte 0 to 3 of a module Attention A T he sub index corresponds to
79. Object 1F83hex Value Sub index Description Access PDO mapping Value range Value Sub index Description Access PDO mapping Value range BL67 Default value BL67 D301006 0806 BL67 CANopen 0 Slave being monitored at present 1 Slave not being monitored at present 7Fh Request guarding for slave with Node ID 127 rw No Unsigned8 0 Slave being monitored at present 1 Slave not being monitored at present SOhex Request Start Stop Guarding for all slaves WO No Unsigned8 No 4 101 BL67 Communication in CANopen Manufacturer Specific Objects Object 2000 Serial Number Object 2000 corresponds to the sub index 04 of object 1018 and contains the serial number of the BL67 gateway that is used Note W e recommend using object 1018 sub index 04 for the serial number 4 102 D301006 0806 BL67 CANopen Object Dictionary Object 2010 Reset Node Modifiers Object 2010 is used for a temporary volatile modification to the module behavior Table 49 Object description Object 20104 INDEX 2010 Name Reset Node Modifiers Object code ARRAY Data Type Unsigned32 Value description Sub index 00 ex Description Number of entries Access ro PDO mapping No Value range BL67 Unsigned8 Default value BL67 No Sub index 01 Description Reset Node Identifier Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67
80. SSI FRAME BIT SELO 1 EN D1 RMS1 EN D1 DS X SSI FRAME BIT SEL1 2 EN D2 RMS2 EN D2 DS X SSI FRAME BIT SEL2 3 EN D3 RMS3 EN D3 DS X SSI FRAME BIT SEL3 D301006 0806 BL67 CANopen 4 193 BL67 Communication in CANopen Table 130 Meaning of the data bits A default setting 4 194 Designation Value Description EN Dx RMSx OA The evaluation of the SSI status messages for bit 0 of the diagnostics is not activated 1 The evaluation of the SSI status messages for bit 0 of the diagnostics is activated EN Dx DS 0 31 Definition of the selected bits in the frame of the SSI encoder to be evaluated or copied Default 0 The following applies to bit 0 SSI group diagnostics of the diagnos tics interface and SSI DIAG of the process input data SSI STSO amp EN DO DS II SSI STS1 amp EN D1 DS II SSI STS2 amp EN D2 DS II SSI STS3 amp EN D3 DS D301006 0806 BL67 CANopen I O Module Objects Object 6800 Operating Parameters hex Note Object 6800 corresponds to object 6000 in accordance with CiA DS406 has no meaning with BL67 and only exists because it is a mandatory object in accordance with DS406 Table 131 Feature Description Objects 680016 Name Operating parameters Object code VAR Data type Unsigned16 Access rw Default value OOh PDO mapping No Object 6810 Preset Values for Multi Sensor Devices hex Object 6810 corresponds to object 6010 in accordance with CiA
81. alog input interrupt Trigger Selection Analog input interrupt source Analog input global interrupt enable Analog input interrupt upper limit Integer Analog input interrupt lower limit Integer Analog input interrupt delta Unsigned Analog input interrupt negative delta Unsigned Analog input interrupt Positive Delta Unsigned Analog output error mode Analog output error value Integer Device type Operating parameters D301006 0806 BL67 CANopen Page page 4 131 page 4 125 page 4 133 page 4 134 page 4 126 page 4 135 page 4 136 page 4 147 page 4 160 page 4 149 page 4 151 page 4 152 page 4 153 page 4 154 page 4 155 page 4 156 page 4 157 page 4 160 page 4 163 page 4 112 page 4 195 4 37 BL67 Communication in CANopen Table 9 Index Name Page Overview of all objects 6810 Preset value for multi sensor devices page 4 195 6820 Position value for multi sensor devices page 4 196 6B00 ex CAM State register page 4 197 6B01 CAM Enable register page 4 198 6B02 CAM Polarity register page 4 199 6B10 CAM1 Low limit page 4 200 6B20 X CAM High limit page 4 200 4 38 D301006 0806 BL67 CANopen Object Dictionary Table 10 Data contents 0x6576 6173 save Table 11 Data contents 0x6461 6F6C load Commands for Parameter Save and Restore Defaults Parameter changes that are made through SDO access are only stored in volatile memory All alterations that are made by the u
82. alog output 5440 ex Manu spec analog output range 4 164 objects 6411 Write analog output 16 bit 4 160 6443hex Analog output error mode 4 161 6444 ox Analog output error state 4 163 4 158 D301006 0806 BL67 CANopen I O Module Objects The following figure shows the relationship between the analog output objects for an Integer16 access Figure 5 Relationship between the analog output objects Communication Objects Hardware Objects Default Default Communication Mapping Parameter Parameter Fixed 1401h 1601h _ 7 Relation to 1403h to 1603h RPDO2 4 D Entry D A V A CAN RPDO2 A Ed into Converter 6411h m single Reception Analog Error Mode Output Switch 6443h IF oh 1h Oh reg Switch if Error Value T device failure pen 1 2 Integer32 z 2 Integer16 D301006 0806 BL67 CANopen left justified with default value of 0 4 159 BL67 Communication in CANopen 6411 Write Analog Output 16 Bit The object represents the values for the analog output modules with 16 bits for each channel The representation of the current and voltage values as numerical values is described in detail from a page 126 onward for each value range Table 102 Feature Description Value Objects 6411 Name Write analog output 16 bit Object code ARRAY PDO mapping Yes Sub index OOhex Data Type Un
83. an occur in the BL67 station This can lead to undefined statuses of individual inputs and outputs of different modules 6 6 D301006 0806 BL67 CANopen Extending an Existing Station Extending an Existing Station Attention Please note that extensions to the station mounting further mod ules should be carried out only when the station is in a voltage free state D301006 0806 BL67 CANopen 6 7 Guidelines for Station Planning Firmware Download Firmware can be downloaded via the service interface on the gateway using the software tool I O ASSISTANT More information is available in the program s online help Attention The station should be disconnected from the fieldbus when down loading Firmware must be downloaded by authorized personnel only The field level must be isolated 6 8 D301006 0806 BL67 CANopen 7 Guidelines for Electrical Installation General rc 2 CIC MT TE TT 2 Cable Routing lssseeeeessssesssseeese nennen nennen nnne nennen nennen nnn nnn nnns 2 Cable Routing Inside and Outside of Cabinets 2 Cable Routing Outside Buildings rrrnnrrvennnnnrennnnnnrennnnnnnrennnnerennvnnnsrennnn 3 Lightning ORCC HON RE OT E OO 3 Transmission Cables uuu niei tinci meebd siia int duas qv C aw E ERE LER REEL ERE uh utbs 3 EET 4 Potential RelationshipsS s a nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 5 EEE IK
84. appable Objects Procedure for Altering PDO Mappings Object Dictionary ee sance o alc eoa ec n Overview of all Objects Commands for Parameter Save and Restore Defaults Objects for the Communication Profile Object 1000hex Device Type sssesss Object 1001hex Error Register Object 1005hex SYNC COB ID rrrrarrernnnrrvennnrvennnnrenner Object 1008hex Device Name es Object 1009hex Manufacturer Hardware Version Object 100Ahex Manufacturer Software Version Object 100Chex Guard Time Object 100Dhex Lifetime Factor Object 1010hex Store Parameters D301006 0806 BL67 CANopen BL67 Communication in CANopen 4 2 Object 1011hex Restore Default Parameters 57 Object 1014hex Emcy COB ID rnrevnnnnnvvnnnnnnvrnnvnnnrnnnnnnnnnennnnnnennnnnnnner 59 Object 1016hex Consumer Heartbeat Time 61 Object 1017hex Producer Heartbeat Time 63 Object 1018hex Identity Object rrrrnrennnnnnvrrnnnnnrennnnnnrvnnnnnnernvnnnnrennnn 64 Object 1020hex Verify Configuration
85. ave is permitted Starting of the slave is not permitted An error event in an obligatory slave deals with the slave individually An error event in an obligatory slave triggers an NMT Reset All Nodes see object 1F81 bit 3 Reserved set to 0 D301006 0806 BL67 CANopen Object Dictionary Object 1F81 Slave Assignment Object 1F81 describes as per CIA DSP 302 all the slaves that are coupled to the NMT Master It contains information on error control parameters and actions that are triggered by error events All other parameters for a slave are only valid if this slave is described in object 1F81 hex Note Object 1F81 is only valid if the BL67 is defined as the NMT Master see object 1F80 bit 0 Table 44 Object description Object TF81 INDEX 1F81 Name Slave assignment Object code ARRAY Data Type Unsigned32 Access rw Value description Sub index OG ex Description Maximum number of slaves Access rw PDO mapping No Value range 1 to 127 Default value 127 D301006 0806 BL67 CANopen 4 93 BL67 Communication in CANopen Table 44 Object 1F81 pex Object description Sub index Description Access PDO mapping Value range BL67 Sub index Description Access PDO mapping Value range BL67 Default value BL67 OT hex Slave with Node ID 1 rw No Unsigned32 7Fh Slave with Node ID 127 rw No Unsigned32 No i Note Each sub index corresponds to the slav
86. bject code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping No Table 139 Value Meaning Meaning of the data byte 00 The value represented with object 6B00 is not inverted 01 The value represented with object 6B00 is inverted hex D301006 0806 BL67 CANopen 4 199 BL67 Communication in CANopen Object 6B10 CAM1 Low Limit The object CAM1 Low limit defines in accordance with DS406 a lower limit of the counter range Object CAM1 Low limit matches the comparison value 2 of the BL67 1SSI module Table 140 Feature Description Objects 6B10hex Name CAM1 Low limit Object code ARRAY Data type Integer32 Access rw Default value No PDO mapping No Object 6B20 CAM1 High Limit The object CAM1 High limit defines in accordance with DS406 an upper limit of the counter range Object CAM1 High limit matches the comparison value 1 of the BL67 1SSI module Table 141 Feature Description Objects 6B20hex Name CAM High limit Object code ARRAY Data type Integer32 Access rw Default value No PDO mapping No 4 200 D301006 0806 BL67 CANopen 5 Diagnostics Emergency Frames General SE a 2 Structure of the Emergency Frames ee eee ee enn nn 3 zd liat 4 Additional information ie 4 Gateway DiagnostiCs nnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 5 I O Module Diagnostics unrannnnnnnnnnnnnnnn
87. cceeneetin 6 Technical Dal EE EE EE 7 Connection Options sbiecicnecscacacessesuccivarieesucsecncecseeutaxsesewciveieweenccseseseten 10 Fieldbus Connections r rrwnaranarvvnnananennnnnnnennnennnnnnnennnnnnnnnnnnnnnvennvennvennuenne 10 MA 2 CONNMECTION MM 10 Fieldbus Termination ranannrnnnrvannnnennrennennrnnnenannnnenunnnnennennnnnnnnnvenunnunenuen 11 Power SUDDIY Via 7 6 sauene seance KUNA ent 11 Service Interface Connection arunnrnnarennnrvnnrennennnrvnnrennennunenuvennnennnennnenneee 12 Connection with I O ASSISTANT Connection Cable 12 Setting the bit transfer rate s as annannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 13 Node D settihigiissunvea i necessite nue 15 Acceptance of the BL67 station configuration 17 Status Indicators Diagnostic Messages Gateway 18 Diagnostic Messages via LEDS VV 18 D301006 0806 BL67 CANopen 3 1 BL67 Gateway for CANopen Introduction This chapter contains a description of BL67 gateways for the stan dardized fieldbus CANopen The chapter is divided up as follows a description of functions general and specific technical data a description of addressing and status displays 3 2 D301006 0806 BL67 CANopen Function Function The BL67 gateway enables BL67 modules to operate on CANopen The gateway is the connection betwee
88. ceNet client and an undetermined number of servers these being queried by commands sent by the client Bonding strap Flexible conductor normally braided that joins inactive components e g the door of a switchgear cabinet to the cabinet main body Bus Bus system for data exchange e g between CPU memory and I O levels A bus can consist of several parallel cables for data transmission addressing control and power supply Bus cycle time Time required for a master to serve all slaves or stations in a bus system I e reading inputs and writing outputs Bus line Smallest unit connected to a bus consisting of a PLC a coupling element for modules on the bus and a module Bus system All units which communicate with one another via a bus Capacitive coupling Electrical capacitive couplings occur between cables with different potentials Typical sources of interference are e g parallel routed signal cables contac tors and electrostatic discharges Class A group of Objects that all describe the same system components All Objects of a Class are identical in form and behavior they can though contain different attributes COB Communication Object which is made of one or more CAN frames Any infor mation transmitted via CANopen has to be mapped into COBs Source CiA DS 401 V2 1 D301006 0806 BL67 CANopen COB ID COB Identifier Identifies a COB uniquely in a CAN network The identifier determines the
89. coder config page 4 182 5802 Encoder status page 4 182 5803 Encoder flags page 4 183 5804 ex Encoder diag page 4 185 5805 SSI Native status page 4 187 5806 SSI Optional encoder page 4 191 5808 ex Encoder control page 4 192 6000 Read input 8 bit page 4 117 6020 Read input bit 1 to 128 page 4 118 6021 Read input bit 129 to 256 page 4 118 6022 Read input bit 257 to 288 page 4 118 6100 Read input 16 bit page 4 119 6120 Read input 32 bit page 4 120 6200 Write output 8 bit page 4 123 6206 Error mode output 8 bit page 4 127 6207 Error value output 8 bit page 4 128 6220 Write output bit 1 to 128 to Write output page 4 124 to bit 257 to 288 6222 6250 Error mode output Bit 1 to 128 to Error page 4 129 to mode output Bit 257 to 288 6252 hex 4 36 D301006 0806 BL67 CANopen Object Dictionary Table 9 Overview of all objects Index 6260 to 6262 hex 6300 hex 6306 6307 hex 6320 hex 6326 6327 hex 6401 hex 641 Tex 6421 hex 6422 hex 6423 6424 hex 6425 6426 6427 hex 6428 hex 6443 hex 6444 hex 67FF hex 6800 hex Name Error value output Bit 1 to 128 to Error value output Bit 257 to 288 Write output 16 bit Error mode output 16 bit Error value output 16 bit Write output 32 bit Error mode output 32 bit Error value output 32 bit Read Analog Input 16 bit Write analog Output 16 bit An
90. conductor shields which are grounded on different installation components A potential compensation cable must be routed to the potential compensation Warning Never use the shield as a potential compensation Connection 1 Connection 2 CAN_H 0 0 CAN H CAN L Q 0 CAN L GND optional Q 0 GND optional A potential compensation cable must have the following character istics Low impedance In the case of compensation cables that are routed on both sides the compensation line impedance must be considerably smaller than that of the shield connection max 10 96 of shield connection impedance Should the length of the compensation cable be less than 200 m then its cross section must be at least 16 mm 0 025 inch If the cable length is greater than 200 m then a cross section of at least 25 mm 0 039 inch is required The compensation cable must be made of copper or zinc coated steel The compensation cable must be connected to the protective conductor over a large surface area and must be protected against corrosion Compensation cables and data cables should be routed as close together as possible meaning the enclosed area should be kept as small as possible D301006 0806 BL67 CANopen 7 11 Guidelines for Electrical Installation Switching Inductive Loads In the case of inductive loads a protective circuit on the load is recommended Protection against E
91. d the operating mode will in all cases be reset to normal Reset Node D301006 0806 BL67 CANopen Object Dictionary Object 2400 System Voltages The object System Voltages allows the reading of up to 4 system voltages from the gateway At present the BL67 GW CO supports reading of U to sub index 1 Sub indices 2 4 return the constant 0 Table 56 Object description Object 24004 INDEX 2400hex Name System Voltages Object code ARRAY No of Elements 4 Data Type Unsigned16 Access ro Default Value No PDO mapping Yes D301006 0806 BL67 CANopen 4 107 BL67 Communication in CANopen Object 2401 System Currents The object System Currents allows the reading of up to 4 system currents from the gateway Table 57 Object description Object 2401 hex INDEX 2401 ox Name System Currents Object code ARRAY No of Elements 4 Data Type Unsigned16 Access ro Default Value No PDO mapping Yes 4 108 D301006 0806 BL67 CANopen I O Module Objects I O Module Objects Overview of the 1 0 Module Objects The following table provides an overview of all the I O module objects that are supported by the BL67 CANopen gateway a Table 58 Index Overview of all BL67 1 0 module objects Name Page 3000 Manufacturer specific objects for param page 4 195 to eter access for modules which are not 3097 defined in the device profile e g digital input modules with parameters combi modules
92. de ARRAY Data Type Unsigned16 Access ro Value description Sub index 00 Description Number of modules connected Access ro PDO mapping No Value range BL67 00 to 4Apex Default value BL67 No Sub index O Tos Description Module 1 Access ro PDO mapping No Value range BL67 Unsigned16 Default value BL67 No D301006 0806 BL67 CANopen 4 69 BL67 Communication in CANopen Table 30 Object description Object 1027 hex Sub index 4A ex Description Module 74 Access ro PDO mapping No Value range BL67 Unsigned16 Default value BL67 No The sequential Sub indices 01 to 4A describe the corre sponding BL67 modules in the sequence in which they are installed in the BL67 station Each entry contains a number that identifies the particular module Note There is one identifier for each type of BL67 module In the EDS file the individual extensions to object 1027 pex for all the optional BL67 module types are listed in the section Supported Modules The default values correspond to the identifiers for the particular module types 4 70 D301006 0806 BL67 CANopen Object Dictionary Objects for the Transfer of Service Data Object 1200 to 1203 Server SDO Default Parameters Objects 1200 to 1203 contain the parameters for the SDOs Object description Table 31 Object 1200 to 1208 INDEX Name Object code Number of Elements Data Type Value description Sub index Description
93. e Objects for the Communication Profile The following table provides an overview of the supported entries in the Object Dictionary which are defined by the Communication Profile CiA DS 301 The column Index pex describes the position of the entry in the Object Dictionary The column Object shows the Type of the object The column Name shows a predefined symbolic name for the entry The column Type shows the data type for the entry as defined by CiA DS 301 The column Access shows the access options for the entry These are rw read write ro read only const constant a read only constant The column M O shows whether the entry is mandatory or optional Index Object Name Type Access M O hex 1000 VAR Device type Unsigned32 const M page 4 46 1001 ARRAY Error register Unsigned ro M page 4 47 10054ex VAR SYNC COB ID Unsigned32 rw O page 4 48 1008 VAR Device name Vis String const O page 4 50 1009 VAR Manufacturer Vis String const O hardware version page 4 51 D301006 0806 BL67 CANopen 4 41 BL67 Communication in CANopen Table 12 Object overview for the communi cation profile 4 42 Index h 5 100A hex 1000 ex 100D 1010 1011 1014 1016 1017 1018 1020 ex 1027 hex Object VAR VAR VAR ARRAY ARRAY VAR ARRAY VAR RECORD ARRAY ARRAY Name Manufacturer software ver
94. e for each digital output channel whether or not the output should take on a substitute value in the event of an error The rule is hex 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by the Error state output objects e g 6260 6261 and 6262 ex Feature Description Value Name Error mode output Bit Object code ARRAY PDO mapping Yes Sub index 00 Data Type Unsigned8 Access ro Default value BL67 No D301006 0806 BL67 CANopen 4 129 BL67 Communication in CANopen Table 75 Feature Description Value Objects 6250hex 62514 6252hex Sub index 01 4 to 80hex Data Type Boolean Access rw Default value BL67 1 4 130 D301006 0806 BL67 CANopen I O Module Objects 6260 Error State Output Bit 1 to 128 6261 Error State Output Bit 129 to 256 6262 Error State Output Bit 257 to 288 The objects defined the values bit wise Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6261 is used If more than 256 output channels are present then object 6262 is used Since the number of digital input channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 6262 T
95. e Objects Table 125 Designation Value Description Meaning of the data bits STS UP 0 The SSI encoder values are decremented LED UP or the values are constant 1 The SSI encoder values are incremented STS DN 0 The SSI encoder values are incremented or LED DN the values are constant 1 The SSI encoder values are decremented REL CMP2 0 A comparison of the register contents has produced the following result REG_SSI_POS lt REG CMP2 1 A comparison of the register contents has produced the following result REG SSI POS REG CMP2 FLAG CMP2 0 Default status i e the register Contents have not yet matched REG SSI POS REG CMP2 since the last reset 1 The contents of the registers match REG SSI POS REG CMP2 This marker must be reset with CLR CMP2 1 in the process output data SIS CMP2 0 A comparison of the register contents has produced the following result REG SSI POS z REG CMP2 1 A comparison of the register contents has produced the following result REG SSI POS REG CMP2 REL CMP1 0 A comparison of the register contents has produced the following result REG SSI POS lt REG CMP1 1 comparison of the register contents has produced the following result REG SSI POS REG CMP1 D301006 0806 BL67 CANopen 4 189 BL67 Communication in CANopen Table 125 Designation Value Description Meaning of the data bits FLAG CMP1 0 Default status i e the register contents
96. e buffer TXBUF FLUSH 0 1 The TXBUF FLUSH bit is used for clearing the transmit buffer If STATRES 1 A request with TXBUF FLUSH 1 will be ignored If STATRES 0 TXBUF FLUSH 1 will clear the receive buffer D301006 0806 BL67 CANopen 4 177 BL67 Communication in CANopen Table 115 General overview for SSI objects 4 178 Objects for SSI Modules General Overview for SSI Objects Object 5801 hex 5802 hex 5803 hex 5804 hex 5805 5806 hex 5808 hex 5840 hex 6800 hex 6810 hex 6820 hex 6B00 hex 6B01 hex 6B02 hex 6B10 6B20 hex 6B02 hex 6B02 6B02 hex Name Encoder config Encoder status Encoder flags Encoder diag SSI Native status SSI Optional encoder status Encoder control SSI Diag mapping Operating parameters Preset values for multi sensor devices Position value CAN State register CAM Enable register CAM Polarity register CAM Low limit CAM High limit CAM Polarity register CAM Polarity register CAM Polarity register D301006 0806 BL67 CANopen Page 4 179 4 182 4 183 4 185 4 187 4 191 4 192 4 193 4 195 4 195 4 196 4 197 4 198 4 199 4 200 4 200 4 199 4 199 4 199 I O Module Objects 5801 The Encoder config object has an effect on parameter bytes 0 to 3 of the BL67 1SSI module and is used for setting the configuration Write accesses initiate a parameter update on the BL
97. e digital output modules Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6221 is used If more than 256 output channels are present then object 6222 is used Since the number of digital input channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 6222 hex Feature Description Value Name Write output bit Object code ARRAY PDO mapping Yes Sub index 00 Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 80 Data Type Boolean Access rw Default value BL67 0 D301006 0806 BL67 CANopen I O Module Objects 6300 Write Output 16 Bit The object presents the values for the digital output modules in 16 bit groups A total of 18 groups each 16 bit can be defined 288 digital output channels Table 71 Objects 6300 Feature Name Description Value Write output 16 bit Object code ARRAY Yes PDO mapping Sub index OOh ex Unsigned8 Data Type Access rO No Default value BL67 Sub index 01 4 to 12hex Data Type Unsigned16 Access rw Default value BL67 D301006 0806 BL67 CANopen 0000 4 125 BL67 Communication in CANopen Table 72 Objects 6320 4 126 6320 Write Output 32 Bit The object presents t
98. e for the Heartbeat of the generating device If the cycle time 0 then Heartbeat will not be used The content of the object is interpreted as a multiple of 1 ms Table 27 Object description Object 1017 hex INDEX 1017 ex Name Producer heartbeat time Object code VAR Data Type Unsigned16 Value description Access rw PDO mapping No Value range BL67 Unsigned16 Default value BL67 0 D301006 0806 BL67 CANopen 4 63 BL67 Communication in CANopen Bits Value Table 28 Object 10184 4 64 Object 1018 Identity Object Object 1018 gateway hex contains general information about the BL67 The Vendor ID Sub index 01 is a unique ID which precisely iden tifies the manufacturer The manufacturer specific Product Code Sub index 02 identifies a specific device version The manufac turer specific Revision Number Sub index 03 consists of a major revision number and a minor revision number The major revi sion number defines a special CANopen functionality If the CANopen functionality is expanded then the major revision number must be incremented The minor revision number identifies various versions that have the same CANopen functionality MSB LSB 31 to 16 15 to 0 Major revision number minor revision number Object description INDEX 1018 Name Device specification Object code RECORD Data Type Identity Value description Sub index 00 Description Number of entries Category Mandatory
99. e operator work with extreme caution Attention A T his sign can be found next to all notes that indicate a potential haz ard This can refer to possible danger to personnel and damages to the system hardware and software and to the facility Note i T his sign can be found next to all general notes that supply impor tant information about one or more operating steps These specific notes are intended to make operation easier and avoid unnecessary work due to incorrect operation 0 4 D301006 0806 BL67 CANopen 1 BL67 Philosophy The Basic Concept aus e a 2 FELLE EE E o 3 Convenient Handling sise 3 BL67 Components 28e UE nes na MEI DEN EF ERR st 4 CIT T M t 4 Electronio WIC GUNES MM 5 Power Feeding Modules es 5 le 1610 V gt EEE 6 FIF AN 7 D301006 0806 BL67 CANopen 1 1 BL67 Philosophy The Basic Concept 1 2 BL67 is a modular IP67 I O system for use in industrial automation It connects the sensors and actuators in the field to the higher level controller BL67 offers modules for practically all applications Digital input and output modules Analog input and output modules amp Technology modules RS232 interface A complete BL67 station counts as one station on the bus and therefore occupies one fieldbus address in any given fieldbus struc ture A BL6 station consists of a gateway power distribution m
100. e status Object code ARRAY Data type Unsigned16 Access rw Default value No PDO mapping Yes Bit7 Bit6G Bit5 Bit4 Bit3 Bit2 Bit1 BitO Byte 0 SIS X X ERR STIS SIS ERR SSL STOP PARA UFLW OFLW SSI DIAG Byte 1 SIS SIS REL FLAG STIS REL_ FLAG STS UP DN CMP2 CMP2 CMP2 CMP1 CMP1 CMP1 D301006 0806 BL67 CANopen 4 187 BL67 Communication in CANopen Table 125 Designation Value Description Meaning of the data bits STS STOP 0 The SSI encoder is read cyclically 1 Communication with the SSI encoder is stopped as STOP 1 process output or ERR PARA ls ERR PARA 0 The parameter set of the module has been accepted 1 Operation of the module is not possible with the present parameter set STS_UFLW 0 comparison of the register contents has produced the following result REG_SSI_POS 2 REG LOWER LIMIT 1 comparison of the register contents has produced the following result REG SSI POS lt REG LOWER LIMIT SIS OFLW 0 A comparison of the register contents has produced the following result REG SSI POS x REG UPPER LIMIT 1 A comparison of the register contents has produced the following result REG SSI POS gt REG UPPER LIMIT ERR SSI 0 SSI encoder signal present 1 SSI encoder signal faulty e g due to a cable break SSI_DIAG 0 No enabled status signal is active SSI STSx 0 1 At least one enabled status signal is active SSI STSx 1 4 188 D301006 0806 BL67 CANopen I O Modul
101. e with the particular Node ID The Sub Index with the Node ID of the NMT Master will be ig 4 94 nored D301006 0806 BL67 CANopen Object Dictionary Table 45 Byte Bit Value Meaning Structure of object 1F81 hex Slave assignment 0 0 0 1 1 0 1 2 0 1 3 0 1 4 0 1 D301006 0806 BL67 CANopen The node with this ID is not a slave The node with this ID is a slave After config uration the node will be put into the Opera tional state An error event or other event detection by a slave during boot up leads to information from the application An error event or other event detection by a slave during boot up leads to information from the application and to automatic start of Error Control Services An error event or other event detection by a slave during boot up does not lead to infor mation from the application or automatic start of Error Control Services An error event or other event detection by a slave during boot up leads to the start of Start Boot Slaves Optional Slave the network can also be started if this node is not connected Obligatory slave the network will not be started if this node is not connected during the slave boot up The slave can be reset by the NMT Reset Communication command depending on its state The NMT Master does not have to send an NMT Reset Communication command for this slave if the slave is in the Operational state 4 95 BL6
102. ection point Protect the connection point against corrosion for example with grease caution use only suitable grease 7 8 D301006 0806 BL67 CANopen Shielding of cables Shielding of cables Shielding is used to prevent interference from voltages and the radi ation of interference fields by cables Therefore use only shielded cables with shielding braids made from good conducting materials copper or aluminum with a minimum degree of coverage of 80 The cable shield should always be connected to both sides of the respective reference potential if no exception is made for example such as high resistant symmetrical analog signal cables Only then can the cable shield attain the best results possible against electrical and magnetic fields one sided shield connection merely achieves an isolation against electrical fields Attention When installing please pay attention to the following the shield should be connected immediately when entering the system the shield connection to the shield rail should be of low impedance the stripped cable ends are to be kept as short as possible the cable shield is not to be used as a bonding conductor If the 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 sh
103. ed error codes The following standard error codes for digital output modules can be send Table 149 Error Code Diagnostics Standard diag nostics for the BL67 digital combi modules 2310 Output current too high 2330 Load dump at outputs Open circuit or current too low D301006 0806 BL67 CANopen 5 11 Diagnostics Emergency Frames In addition to that the gateway sends a error frame specifying the module and channel number of the respective module as well as a common error classification 1 Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 If necessary detailed information about the diagnostic message can be read from a manufacturer specific object the object 3042 XBI Diag Word i Note O bjects 3000 ex to 3097 ex enable direct access to the internal mod ule bus of the BL67 station 5 12 D301006 0806 BL67 CANopen 1 0 Module Diagnostics This object reads the first diagnosis word byte 0 and byte 1 of a BL67 module within the station Attention The sub index corresponds to the slot number of the respective module in a station Table 150 Feature Description Value 5 Object 3042 hex Name XBI Diag Word Object code ARRAY Data Type Unsigned16 Access ro Default value No PDO mapping No D301006 0806 BL67 CANopen 5 13 Diagnostics Emergency Frames Table 151 Diagnostic Bytes for BL67 4DI4DO P
104. ed metal components must be freed of the isolating layer Protect the points of contact against rust Connect all free moving groundable components cabinet doors separate mounting plates etc by using short bonding straps to large surface areas D301006 0806 BL67 CANopen Electromagnetic Compatibility EMC Avoid the use of aluminum components as its quick oxidizing properties make it unsuitable for grounding Warning The grounding must never including cases of error take on a dan gerous touch potential For this reason always protect the ground potential with a protective cable PE Connection A central connection must be established between ground and PE connection protective earth Earth Free Operation Observe all relevant safety regulations when operating an earthfree system 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 8 lt 200 mm 7 87 inch Mounting options B A TS 35 B Mounting rail z C Mountingplate mes C D TS 35 x x x x x x A D N N D301006 0806 BL67 CANopen 7 7 Guidelines for Electrical Installation 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 conn
105. elegrams 4 different types of telegram message are defined for CANopen amp Network management messages Service data objects SDO Process data objects PDO Predefined messages Network Management Messages Network management messages are used in the network to control the nodes and their operating states This type of message makes it possible for instance to configure the data transmission mecha nism of a node The Network Management objects include Boot up message Heartbeat protocol and NMT message Boot up message Heartbeat and Node Guarding are implemented as single CAN frames with 1 byte data field The NMT message is mapped to a single CAN frame with a data length of 2 byte Its identifier is 0 The first byte contains the command specifier and the second contains the Node ID of the device that must perform the command in the case of Node ID 0 all nodes have to perform the command The NMT message trans mitted by the NMT master forces the nodes to transit to another NMT state The CANopen state machine specifies the states Initial ization Pre Operational Operational and Stopped After power on each CANopen device is in the state Initialization and automatically transits to the state Pre operational In this state transmission of SDOs is allowed If the NMT master has set one or more nodes into the state Operational they are allowed to transmit and to receive PDOs In the state Stopped no communication is
106. ervice for all slaves Access WO PDO mapping No Value range BL67 Unsigned8 Default value BL67 No For a write access to this object the value corresponds to the state for the node to which the query is directed For read access the object contains the present state of the node Table 47 Status Value for write Value for read Value ranges access access Stopped 4 4 Operational 5 5 Reset Node 6 Reset Communica 7 tion Pre Operational 127 127 4 98 D301006 0806 BL67 CANopen Object Dictionary Table 47 Status Value for write Value for read Value ranges access access unknown 0 Node missing 1 D301006 0806 BL67 CANopen 4 99 BL67 Communication in CANopen Object 1F83 Request Guarding Object 1F83 describes as per CIA DSP 302 all the slaves that can be monitored through the Network Management NMT i Note O bject 1F83 is only valid if the BL67 is configured as the NMT Master see object 1F80 bit 0 Table 48 Object description Object 1F83 ex INDEX 1F83 ox Name Request guarding Object code ARRAY Data Type Unsigned8 Access ro rw Value description Sub index 00 6 Description Supported number of slaves Access ro PDO mapping No Value 128 Sub index Olney Description Request guarding for slave with Node ID 1 Access rw PDO mapping No Value range BL67 Unsigned8 4 100 D301006 0806 BL67 CANopen Object Dictionary Table 48 Object description
107. f the RX CNT values is 00 gt 01 gt 10 gt 11 gt 00 decimal 0 gt 1 gt 2 gt 3 gt 0 A faulty sequence indicates that data segments are missing Number of valid bytes in this data segment 0 ok 1 Buffer overflow The receive buffer RX buffer has overflowed D301006 0806 BL67 CANopen I O Module Objects Table 112 Designation Value Meaning of the data bits for RS232 485 modules FrameErr Bit 6 HndShErr Bit 5 HwFailure Bit 4 PrmErr Bit 5 D301006 0806 BL67 CANopen Description 0 ok 1 Frame error The BL67 1RS232 module parame ters must be defined in order to be adapted to the data structure of the DTE frame error is output if the param eter setting number of data bits stop bits type of parity is not suitable 0 ok 1 Error in the data flow control The data terminal device connected to the BL67 1RS232 module is not responding to the XOFF or RTS hand shake The internal receive buffer can over flow buffer overflow 1 0 ok 1 Hardware error The module must be exchanged as the EEPROM or UART may for example be faulty 0 ok 1 Parameter error The set parameter values are not supported Possible values are shown with the description of object 5600 ox 4 173 BL67 Communication in CANopen 5602 RS232 RS4xx TxD Process output data is data that is output from the communication partner e g PLC via the gateway and the BL
108. filled the corresponding bit is set to 1 The corresponding bits for channels 0 to 31 are set in sub index 01 and the bits for channels 32 to 63 in sub index 02 etc The bits can be read using an SDO The read operation causes the bits to be reset to O hex Table 94 Feature Description Value Objects 6422 Name Analog input interrupt source Object code ARRAY PDO mapping No Sub index 00 Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 ox to 08 Data Type Unsigned32 Access ro Default value BL67 00 6 D301006 0806 BL67 CANopen 4 151 BL67 Communication in CANopen 6423 Analog Input Global Interrupt Enable This object enables the option for generating an interrupt signal If the value of this object is set from the default setting FALSE to TRUE the transmitting of the analog input data TPDOs can be trig gered by means of an interrupt signal Table 95 Feature Description Value Objects 6423hex Name Analog input global interrupt enable Object code VAR PDO mapping No Sub index 00 Data Type Boolean Access rw Default value BL67 FALSE 4 152 D301006 0806 BL67 CANopen I O Module Objects 6424 Analog Input Interrupt Upper Limit Integer The object 6424 hex defines the value for an upper limit Values above this upper limit can be defined as the condition for generating an interrupt signal 6421 hex Table 96 Objects 6424 Feature
109. for Analog Input Modules 4 140 Objects for Analog Output Modules 4 158 Objects for RS232 485 Modules essere 4 166 Objects for SSI Modules RL 4 178 Diagnostics Emergency Frames E 1 2 SELER ENE 5 2 Structure of the Emergency Frames 5 3 SOC SOS EE sa ee er 5 4 Gateway Diagnostics ses 5 5 l O MOQUIS DENG GS Leben 5 8 Digital WEN 91 EE NE 5 8 Digital Output Modules Rss 5 11 Digital Combi Modules nus 5 11 Analog Output Modules sisi 5 16 Technology Modules 55 68 nni nana E e 5 18 Guidelines for Station Planning Module Arrangement seere EET ctonehess esse sessions 6 2 Random Module Arrangement ss 6 2 Complete PIANOS tee ss cr ce nee 6 3 Maximum System Extension ses 6 4 Creating Potential Groups is 6 5 Plugging and Pulling Electronic Modules rrrnnnnnnnrnnnnnnnnnvnnnnnnnnnnnrnnnrennnnnn 6 6 Extending an Existing Station 6 7 VE DN TC ea es one 6 8 Guidelines for Electrical Installation General NOTES SE Se sa da nu en NUR PERS 7 2 Cc ea a ee cn te E 7 2 EEE 7 2 Cable Routing Inside and Outside of Cabinets 7 2 Honning PO PENN mee ne a ein qu 7 3 Transmission COPIE Tm 7 3 Cable TY DGS sm se site te es 7 4 Potential Relationships c re 7 5 D301006 0806 BL67 CANopen iii GERE M RENTE 7 5 Electromagnetic Compatibility EMC rrrrrrnnnrrrnnnrrrnnnnrnnnnnrrnvnnrrnnnnnrnnnnnnenn
110. ge of the array in object 6022 hex Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Description Value Read input bit ARRAY Yes 00 Unsigned8 ro No 01 ex to 80 ox Boolean ro No D301006 0806 BL67 CANopen I O Module Objects 6100 Read Input 16 Bit The object presents the values for the digital input modules in 16 bit groups A total of 18 groups each 16 bit can be displayed 288 digital input channels Table 66 Objects 6100 Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 D301006 0806 BL67 CANopen Description Value Read input 16 bit ARRAY Yes 00 Unsigned8 ro No 01 ex to 12hex Unsigned16 ro No 4 119 BL67 Communication in CANopen Table 67 Objects 61204 4 120 6120 Read Input 32 Bit The object presents the values for the digital input modules in 32 bit groups A total of 9 groups each 32 bit can be displayed 288 digital input channels Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Description Value Read input 32 bit ARRAY Yes O0 ex Unsigned8 ro No 01 ex to O9hex Unsigned32 ro No D301006
111. gned8 Access ro Default value No PDO mapping No Bit7 Bit6 Bit5 Bit 4 Bit 3 Bit2 Bit1 Bito X X X ERR SIS SIS ERR SSL PARA UFLW OFLW SSI DIAG Designation Value Description SSI DIAG 0 No enabled status signal active SSI_STSx 0 or no status messages of the SSI encoder present 1 At least one enabled status signal is active SSI_STSx 1 ERR SSI 0 SSI encoder signal present 1 SSI encoder signal faulty e g due to a cable break STS OFLW 0 SSI encoder value below equal to upper limit 1 SSI encoder value above upper limit Over flow occurred D301006 0806 BL67 CANopen 4 185 BL67 Communication in CANopen Table 123 Designation Value Description Meaning of the data bits SIS UFLW 0 SSI encoder value above equal to lower limit 1 SSI encoder value below lower limit Underflow occurred ERR PARA 0 The parameter set of the module has been accepted 1 Operation of the module is not possible with the present parameter set 4 186 D301006 0806 BL67 CANopen I O Module Objects Object 5805 SSI Native Status The SSI Native status object reads the bytes 0 to 1 of the process input of the BL67 1SSI module Writing the object with any value will reset the retentive markers FLAG CMP1 and FLAG CMP2 Exception if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Table 124 Feature Description Objects 5805 ex Name SSI Nativ
112. guarding page 4 100 hex D301006 0806 BL67 CANopen 4 45 BL67 Communication in CANopen Object 1000 Device Type hex Object 1000 contains the Type and the Function of the BL67 station The value FFFF 0191 indicates that all Device Profiles are supported Table 13 Object description Object 1000 INDEX 1000 ex Name Device type Object code VAR Data Type Unsigned32 Value range Access ro PDO mapping No Value range Unsigned32 Default value BL67 FFFF 0191 4 46 D301006 0806 BL67 CANopen Object Dictionary Object 1001 Error Register Object 1001 contains the Error register for the BL67 CANopen gateway It thus contains in one byte the internal errors that occur Table 14 Object description Object 1001 INDEX 1001 Name Error register Object code VAR Data Type Unsigned8 Value range Access ro PDO mapping Optional Value range Unsigned8 Default value BL67 00 Error register Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 generic current voltage 0 Comm 0 0 Manu Abbreviations Abbr Meaning Valid for Modules generic General error all current Output short circuit DO Al TC Current error voltage Voltage error PF DO Al AO Comm Communication error all Manu Manufacturer specific all error D301006 0806 BL67 CANopen 4 47 BL67 Communication in CANopen Object 1005 SYNC COB ID Object 1005 defines the COB ID for the Synchronization Objec
113. have not yet matched REG SSI POS REG CMP1 since the last reset 1 The contents of the registers match REG SSI POS REG CMP1 This marker must be reset when CLR CMP1 1 in the process output data STS CMP1 0 A comparison of the register contents has produced the following result REG SSI POS REG_CMP1 1 comparison of the register contents has produced the following result REG SSI POS REG CMP1 4 190 D301006 0806 BL67 CANopen I O Module Objects Object 5806 The SSI Optional encoder status object reads byte 2 of the process input of the BL67 1SSI module Bits 6 and 7 are masked out SSI Optional Encoder Status hex Table 126 Feature Description Objects 5806 Name SSI Optional encoder status Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes Bit 7 Bit 6 Bit5 Bit4 Bit3 Bit2 Bit1 Bito Byte 2 masked masked X X SSI SSI SSI SSI 0 0 STS3 STS2 SIS1 STSO Table 127 Designation Value Description Meaning of the data bits SSI STS3 0 These four bits transfer the status bits of the SSI encoder with the status messages 1 of the SSI module With some SSI SSI STS2 encoders the status bits are transferred together with the position value SSI STS1 0 SSI STS0 0 D301006 0806 BL67 CANopen 4 191 BL67 Communication in CANopen Table 128 Objects 5808 4 192 Object 5808 hex Encoder Control The object Encoder control w
114. he actual SSI encoder value is outside of Polarity register 01 A the range defined by CAM1 Low limit and 6BO2hex 01hex CAM1 High limit or the comparison function an inversion will be is not activated carried out 01 The actual SSI encoder value is outside of 00 A the range defined by CAM1 Low limit and CAM High limit or the comparison function is not activated D301006 0806 BL67 CANopen 4 197 BL67 Communication in CANopen Table 136 Objects 6B01 ex Table 137 Meaning of the data byte 4 198 Object 6BO 1 hex CAM Enable Register The object CAM Enable register defines if the SSI encoder value is to be compared with the values CAM1 Low limit and CAM1 High limit object 6B10 and 6B20hex Feature Name Object code Data type Access Default value PDO mapping Value 00 01 hex Description CAM Enable register ARRAY Unsigned8 rw No No Meaning The SSI encoder value is not compared with the values CAM1 Low limit and CAM1 High limit object 6B10 and 6B20hex hex The SSI encoder value is compared with the values CAM1 Low limit and CAM1 High limit object 6B10 and 6B20hex D301006 0806 BL67 CANopen I O Module Objects Object 6B02 The object CAM Polarity register can cause an inversion of the values represented with object 6BOOhex CAM Polarity Register hex Table 138 Feature Description Objects 6B02hex Name CAM polarity register O
115. he substitute value is defined for each digital output channel The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object e g 6250 6251 and 6251 for the particular output channel hex Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched on if an error occurs D301006 0806 BL67 CANopen 4 131 BL67 Communication in CANopen Table 76 Objects 6260hex 6261 hex 0262hex 4 132 Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 Description Value Error state output bit ARRAY Yes 00 Unsigned8 ro No 01 4 to 80 Boolean rw 0 D301006 0806 BL67 CANopen I O Module Objects 6306 Error Mode Output 16 Bit The object defines values in 16 bit groups A total of 18 groups each 16 bit can be defined 288 digital output channels It is possible to define for each digital output channel whether or not the output should take on a substitute value in the event of an error The rule is 0 The output maintains its value if an error occurs 1 The output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by an Error state output object e g 6307 Table 77 Feature Description Value Objects 6306 Name
116. he values for the digital output modules in 32 bit groups A total of 9 groups each 32 bit can be defined 288 digital output channels Feature Name Object code PDO mapping Sub index Data Type Access Default value BL67 Sub Index Data Type Access Default value BL67 Description Value Write output bit ARRAY Yes 00 Unsigned8 ro No 01 ex to O9Yhex Unsigned32 rw 0000 0000 D301006 0806 BL67 CANopen I O Module Objects 6206 Error Mode Output 8 Bit The object defines values in 8 bit groups A total of 36 groups each 8 bit can be defined 288 digital output channels It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The rule is 0 The output maintains its value if an error occurs 1 he output is set to a substitute value if an error occurs The substitute values for the digital output channels are defined by the Error state output object e g 6207 Table 73 Feature Description Value Objects 6206 ex Name Error mode output 8 Bit Object code ARRAY PDO mapping Yes Sub index 00 Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 24hex Data Type Unsigned8 Access rw Default value BL67 FF hex D301006 0806 BL67 CANopen 4 127 BL67 Communication in CANopen 6207 ex Error State Output 8 Bit The object defines values in 8 bit groups A
117. id Node ID has been set Remedy Wait until the firmware download is finished If the download is finished hardware error replace the gateway Set the correct Node ID with the rotary pex or decimal encoding switches 4 Hz D301006 0806 BL67 CANopen 3 23 BL67 Gateway for CANopen 3 24 D301006 0806 BL67 CANopen 4 BL67 Communication in CANopen Setting up communication eee esee Minimum Boot up sees nennen nennen nnns Identifier for the Standard Objects 010 pp COB ID Communication Object Identifier Set up Node Guarding Protocol Boot up Message Parameterization through Service Data Objects SDO Read Read from Object Dictionary Write Write to Object Dictionary Commanded Parameter Storing Restoring Transmission of Process Data Objects PDO Communication Parameter COB ID Transmission Type Ha TE faa EEE ssim ines iussu des Sud EE ETT ES DWUElo 2Be Mapping Objects in POS Default PDOs and PDO Mappings Default PDOs as per CiA DS 301 and DS 401 BL67 Specific Default PDOSs sner sne knnnne M
118. ield 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 further within the system for example to the switchgear cabinet right up to the inter face connection D301006 0806 BL67 CANopen 7 9 Guidelines for Electrical Installation Note S hould it not be possible to ground the shield on both sides due to switching arrangements or device specific reasons then it is possi ble to route the second cable shield side to the local reference po tential via a capacitor short connection distances If necessary a varistor or resistor can be connected parallel to the capacitor to prevent disruptive discharges when interference pulses occur A further possibility is a double shielded cable galvanically separat ed whereby the innermost shield is connected on one side and the outermost shield is connected on both sides 7 10 D301006 0806 BL67 CANopen Potential Compensation Potential Compensation Potential differences can occur between installation components that are in separate areas and these are fed by different supplies have double sided
119. ies to TPDO1 TPDO2 TPDO3 TPDO4 D301006 0806 BL67 CANopen Object Dictionary Table 42 The following structure applies to the parameters for sub index 01 to 40hex MSB LSB Index 16 bit Sub index 8 bit Object Length 8 bit Note To change the number of mapping entries please observe the in structions in the Section Procedure for altering PDO mappings in this chapter Objects for Network Management Objects 1F80 x to 1F83 x are only relevant if the BL67 Station is to work as NMT master The activation is done via bitO of object 1F80hex Object 1F80 NMT Startup Object 1F80 describes the startup behavior of BL67 in NMT Network Management Object description Object 1F80 to 1A1F hex INDEX 1F80 ox Name NMT startup Object code VAR Data Type Unsigned32 Access rw D301006 0806 BL67 CANopen 4 91 BL67 Communication in CANopen Table 43 Structure of NMT startup 4 92 Bit 5 to 31 Meaning BL67 is not the NMT Master All other bits will be ignored The objects in the network list will be ignored BL67 is the NMT Master Only the explicitly selected slaves will be started After boot up the service NMT Start Remote Node All Nodes will be performed BL67 moves automatically to the Operational state BL67 does not move automatically to the Opera tional state The change of state is decided by the particular application Starting of the sl
120. ing protocol at a node various parameters must be set for the Object Dictionary 100C Guard time Given in milliseconds the query interval polling that is to be expected by the network slave Default 0 100D Lifetime factor This factor multiplied by the Guard time is the time that should elapse after a Node Guarding protocol error before the network slave generates an error message via EMCY In this way a temporary communication problem such as may be caused by heavy bus loading can be bridged without a Guarding Error Default 0 Guard ID This is fixed and cannot be changed Guarding is initiated with the first Guard Remote frame Guarding RTR from the CANopen network manager The Guarding Frame of the network manager has the COBID 1793 1 Node ID and does not have a data field Furthermore the RTR bit in the message header must be set and the Data Length code 1 D301006 0806 BL67 CANopen Setting up communication The node answers the telegram sent out by the network manager within the preset time Guard time in the Operational state with the data contents 5 The gateway answers the next polling query with the contents 133 The following response from the gateway is with 5 again and so on This means that the gateway changes the state of the most significant bit after every query i e the bit is toggled If the node is in the Pre Operational state then the value of the data contents
121. ion Manufacturer software version Guard time Lifetime factor Store parameters Restore default parameters Emcy COB ID Consumer heartbeat time Producer heartbeat time Identity object Verify configuration Module list D301006 0806 BL67 CANopen Page page 4 46 page 4 47 page 4 48 page 4 47 page 4 51 page 4 52 page 4 52 page 4 54 page 4 55 page 4 57 page 4 59 page 4 61 page 4 63 page 4 64 page 4 67 page 4 69 Object Dictionary Table 9 Overview of all objects Index 1200 to 12036 1400 ex to ER 1600 ex to 161F hex 1800 ex to 181F hex 1A00 to 1A1Fhex 1F80 1F81 1F82 1F83 Name Server SDO parameters Receive PDO Communication parame ters Receive PDO mapping parameters Transmit PDO parameters Transmit PDO mapping parameters NMT startup Slave assignment Hequest NMT Request guarding Manufacturer specific objects 2000 2010 2400 2401 nex Serial number Behavior Modifiers System Voltages System Currents D301006 0806 BL67 CANopen Page page 4 71 page 4 74 page 4 78 page 4 82 page 4 88 page 4 91 page 4 93 page 4 97 page 4 100 page 4 102 page 4 103 page 4 107 page 4 108 4 35 BL67 Communication in CANopen Table 9 Index Name Page Overview of all objects Objects for BL67 1 0 modules 9420 Analog Input Mode page 4 142 5440 Analog Output Mode page 4 164 5801 ex En
122. ith a specific cycle time See object 1017 Producer heartbeat time Another device receives the Heartbeat and monitors the cycle time Object 1016 defines the cycle time interval at which the Heart beat is expected This cycle time should be longer than the corre sponding cycle time for the transmitter see object 1017 The monitoring of the Heartbeat starts when the first Heartbeat Frame is received If the Consumer heartbeat time 0 then the corre sponding entry will not be used The time is set as a multiple of 1 ms Structure of the entry for Consumer heartbeat time Unsigned32 MSB LSB Bits 31 to 24 23 to 16 15 to 0 Value reserved default 00 Node ID Heartbeat Time Data Type Unsigned8 Unsigned16 Table 26 Object description Object 10164 INDEX 1016 Name Consumer heartbeat time Object code ARRAY Data Type Unsigned32 Value description Sub index 00 6 Description Number of entries Category Mandatory Access ro D301006 0806 BL67 CANopen 4 61 BL67 Communication in CANopen Table 26 Object description Object 1016 PDO mapping No Value range BL67 1 Default value BL67 1 Sub index O1 nex Description Consumer heartbeat time Category Mandatory Access rw PDO mapping No Value range BL67 Unsigned32 see Table 25 Default value BL67 0 4 62 D301006 0806 BL67 CANopen Object Dictionary Object 1017 Producer Heartbeat Time The object 1017 defines the cycle tim
123. ive earth 2 n C not connected 3 GND System ground optional 4 CAN H non inverted data signal dominant high 5 CAN L inverted data signal dominant low D301006 0806 BL67 CANopen Connection Options Fieldbus Termination The gateway offers no possibility for terminating the fieldbus Note The fieldbus termination has to be realized externally via a connector with integrated terminating resistor e g male connector RSE57 TR2 Order No 6602308 or female connector RKE57 TR2 Order No 6602629 Power Supply via 7 8 The power supply is realized via a 7 8 male connector on the gateway Figure 7 power supply 1 5 via 7 8 male connector 2 4 3 Table 3 Pin Color 7 8 Description PIN assignmentof No the 7 8 power supply connector 1 black GND 2 blue GND 3 green PE Protective earth yellow 4 brown V Ug Feed in of nominal voltage for input modules Sensor supply also used for the generation of the system supply voltage 5 white V9 U Feed in of nominal voltage for output modules can be switched off separately D301006 0806 BL67 CANopen 3 11 BL67 Gateway for CANopen Figure 8 BL67 gateway connected to PC via special cable Figure 9 PS 2 male con nector on the con nection cable to the gateway top view Figure 10 9 pole SUB D female connector on the cable for connecting to PC top view Service Interface Connection The following cable can be used t
124. lectrostatic Discharge ESD A Attention E lectronic 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 12 D301006 0806 BL67 CANopen Glossary Acknowledge Acknowledgment of a signal received Active metal component Conductor or conducting component that is electrically live during operation Address Identifier of e g 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 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 D301006 0806 BL67 CANopen 8 1 Glossary 8 2 Bit Strobe A Bit Strobe I O connection is a connection between a Devi
125. log input objects Hardware Objects Communication Objects Default Default Mapping Communication Parameter Parameter Fixed 1A01h 180h1 Relation to 1A03h to 1803h bo d Single A D 1 ENTRY ar ME i ap into Transmit CAN Analog gt Converter into Phi gt TPD0O2 4 gt gt iccj Te IV A ACT gua Transmission 8 Byte TPDO 2 4 6424h 2 T F E U Limit zi NILUS 1 RSA amp T F Close PRE x AND if 2 TRUE 6425h a L L 2 Lower Limit f D Value Difference seen 3 gt A Rd ot 109 Negative Positive Value 6427h 6428h Value i DInebenGe Difference T true 1 up to 16 bit F false 2 Integer32 E enabled 3 Unsigned32 D diaabled 4 Integer16 left justified D301006 0806 BL67 CANopen 4 141 BL67 Communication in CANopen Table 85 Objects 5420 4 142 5420 Manu Spec Analog Input Range The object Manu spec analog input range defines the parameters of the analog input channels Write accesses initiate a parameter update on the BL67 module bus The parameter is stored retentively in the gateway and in the appro priate module and is restored with every node reset The Sub indices 01 Feature Name Object code PDO mapping Sub inde
126. lue NO PDO mapping No The structure of the 2 bytes of diagnostic data depends on the module concerned nm BL67 4DI PD Table 146 Diagnosis Bit Diagnosis Diagnostic Bytes byte for BL67 4DI PD 0 0 overcurrent sensor 1 sensor supply A 1 overcurrent sensor 2 sensor supply B 2 overcurrent sensor 3 sensor supply C 3 overcurrent sensor 4 sensor supply D 1 0 open circuit K1 channel 0 and 2 1 open circuit K2 channel 1 and 3 D301006 0806 BL67 CANopen 5 9 Diagnostics Emergency Frames E BL67 8DI PD Table 147 Diagnosis Bit Diagnosis Diagnostic Bytes byte for BL67 8DI PD n 0 overcurrent sensor 1 Sensor supply A 1 overcurrent sensor 2 Sensor supply B 2 overcurrent sensor 3 Sensor supply C 3 overcurrent sensor 4 Sensor supply D n 1 0 open circuit K1 channel 0 and 4 1 open circuit K2 channel 1 and 5 2 open circuit K3 channel 2 and 6 3 open circuit K4 channel 3 and 7 5 10 D301006 0806 BL67 CANopen 1 0 Module Diagnostics Digital Output Modules Table 148 Error Code Diagnostics Diagnostics for the BL67 digital output modules 2310 Output current too high 2330 6 Load dump at outputs Open circuit or current too low Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 Digital Combi Modules The digital combi modules BL67 4DI4DO PD and BL67 8XSG PD have supplementary diagnostics which can not be send via detail
127. lue at the input has lower limit values exceeded the upper limit and delta values are defined with the 1 1 Input below lower limit A the value at the input is objects 6424 5 below the lower limit CE 6427 and 2 1 Input changed by more than delta A the value at 6428 pes the input has changed by a defined Delta value 3 1 Input reduced by more than negative delta A the value at the input has reduced by a defined Delta value 4 1 Input increased by more than positive delta A the value at the input has increased by a defined Delta value 5 7 reserved Note i T he transmitting of the analog input data TPDOs by means of an interrupt signal is triggered repeatedly with every change of the an alog input value if the value stays above the upper limit or below the lower limit If another triggering event occurs at the same time e g increase by Delta value the repeated transmitting is aborted 4 150 D301006 0806 BL67 CANopen I O Module Objects Note Several bits can be set simultaneously so that the transmitting of the input process data can be triggered by several events 6422 Analog Input Interrupt Source The object indicates if an analog input channel has fulfilled a condi tion for triggering an interrupt signal The conditions were defined with object 6421 If a condition for triggering an interrupt signal on a channel is ful
128. mber of mapping objects which are automatically generated by the gateway during start up depends on the actual physical structure of the BL67 station Possible default values for objects 1600 Object Sub Default index value BL67 1600 ex 01 6200 0108 to 1603 hex Description hex applies to RPDO1 1st mapping object digital output 8th mapping object 08 1601 6 01 6200 0808 6411 0110 digital output RPDO2 1st mapping object analog output 4th mapping object 04 1602 01 6411 0410 ox 6411 0510 analog output RPDO3 1st mapping object analog output 4th mapping object 04 1603 01 6411 0810 6411 0910 analog output RPDO4 1st mapping object analog output 4th mapping object O4 ex 6411 0C10 analog output D301006 0806 BL67 CANopen Object Dictionary The following structure applies to the parameters for sub index 01 to 40hex Structure of the PDO mapping entries MSB LSB Index 16 bit Sub index 8 bit Object Length 8 bit 4 Note To change the number of mapping entries follow the instructions in Section Procedure for Altering PDO Mappings D301006 0806 BL67 CANopen 4 81 BL67 Communication in CANopen Table 37 Object 1800 ex to TOT Fig 4 82 Objects for the Transfer of Process Input data Objects 1800 to 181F define together with objects 1A00
129. modules It is respon sible for handling the entire process data and generates diagnostic information for the higher level master and the software tool O ASSISTANT Figure 2 BL67 gateway 1 4 D301006 0806 BL67 CANopen BL67 Components Electronic Modules Electronic modules contain the functions of the BL67 modules power feeding modules digital and analog input output modules technology modules Electronic modules are plugged onto the base modules and are not directly connected to the wiring 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 3 Electronic module Power Feeding Modules Power Feeding modules distribute the required 24 V DC field voltage to the I O modules They are necessary for building groups of modules with different potentials within a BL67 station or if the rated supply voltage for the outputs cannot be guaranteed Power Feeding modules are potentially isolated from the gateway the adjoining power supply module and the I O modules to the left side i Note For detailed information about the individual BL67 I O components please refer to the chapters 2 to 8 of the manual BL67 I O mod ules TURCK Documentation No German D300572 English D300529 The Appendix to the manual mentioned above contains amongst others a list of all BL67 components and the a
130. munication in CANopen nm BL67 4AI V I Table 90 Byte Bit Parameter Parameters BL67 4AI V I 0 0 Range A default setting 1 Value representation 2 Diagnostic 3 Channel 4 Operation mode 5to reserved 4 146 Value Meaning 0 0 10 V 0 20 MAA 1 10 10 V 4 20 mA 0 Integer 15 bit sign A 1 reserved 0 release A 1 block 0 activate A 1 deactivate 0 voltage A 1 current D301006 0806 BL67 CANopen I O Module Objects 6401 Read Analog Input 16 Bit The object represents the measured values for the analog input modules with 16 bits for each channel Attention The process data traffic for the analog input values is not started un til the object 6423 is switched from the default setting FALSE to TRUE The representation of the different measured values as numerical values is described in detail from a page 26 onward for each value range Attention The possibility of 12 bit value representation left justified is not useful for CANopen since all reference values upper limit lower lim it must be defined with 16 bits Table 91 Feature Objects 6401 Name Object code PDO mapping Sub index Data Type Access Default value BL67 D301006 0806 BL67 CANopen Description Value Read analog input 16 Bit ARRAY Yes 00 Unsigned8 ro No 4 147 BL67 Communication in CANopen Table 91 Feature Description Value Objects 6
131. n 7 6 Ensuring Electromagnetic Compatibility ccsccccccsssseeeeeeeseeeeeeeeeeeees 7 6 Grounding of Inactive Metal Components sees 7 6 PE Goethe aval ere 7 7 EartlisFree Operaio enren nl sumac Sad 7 7 WIOUMMINGURANIS Lersveen 7 7 Siel ding Of CADICS si saa 7 9 Potential Compensation uusvnnimgrmuuembvyedsdvnknvvbsevsd 7 11 switching Inductive Loads varene Eee go ee uc 7 12 Protection against Electrostatic Discharge ESD 7 12 Glossary Index D301006 0806 BL67 CANopen About this Manual Documentation CONCeDE ns UE ERE RENEEEEEK mette eie 2 General RO INSEE ON s kerens masse SEEN ER REA 3 mI RN ce TONNEN eee a OG EEE 3 Notes Concerning Planning Installation of this Product 3 Description of Symbols Used e eoe erre nenne nnn nnn nnn unn un 4 D301006 0806 BL67 CANopen 0 1 About this Manual Documentation Concept 0 2 This manual contains all information about the BL67 gateway for CANopen The following chapters contain a short BL67 system description a description of the field bus system CANopen exact information about function and structure of the BL67 CANopen gateway as well as all bus specific information concerning the connection to auto mation devices the maximum system extension etc The bus independent l O modules for BL67 as well as all further fieldbus independent chapte
132. n the BL67 modules and a CANopen host system It regulates the process data between the I O level and the fieldbus and generates diagnostic data for the higher level host system Information is made available to the software tool l O ASSISTANT via the service interface D301006 0806 BL67 CANopen 3 3 BL67 Gateway for CANopen Technical Information Figure 2 BL67 gateway for CANopen Power supply CAN IN CAN OUT Service interface rotary coding switches F Designation G Module bus LEDs H LEDs for B voltage supply I CAN LEDs UONU gt GW CO EE om HE en BUs D301006 0806 BL67 CANopen Technical Information Structure Diagram The BL67 gateway has the following structure BL67 system bus Figure 3 Gateway structure GOON service Qoo interface uC PS 2 CAN S N 29 1 interface module bus OO o 0 can C DONI memory l l communi l cation bus interface short circuit protection D301006 0806 BL67 CANopen 3 5 BL67 Gateway for CANopen Figure 4 Power supply concept Power supply concept Vie System supply Vino ap Field supply total V Vo Vue via the gateway MB 5V Viens 7 Input supply Vo load voltage U Vue system supply V operating voltage U he 1 5 A arisen m 4 A los 10A i Isolatoion of the field voltage V Vo I 1 po
133. n type of these PDOs is generally 255 Overview of the BL67 specific TPDOs Meaning 2nd group digital input channels Bits 64 to 127 ard group digital input channels Bits 128 to 191 4th group digital input channels Bits 192 to 255 oth group digital input channels Bits 256 to 319 1st group encoders Channels O 1 2nd group encoders Channels 2 3 3rd group encoders Channels 4 5 4th group encoders Channels 6 7 4th group analog input channels Channels 12 to 15 oth group analog input channels Channels 16 to 19 D301006 0806 BL67 CANopen TPDOs PDO5 1804 hex PDO6 1805hex PDO7 1806 hex PDO8 1807 hex PDO9 1808 hex PDO10 1809 hex PDO11 180A hex PDO12 180B hex PDO13 180C hex PDO14 180D hex COB ID TPDO 8000 01C0 Node ID hex 8000 02C0 Node ID hex C000 03C0 Node ID hex C000 04CO0 Node ID hex C000 01E0 Node ID hex C000 02E0 Node ID C000 03EO Node ID C000 04E0 Node ID C000 01A0 Node ID C000 02A0 Node ID 4 27 BL67 Communication in CANopen Meaning 6th group analog input channels Channels 20 to 23 7th group analog input channels Channels 24 to 27 1st group RSxx I Os Channel 0 1st group RSxx I Os Channel 1 TPDOs PDO15 180E hex PDO16 180F hex PDO18 1811 hex PDO19 1812hex COB ID TPDO C000
134. nchronous Remote requested PDO polling D301006 0806 BL67 CANopen 2 7 Short description of CANopen Electronic data sheet EDS file CANopen nodes are embedded in the CANopen structure by the help of a standardized EDS file Electronic Data Sheet The EDS file lists all necessary Objects with their corresponding Sub indices and the matching entries Figure 1 fele of an EDS S BL6827200V104 eds Editor Jod file for BL67 Datei Bearbeiten Format Ansicht 7 FileInfo CreatedBy MT Electronix ModifiedBy MT Electronix Description EDS for Device BL67 GY CO CreationTime 3 z3PM Creationbate 01 20 2005 ModificationTime 03 25PM Modificationbate 01 20 2005 FileName BL6827200V104 ed5 Fileversion 1 FileBevision 04 EDS ersian 4 01 Device Info VendorMame Turck Vendoriumber 0x x0000003c ProductHame BL6 67 GWg cCoO FroductMunber 682 7200 ES The latest version of a particular EDS file can be downloaded directly from the TURCK Homepage www turck com BL67 GW CO BL6827200xyz eds xyz current version number 2 8 D301006 0806 BL67 CANopen 3 BL67 Gateway for CANopen introductio ns io bnc san D RO D RH RC CR GE kede idea 2 PUNCUON usui ax RR DEG RM QUU ROC Mo 3 Technical Informoalionsssewssveusezssu sua a SERERE M REN RUM WERE RERNEIER RR IUN RR UR RR RR REOR DER R 4 Structure Diagram RE 5 Power supply CONC ED liacsciconssicssancssnnstsicousaseusancdsunseanneusncsesanestadeusniessn
135. nctions Install automation devices and related operating elements in such a way that they are well protected against unintentional operation Suitable safety hardware and software measures should be implemented for the I O interface so that a line or wire breakage on the signal side does not result in undefined states in the auto mation devices Ensure a reliable electrical isolation of the low voltage for the 24 volt supply Only use power supply units complying with IEC 60 364 4 41 VDE 0 100 Part 410 or HD 384 4 41 S2 Deviations of the mains voltage from the rated value must not exceed the tolerance limits given in the specifications otherwise this may cause malfunction and dangerous operation Emergency stop devices complying with IEC EN 60 204 1 must be effective in all operating modes of the automation devices Unlatching the emergency stop devices must not cause restart Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they have been installed with the housing closed Desktop or portable units must only be operated and controlled in enclosed housings Measures should be taken to ensure the proper restart of programs interrupted after a voltage dip or failure This should not cause dangerous operating states even for a short time If necessary emergency stop devices should be implemented Wherever faults in the automation system may cause damage to persons or
136. ndicating that the station configuration is being saved When the storage procedure is completed the LED changes to a continuous green light D301006 0806 BL67 CANopen 3 17 BL67 Gateway for CANopen Status Indicators Diagnostic Messages Gateway The gateway transmits the following diagnostics the status of the BL67 station the communication via the internal module bus the communication to PROFIBUS DP 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 see Chapter 5 Section Diagnostics Emergency Frames Page 5 1 ff Diagnostic Messages via LEDs Every BL67 gateway displays the following statuses via LEDS 2 LEDs for module bus communication module bus LEDs GW and lOs 2 LEDs for PROFIBUS DP communication fieldbus LEDs ERROR and Bus 3 LEDs for monitoring the voltage supply system V inputs V outputs Vo D301006 0806 BL67 CANopen Status Indicators Diagnostic Messages Gateway Table 4 LED indicators LED Status GW OFF Green Green flashing 1 Hz LED lOs red Green flashing 1Hz Green flashing 4 Hz Red and LED ll lOs ll off D301006 0806 BL67 CANopen Meaning CPU not supplied 5 V DC operating voltage is present firm ware is active gateway is ready for operation and transfer Firmware not active Vi undervoltage or overvoltage V
137. ng the Node ID the protective cover over the switches must be closed again i Note BL67 does not support the assignment of Node IDs across the bus network 3 16 D301006 0806 BL67 CANopen Acceptance of the BL67 Station Configuration Acceptance of the BL67 Station Configuration When making a new configuration of the BL67 station or an alter ation of the existing station structure Module list the current configuration must be transferred to the CANopen mirror of the BL67 gateway This is done through the set button between the two rotary encoding switches Note The green IOs LED indicates that the current BL67 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 hardware reset will then be carried out automatically With this reset all the CANopen parameters will be restored to their default values if the newly saved configuration is different to the old one A Attention When saving the BL67 configuration all the CANopen objects must be parameterized again if their parameter values differ from the de fault values The complete parameterization of the station must sub sequently be reloaded into the BL67 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 i
138. nnel 0 to 3 2nd group analog input channels Channel 4 to 7 3rd group analog input channels Channel 8 to 11 Overview of the Default RPDOs as per CiA DS 301 and DS 401 Meaning 1st group digital output channels Bits 0 to 63 1st group analog output channels Channel 0 to 3 2nd group analog output channels Channel 4 to 7 3rd group analog output channels Channel 8 to 11 4 26 TPDO PDO1 1800 hex PDO2 1801 hex PDO3 1802 hex PDO4 1803 hex TPDO PDO1 1400 hex PDO2 1401 hex PDO3 1402 hex PDO4 1403 hex Sub Index 01 COB ID hex 0000 0180 Node ID hex 0000 0280 Node ID hex 0000 0380 Node ID hex 0000 0480 Node ID hex COB ID 0000 0200 Node ID hex 0000 0300 Node ID hex 0000 0400 Node ID hex 0000 0500 Node ID hex D301006 0806 BL67 CANopen Transmission of Process Data Objects PDO BL67 Specific Default PDOs These additional PDOs are always set to Invalid as a default Before enabling these PDOs the corresponding parameters must be checked This applies especially to the COB IDs since these are taken from the Default Master Slave Connection Set and are assigned to other Node IDs For this reason other nodes with the corresponding Node ID must not be present in the network or such nodes must not use the corresponding COB IDs The Transmissio
139. nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnvnn 8 Digital Input Modules iii 8 Digital Output MOduIeS sssssssssessssisennssenmenstienessn nnsmemseinse 11 Digital Combi Modules sise 11 Analog Output Modules inner 16 Technology Modus sara curii scale nasi tu oU ste ones 18 D301006 0806 BL67 CANopen 5 1 Diagnostics Emergency Frames General 5 2 The gateway sends out the following diagnostic information the state of the BL67 station the communication through the internal modules bus the communication with CANopen the state of the gateway itself Diagnostics messages are indicated in two different ways through the individual LEDs amp through Emergency Frames in a CANopen configuration tool software D301006 0806 BL67 CANopen Structure of the Emergency Frames Structure of the Emergency Frames BL67 CANopen supports Emergency Frames EMCY as standard ized in CiA DS 301 The COB IDs for the EMCY telegrams are defined by the Predefined Master Slave Connection Set COB ID 129 1 Node ID In the event of a communication error not only the Emergency Error Code but also the Error register see Object 1001 and addi tional information will be transmitted so that the error can be more precisely identified Only a portion of the 5 bytes is used for the addi tional information The remaining bytes are then O Byte 0 1 2 3 4 5 6 7 Data Emergency Error Error register Additional information c
140. nnrnvnnnnnnnvnnnnnnrrennnnnn 163 5440hex Manu spec Analog Output Range rerrnnnnnvnnnnnnnnennnnnnrennnnnn 164 Objects for RS232 485 Modules nenne 166 General Overview for RS232 485 Objects eeeesssssss 166 b600hex RS232 RS4xx Parameters rrnrnnrrnnnnrronnnrvrnnnrrennnnennnnnnennn 167 5601hex RS232 RS4xx RxD nn 170 b602hex RS232 RS4xx TXD seen nena nennt 174 Objects for SSI Modules sis 178 D301006 0806 BL67 CANopen 4 3 BL67 Communication in CANopen General Overview for SSI Objects eese 178 5801hex Encoder Config RL 179 Object 5802hex Encoder Status rrrnnnrrnnnnrnnnnnnvnnnnnnnnnnnrnnnnnvnnnnnrennn 182 Object 5803hex Encoder Flags rrrurrnnnnnennnnnnvrnnnnnnnennnnnnnrennnnnnvnnnnnnn 183 Object 5804hex Encoder Diag rrrennnnnnrnvnnnnnvrnnnnnnrvnvnnnnnrennnnnnvnnnnnnne 185 Object 5805hex SSI Native Status rrrnnnnrernnnnvnnnnrenvnnnrennnnvnnnnnnennn 187 Object 5806hex SSI Optional Encoder Status 191 Object 5808hex Encoder Control cccccseececeeseeceeeeeeseeeeseeeeeesees 192 Object 5840hex SSI Diag Mapping eese 193 Object 6800hex Operating Parameters eese 195 Object 6810hex Preset Values for Multi Sensor Devices 19
141. not be stored to the app because of device state Example Write a new COB ID for RxPDO 1 ID 258 Client Byte 0 Byte 1 Byte 2 Byte3 Byte4 Byte5 Byte6 Byte 7 COB ID 1537 Node ID 1 Dm ByteO Byte 1 Byte 2 Byte3 Byte 4 Byte5 Byte6 Byte 12 COB ID 1409 Node ID 1 Client D301006 0806 BL67 CANopen 4 19 BL67 Communication in CANopen 4 20 Commanded Parameter Storing Restoring Saving of communication and application parameters is executed by a command This means that the parameters transferred through an SDO are held in volatile memory until they are saved by using the command Store parameters Object 1010 Sub indices 0 to 3 All the communication and application parameters that are supported by the gateway will be saved The command Restore Default parameters Object 1011 Sub indices O to 3 is also supported This command resets all the communication and or application parameters to the default values D301006 0806 BL67 CANopen Transmission of Process Data Objects PDO Transmission of Process Data Objects PDO CANopen provides PDO communication PDO Process Data Object PDOs are fast real time process data that are handled as unconfirmed services without a protocol overhead PDOs can contain a maximum of 8 bytes of data They can be assembled and configured by the user to suit the specific requirements In addition there are a number of transmission transfer settings Tran
142. o 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 l O ASSISTANT connection cable from TURCK IOASSISTANT ADAPTERKABEL BL20 BL67 Ident no 6827133 Connection with I 0 ASSISTANT Connection Cable The l O ASSISTANT cables have a PS 2 male connector connec tion for female connector on gateway and a SUB D female connector connection for male connector on PC D301006 0806 BL67 CANopen Setting the Bit Transfer Rate Setting the Bit Transfer Rate The BL67 gateway can communicate with other CANopen nodes at the following transfer rates 10 kbps 3 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 000 kbps The default transfer rate is 125 kbps The transfer rate can be set through the rotary coding switches on the gateway Figure 11 Baud 0 1000K Decimal coding 0 1 800K switches for set VAN 2 2 500K 8 2 3 250K ting the transfer 7 3 4 125K rate 6 5 4 5 50K 6 20K 7 10K PE Note A Il the nodes in a CANopen network must be set to the same transfer rate D301006 0806 BL67 CANopen 3 13 BL67 Gateway for CANopen To set a bit transfer rate that is supported by CANopen proceed as follows 1 Switch off the supply voltage for the BL67 gateway 2 Set the rotary coding switches to the required transfer rate 3 Switch on the supply voltage for the gateway again 3 14 D301
143. odules and 1 0 modules The connection to the relevant fieldbus is made via the bus specific gateway which is responsible for the communication between the BL67 station and the other fieldbus stations The communication within the BL67 station between the gateway and the individual BL67 modules is regulated via an internal module bus Note The gateway is the only fieldbus dependent module on a BL67 station All other BL67 modules are not dependent on the fieldbus used D301006 0806 BL67 CANopen The Basic Concept Flexibility kol BL67 station can contain modules in any combination which means it is possible to adapt the system to practically all applica tions in automated industry Convenient Handling All BL67 modules with the exception of the gateway consist of a base module and an electronic module The gateway and the base modules are snapped onto a mounting rail or are directly mounted onto a mounting plate The electronic modules are plugged onto the appropriate base modules After disconnection of the load the electronic 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 D301006 0806 BL67 CANopen 1 3 BL67 Philosophy BL67 Components Figure 1 BL67 station A Gateway B electronic module C base module A Gateways The gateway connects the fieldbus to the I O
144. of the response telegram toggles between 127 and 255 If the node is in the Stop state the value toggles between 4 and 132 If there is no query from the network manager within the preset time then the gateway changes to the state Guard Fail If output modules are fitted in the BL67 station then their outputs will be put into defined states depending on the objects Error mode output and Error state output or will retain the last state that was received Any RxPDOs that are received will still be processed and output again If the Guarding starts up again the BL67 gateway leaves the Guard Fail state but remains in the Pre Operational state A Start Node command must be generated by the network manager in order to restart the BL67 gateway see CiA DS 301 If the setting is Guard time 0 then passive Guarding will occur This means that the gateway answers the Guard Remote frames without starting its own internal Guard timer and without changing into the Guard fail state As an alternative to Node Life Guarding the Heartbeat mechanism newly introduced with DS301 V4 0 is supported which unlike Guarding does not require Remote frames D301006 0806 BL67 CANopen 4 13 BL67 Communication in CANopen Boot up Message After initialization after Power On Reset Node and Reset Commu nication a Boot up message as per CiA DS 301 V4 0 is sent out This is in the form of a guard frame with the contents 00 sx
145. ontents Code Table 144 Table 142 only valid for Error Code 8100h Table 143 D301006 0806 BL67 CANopen 5 3 Diagnostics Emergency Frames Error Register Table 142 Error register M O Meaning Bit assignments for the error register A M mandatory Bit 0 MA Generate the error message B O optional Bit 1 OB Current error Bit 2 O Voltage error Bit 3 O Temperature error Bit 4 O Communication error overrun error state Bit 5 O Device profile specific error Bit 6 O reserved Bit 7 O Manufacturer specific error Additional information Table 143 Content Meaning Content of Byte 3 to 7 of Emergency Frame Ol Guard Fail O2 Warning Level Reached 03 Transmit Time Out 04 Bus off hex 5 4 D301006 0806 BL67 CANopen Gateway Diagnostics Gateway Diagnostics Table 144 Diagnostics for the BL67 CANopen gateway Diagnostics Error Reset No Error Mains voltage too high Mains voltage too low Field voltage too low RS232 RS4xx error Deviating I O configuration l O configuration error Deviating I O configuration module expansion Deviating I O configuration module removed D301006 0806 BL67 CANopen Error Designation Code as per CiA DS 301 DS 401 0000 3110 hex 3120 Mains voltage too low 3320 Output voltage too low 7000 Additional modules 707A Additional modules hex 707D Additional modules hex 707E Additional
146. or 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 E Emergency object Emcy The Emergency message is triggered by the occurrence of a device internal error situation and are transmitted from an Emer gency producer on the concerned application device This makes them suitable for interrupt type error alerts An Emer gency message is transmitted only once per error event As long as no new errors occurs on a device no further Emergency message can be transmitted Zero or more Emergency consumers may receive these The reaction of the Emergency consumer is application specific CANopen defines several Emergency Error Codes to be transmitted in the Emergency message which is a single CAN frame with 8 data byte E Time stamp object Time By means of Time Stamp a common time frame reference is provided to application devices It contains a value of the type Time of Day This object transmission follows the producer consumer push model The associated CAN frame has the pre defined identifier 256 and a data field of 6 byte length 2 6 D301006 0806 BL67 CANopen BL67 and CANopen BL67 and CANopen BL67 supports the following CANopen functions SDO transfer any length of information Emergency object Sync frame evaluation Event driven PDOs Synchronous PDOs clock sy
147. pe Unsigned16 Access rw Default value BL67 No 4 164 D301006 0806 BL67 CANopen I O Module Objects The structure of the 2 bytes of parameter data depends on the module concerned sub index is assigned for each channel The following explains the structure for each module type BL67 2AO I Table 106 n Byte Bit Parameter Value Meaning Parameters BL67 2A0 I 0 0 Current mode 0 2 0 20 mAA A default setting 124 20 mA 1 Value 0 Integer 15 bit sign A representation 1 reserved 2 Channel Kx 0 activate A 1 deactivate 3to reserved 7 BL67 2AO V Table 107 n Byte Bit Parameter Value Meaning Parameters BL67 2AO V 0 0 Voltage mode 0 0 10V A A default setting 1 10 10 V 1 Value 0 Integer 15 bit sign A representation 1 reserved 2 Channel Kx 0 activate A 1 deactivate 3to reserved D301006 0806 BL67 CANopen 4 165 BL67 Communication in CANopen Objects for RS232 485 Modules General Overview for RS232 485 Objects hex Table 108 Object Name Page General overview for RS232 485 5600 ex RS232 RS4xx parameters 4 167 objects ee I 5601 ex RS232 RS4xx RxD 4 170 5602 RS232 RS4xx TxD 4 174 4 166 D301006 0806 BL67 CANopen I O Module Objects 5600 RS232 RS4xx Parameters The parameter setting of the BL67 1RS232 module enables communication with different data terminal devices The handshake procedure soft
148. pen gd ger 10 gd 0 RP EEE arne E 3 2 FAUNE UON e TR 3 3 Technical Information ett skt n mm nemen eene renes 3 4 OU EIS PAGAN EE DE REED EEN NER UE UM ENE DEUS 3 5 Power supply concept iii 3 6 E esae ic Rx 3 7 Conneccion OPTIONS denses OE 3 10 Fieldbus ConnectionS ararareurarnnnnnvnnnnnnnnnnnnnnnnnnnnunnnnnnnnnnnnnenenenenenenenen 3 10 Fieldbus Termination eeeeeeeeen enn mm mmm nmm 3 11 Power Supply via 7 8 3 11 Service Interface Connection eeceeeseeer nennen nennen 3 12 D301006 0806 BL67 CANopen i Setting the Bit Transfer Rate ses 3 13 Node ID SENG Hare 3 15 Acceptance of the BL67 Station Configuration eeesesssssss 3 17 Status Indicators Diagnostic Messages Gateway sess 3 18 Diagnostic Messages via LEDS arunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnn 3 18 BL67 Communication in CANopen Setting up communication eeeeeesessseeeee eene nnne nnn nnns 4 5 MAMUT Boobs Fuel 4 5 Identifier for the Standard Objects rrrnnrrennnrrrvrnnrvrnnnnvrnnnnrennnnrennnnnennnn 4 9 Set up Node Guarding Protocol ss 4 12 BOO UP MESSAGE ee 4 14 Parameterization through Service Data Objects SDO 4 15 Read Read from Object Dictionary erne knnnn nens 4 16 Write Write to Object Dictionary 4 17 Commanded Parameter Storing Restoring uses rrnnnne 4
149. 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 O and 1 DIN German acronym for German Industrial Standard EDS Electronic Device Data Sheet which contains standardized DeviceNet station descriptions They simplify the planning of the DeviceNet nodes EIA Electronic Industries Association association of electrical companies in the United States Electrical components All objects that produce convert transmit distribute or utilize electrical power e g conductors cable machines control devices D301006 0806 BL67 CANopen 8 3 Glossary 8 4 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
150. r 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 well known problem of doubly received CAN frames The next three byte of the first segment contain index and sub index of the Object Dictionary entry to be read or written The last four byte 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 byte of user data The receiver confirms each segment or a block of segments so that a peer to peer communi cation client server takes place Process Data Objects PDOs Process Data Objects PDOs are mapped to a single CAN frame using up to 8 bytes of the data field to transmit application objects Each PDO has a unique identifier and is transmitted by only one node but it can be received by more than one producer consumer communication D301006 0806 BL67 CANopen CANopen PDO transmissions PDO transmissions may be driven by an internal event by an internal timer by remote requests and by the Sync message E received Event or timer driven An event specified in the device profile triggers message trans mission An elapsed timer additionally triggers the periodically transmitting nodes Remotely requested Another de
151. rie ERR rr 3 Maximum System Extension s annnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 4 Creating Potential Groups sise 5 Plugging and Pulling Electronic Modules 6 Extending an Existing Station eee eee eee rennen nn 7 Firmware Download nissan Va EROR CH RA RCR CRURA RD RNC RR Sed 8 D301006 0806 BL67 CANopen 6 1 Guidelines for Station Planning Module Arrangement Random Module Arrangement The arrangement of the I O modules within a BL67 station can basi cally be chosen at will Nevertheless it can be useful with some applications to group certain modules together 6 2 D301006 0806 BL67 CANopen Complete Planning Complete Planning The planning of a BL67 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 com munication is interrupted to all following BL67 modules D301006 0806 BL67 CANopen 6 3 Guidelines for Station Planning Maximum System Extension BL67 station can consist of a gateway and a maximum of 32 modules equivalent to 1 m station length The following overview shows the maximum number of channels possible under these conditions The entire station is made up of the respective channel type only Table 158 Module type maximum number Maximum system extension Channels Modules BL6
152. ription Name Encoder status Object code ARRAY Data type Unsigned8 Access ro Default value No PDO mapping Yes Structure of Byte 6 of the process input Bit 7 Bit 6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO SIS UP STS DN 0 0 0 0 0 0 Designation Value Description STS UP 0 The SSI encoder values are decremented LED UP or the values are constant 1 The SSI encoder values are incremented STS DN 0 The SSI encoder values are incremented or LED DN the values are constant 1 The SSI encoder values are decremented D301006 0806 BL67 CANopen I O Module Objects Table 120 Objects 5803 Table 121 Meaning of the encoder flags Object 5803 On the BL67 1SSI module bits 3 to 6 of the Encoder flags object are emulated as much as possible for the counter The object comprises the bits FLAG CMP1 FLAG CMP2 STS OFLW and STS UFLW Unlike the counter module the bits STS OFLW and STS UFLW SSI module are non retentive status bits All other bits are O Encoder Flags Writing the object with any value will reset the markers FLAG CMP1 and FLAG CMP2 Exception if the relevant condition for setting a marker is still fulfilled this marker will continue to remain set Feature Description Name Encoder flags Object code ARRAY Data type Unsigned8 Access rw Default value No PDO mapping Yes Bit7 Bit6 Bit5 Bit 4 Bit 3 Bit 2 Bit 1 Bito 0 SIS STS FLAG FLAG 0 0 0 UFLW OFLW CMP2 CMP1 Designation Value Description FLAG CMP1
153. rites and reads byte 0 of the control interface of the SSI module and serves for influencing the module during operation At the moment only bit 7 STOP is used Feature Name Object code Data type Access Default value PDO mapping Description Encoder control ARRAY Unsigned8 rw No Yes D301006 0806 BL67 CANopen I O Module Objects Table 129 Objects 58404 Process input data SSI_STSO SSI STS1 SSI STS2 SSI STS3 Object 5840 The SSI Diag mapping object writes and reads register 51 REG SSI MASK of the BL67 1SSI module The REG SSI MASK contains the SSI encoder diagnostics trans ferred SSI Diag Mapping hex Some SSI encoders not only transfer the position value in the data frame that they transfer to the module but also supply additional status messages It is advisable to include these status messages in the application in order to analyze the measured value Writing the REG SSI MASK register allows up to four individual bits to be taken from the SSI encoder data frame and transferred to the SSI STSx bits of the process input data It is also possible to output the SSI encoder group diagnostics message with an acyclic diag nostics operation when a status message is initiated Feature Description Name SSI Diag mapping Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No REG SSI MASK Byte Bit 7 Bit 6 B5 B4 B3 B2 B1 BO 0 EN DO RMSO EN DO DS X
154. rs like mounting labelling etc are described in a separate manual nm BL67 l O modules TURCK Documentation No German D300572 English D300529 Furthermore the manual mentioned above contains a short descrip tion of the project planning and diagnostics software for TURCK l O systems the software I O ASSISTANT D301006 0806 BL67 CANopen General Information General Information Attention Please read this section carefully Safety aspects cannot be left to chance when dealing with electrical equipment Prescribed Use Warning The devices described in this manual must be used only in applica tions prescribed in this manual or in the respective technical de scriptions and only with certified components and devices from third party manufacturers Appropriate transport storage deployment and mounting as well as careful operating and thorough maintenance guarantee the trouble free and safe operation of these devices Notes Concerning Planning Installation of this Product Warning All respective safety measures and accident protection guidelines must be considered carefully and without exception D301006 0806 BL67 CANopen 0 3 About this Manual Description of Symbols Used A Warning T his sign can be found next to all notes that indicate a source of haz ards This can refer to danger to personnel or damage to the system hardware and software and to the facility This sign means for th
155. s 5 2 empty slot eesseseeessss 6 3 End plate saa P 1 7 error code 1 ccscccceeeeceeeeceeeceeeeseees 5 3 error register 5 3 5 4 ESD electrostatic discharge 7 12 Event Timer 4 23 F fieldbus connection 3 10 firmware download 6 8 flexibility esses 1 3 G gateway function 3 9 gateways ae 1 4 i Identifier eeesseeesssees 4 9 inductive loads protective circuit 7 12 Inhibit Time 4 23 L EEDS 3 18 M Mappable objects 4 31 Mapping objects 4 24 Minimum Boot up 4 5 module arrangement 6 2 Module list 3 17 mounting rail essssssss 7 7 N Node Guarding 4 12 Node Guarding Protocol 4 12 Node ID esses 4 9 Node ID setting 3 15 9 1 Index O Object Dictionary 4 34 Objects e COS cat costi An 4 109 4 112 P parameter assignment 3 2 Parameterization 4 15 PDOs BL67 specific 4
156. s 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 KE 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 D301006 0806 BL67 CANopen 8 5 Glossary 8 6 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 BL67 station The BL67 modules communicate with the gateway via the module bus which is independent of the fieldbus MSB Most Significant Bit NMT see Chapter 2 Short description of CANopen Page 2 3 Overhead System administration time required by
157. ser will be replaced by default values at the next Reset Communication Reset Node or Power ON Boot Up With BL67 it is possible to use a command to make a permanent save of the communication and or application parameters This is done through the Store parameters command Object 1010 ex sub index 1 to 3 The command is executed by using an SDO to write the data contents 0x6576 6173 save to one of the following entries mM 1010 sub index 1 saves all parameters 1010 sub index 2 saves all communication parameters 1010 sub index 3 saves all device parameters see CiA DS 301 V4 01 MSB LSB ASCII e V a S HEX 65r 1Brex 61 hex 18hex Since in some circumstances it may not be possible to restore the original memory contents after a lot of alterations BL67 supports the Restore default Parameter command Object 1011 sub index 1 to 3 with the following data contents 0x6461 6F6C load MSB LSB ASCII d a O HEX 64 61 hex GF nex 6Chex The division of the Sub entries corresponds to that for the Store parameters command D301006 0806 BL67 CANopen 4 39 BL67 Communication in CANopen After the command Restore default parameters a Reset Node must be carried out followed by a Store parameters command The default values are only saved again when this last command is executed 4 40 D301006 0806 BL67 CANopen Object Dictionary Table 12 Object overview for the communi cation profil
158. signed8 Access ro Default value BL67 No Sub index 01 to 8E Data Type Integer16 Access rw Default value BL67 00 4 160 D301006 0806 BL67 CANopen I O Module Objects 6443 Analog Output Error Mode It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error The Sub indices of 01 SE define the mode of the analog output channels 1 to 142 The following applies 00 if an error occurs On occurs hex The output maintains its value The output is assigned a substitute value if an error The substitute values for the analog output channels are defined with the object Analog output error state object 6444 x Table 103 Feature Description Value Objects 6443hex Name Analog output error mode Object code ARRAY PDO mapping No Sub index OOhex Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 to 8Ehex Data Type Unsigned16 Access rw Default value BL67 00 D301006 0806 BL67 CANopen 4 161 BL67 Communication in CANopen Note The appropriate numerical values and number ranges for each input variable current voltage temperature can be found in the Ap pendix of the manual for BL67 I O modules D300529 4 162 D301006 0806 BL67 CANopen I O Module Objects 6444 Analog Output Error State The substitute value is defined for each analog output channel The substitute values are only
159. sion page 4 52 Guard time page 4 52 Lifetime factor page 4 54 Store parameters page 4 55 Restore default parameters page 4 57 Emcy COB ID page 4 59 Consumer heartbeat time page 4 61 Producer heartbeat time page 4 63 Identity object page 4 64 Verify configuration page 4 67 Module list page 4 69 D301006 0806 BL67 CANopen Type Access M O Vis String const O Unsigned32 rw O Unsigned32 rw O Unsigned32 rw O Unsigned32 rw O Unsigned32 rw O Unsigned32 rw O Unsigned16 rw O Identity ro O Unsigned32 rw O Unsigned16 ro M Object Dictionary Table 12 Index Object Name Type Access M O Object overview red for the communi cation profile Server SDO parameter 1200 RECORD 1st Server SDO SDO ro O parameter parameter page 4 71 1201 RECORD 2nd Server SDO SDO rw O parameter parameter page 4 71 1202 RECORD 3rd Server SDO SDO rw O parameter parameter page 4 71 1203 RECORD 4th Server SDO SDO rw O parameter parameter page 4 71 Receive PDO communication parameter 1400 RECORD 1st receive PDO PDO rw O parameter CommPar page 4 74 1401 RECORD 2ndreceive PDO PDO rw O parameter CommPar page 4 74 1402 RECORD 3rd receive PDO PDO rw O parameter CommPar page 4 74 141F RECORD 32nd receive PDO rw O PDO parameter CommPar page 4 74 D301006 0806 BL67 CANopen 4 43 BL67 Communication in CANopen Table 12
160. smission types for process data The following attributes can be set for each PDO through the object PDO communication parameter Communication Parameter COB ID The COB ID is the CAN identifier that is used for the transmission of a PDO object 1400 ff and 1800 ff COB IDs are used to define the priority of the message telegrams The lowest COB ID has the highest priority For communication between 2 nodes the COB ID of the transmit PDO must be the same as the COB ID of the receive PDO Lu Note A s delivered each BL67 gateway has from none to eight active PDOs with COB IDs that are taken from the Predefined Master Slave Connection Set hex All other PDOs are inactive This state can be seen from the invalid bit Bit 31 of the COB ID D301006 0806 BL67 CANopen 4 21 BL67 Communication in CANopen Table 4 Transmission type of BL67 4 22 Transmission Type The Transmission type determines under which circumstances a PDO can be transmitted or received The following PDO Transmission types are supported by BL67 E Type 0 sync Type 1 cyclic Type 253 remote request m Type 255 event driven Transmis PDO transmission sion type cyclic acyclic synchr asynchr only with RTR 0 x x 1 x x 253 x x 255 x Type 0 The PDO will always be transmitted TPDO or evaluated RPDO if this is permitted by a Sync Frame transmitted by the SYNC producer and the mapped contents of the BL67
161. ssignment of elec tronic modules to base modules D301006 0806 BL67 CANopen 1 5 BL67 Philosophy Figure 4 Example of a base module 1 6 Base Modules The field wiring is connected to the base modules These are available in the following connection variations nm 1x M12 1 x M12 8 2 x M12 2 v M12 P 4 x M12 4 x4 M12 P 4xM8 8x M8 E 1x M23 1xM23 19 M 1 x 7 8 for Power Feeding Module D301006 0806 BL67 CANopen BL67 Components End Plate fol An end plate on the right hand side physically completes the BL67 station It protects the module bus connections of the last base module in a station and guarantees the protection class IP67 Figure 5 End plate D301006 0806 BL67 CANopen 1 7 BL67 Philosophy 1 8 D301006 0806 BL67 CANopen 2 Short description of CANopen CANODOD ser 2 RAEN ST E 2 Genie ER ETC T 3 Network Management Messages rrrnrnnnnvnnnnnrrnnnnnennnnnennnnnrennnnrennnuvennnnne 3 Service Data Objects SDOS LL 4 Process Data Objects PDOS rrrannrnnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnsenn 4 Special Function Objects rrrrrrnnnnrrnnnnnrnnnnnrnnnnnrnnnnnrnnnnnrnnnnnnennnnnsnnnnssenn 6 BE67 and CANODOTD sias assssussasasuasesusuusEuEEEECI E ME n ons D ane cedrecs casses 7 Electronic data sheet EDS file eese 8 D301006 0806 BL6
162. t SYNC The BL67 CANopen gateway not generate SYNC messages only receive them Structure of the SYNC COB ID entry Unsigned32 MSB LSB Bits 31 30 29 28 to 11 10 to 0 11 bit ID x 0 0 00 0000 0000 0000 0000 11 bit identifier 29 bit ID x 0 1 29 bit identifier Table 15 Bit Value Description Description of the number SYNC COB ID entry 31 MSB X fixed 30 0 Module does not generate a SYNC message Module generates a SYNC message 29 0 11 bit ID CAN 2 04 1 29 bit ID CAN 2 0B 28t011 0 if Bit 29 0 X if Bit 29 1 Bits 28 to 11 of the SYNC COB ID 10to0 X Bit 10 to 0 of the SYNC COB ID LSB d Note B it 30 is static i e cannot be changed 4 48 D301006 0806 BL67 CANopen Object Dictionary Table 16 Object description Object 1005 ex INDEX 1005 Name COB ID Sync Object code VAR Data Type Unsigned32 Value range Access rw PDO mapping No Value range Unsigned32 Default value BL67 0000 0080h D301006 0806 BL67 CANopen 4 49 BL67 Communication in CANopen Table 17 Object 1008 4 50 Object 1008 Device Name Object 1008 hex Object description INDEX Name Object code Data Type Value range Access PDO mapping Value range BL67 Default value BL67 contains the manufacturer specific device name 1008 ex Device name from the manufacturer VAR Visible String const No BL67 GW CO D301006 0806 BL67 CANopen Object Dictionary Object 10
163. t 9009 External Error Force Mode active D301006 0806 BL67 CANopen Meaning Force Mode is active i e the outputs of the BL67 station are not under the control of CANopen at the moment 5 7 Diagnostics Emergency Frames 1 0 Module Diagnostics Digital Input Modules The digital input modules BL67 4DI PD and BL67 8DI PD with diag nosis function have supplementary diagnostics which can not be send via detailed error codes In case of an error occurring at one of these modules the gateway sends an error frame specifying the module and channel number of the respective module as well as a common error classification i Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 If necessary detailed information about the diagnostic message can be read from a manufacturer specific object the object 3042 XBI Diag Word 1 Note O bjects 3000 to 3097 enable direct access to the internal mod ule bus of the BL6 station hex 5 8 D301006 0806 BL67 CANopen 1 0 Module Diagnostics This object reads the first diagnosis word byte 0 and byte 1 of a BL67 module within the station Attention The sub index corresponds to the slot number of the respective module in a station Table 145 Feature Description Value Object 3042 Name XBI Diag Word Object code ARRAY Data Type Unsigned16 Access ro Default va
164. tate Operational state 12 1 Power on automatic change of state to the Initialization condi tion 2 Initialization Finished automatic change of state to Pre Opera tional Start Remote Node start the CAN node Enter Pre Operational change over to Pre Operational Stop Remote Node stop the CAN node Start Remote Node start the CAN node Enter Pre Operational change to Pre Operational Stop Remote Node stop the CAN node ono a 5 Q 9 Reset Node reset the complete CAN node 10 Reset Node reset the complete CAN node 11 Reset Node reset the complete CAN node 12 Reset Communication reset communication for the CAN node 13 Reset Communication reset communication for the CAN node 14 Reset Communication reset communication for the CAN node 4 6 D301006 0806 BL67 CANopen Setting up communication The following messages are exchanged in the states mentioned Operational PDO and SDO communication E Pre Operational only SDO communication The services listed above 1 to 14 are required by CANopen or performed independently by the nodes in order to change from one state to another The Stopped state can be skipped when using Minimum Boot up 1 Power on automatic change of state to the Initialization state 2 Initialization finished automatic change of state to the Pre Operational state 3 6 Start Remote Node start the CAN node Master Byte 0 Byte 1 EE Node ID COB ID
165. the corresponding DCF file After a reset the most recent configuration and the signature will be restored either automatically on request If the configuration values are altered by some other command then the object will be set to O The Configuration Manager compares the signature and the config uration with the values from the DCF file If it discovers any devia tions a reconfiguration will be necessary Object description INDEX 1020 Name Testing the station configuration Object code ARRAY Data Type Unsigned16 Value description Sub index 00 6 Description Number of entries Access rw PDO mapping No Default value BL67 02 D301006 0806 BL67 CANopen 4 67 BL67 Communication in CANopen Table 29 Object description Object 10204 Sub index ot Description Configuration date Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 No Sub index 02 Description Configuration time Access rw PDO mapping No Value range BL67 Unsigned32 Default value BL67 No Note The configuration date contains the number of days since January 01 1984 The configuration time contains the number of milliseconds since midnight 4 68 D301006 0806 BL67 CANopen Object Dictionary Object 1027 Module List Object 1027 ex BL67 station describes all the actually installed modules in an Table 30 Object description Object 1027 hex INDEX 1027 hex Name Module list Object co
166. the positive The input current is outside of the permissible measurement range A range end value 2 130hex Input current too low Open circuit or input current for the measuring range 4 to 20 mA too low The threshold is 3 mA 3003 ex Al U voltage out of range The input voltage is outside of the permissible range i Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 Technology Modules BL67 1RS232 BL67 1RS4xx Byte O Byte3 Byte 4 Byte 5 Meaning Byte 1 Error Code 7000 ex Module Channel 08 Parameter error number number j always 1 10hex Hardware failure 20 44 Handshake error 30 Frame error 40 RX buffer overflow hex 5 18 D301006 0806 BL67 CANopen 1 0 Module Diagnostics Note For the exact byte assignment of the Emergency frame please see Structure of the Emergency Frames Page 5 3 E BL67 1SSI Byte 0 Byte 3 Byte 4 Byte 5 Meaning Byte 1 Error Code 7000 Module Channel OM SSI diag number number always 1 02hex SSI error 04 ex Overflow error 08 Underflow error hex 10 Parameter error hex D301006 0806 BL67 CANopen 5 19 Diagnostics Emergency Frames 5 20 D301006 0806 BL67 CANopen 6 Guidelines for Station Planning Module Arrangement ssxxxsunuu RR RR OX RH V RR GR RITC OR UR RCNH RERO RR ER RUN 2 Random Module Arrangement ss 2 Complete Planning ss sata sonne va Uu Ma Rr Rar
167. the slot number of the respective module in a station Note Objects 3000 ex to 3097 enable direct access to the internal mod ule bus of the BL67 station Table 61 Feature Description Value Object 3064 Name XBI Param Dword Object code ARRAY Data Type Unsigned32 Access rw Default value No PDO mapping No 4 114 D301006 0806 BL67 CANopen I O Module Objects The structure of the 4 bytes of parameter data depends on the module concerned sub index is assigned for each Module The following explains the structure for each module type nm BL67 4DI PD Table 62 Byte Bit Parameter Parameter BL67 4DI PD 0 0 Input filter O A default setting 3 1 0 3 2 0 Input filter 3 Digital input O Digital input 3 Operation Mode Group A Operation Mode Group B reserved D301006 0806 BL67 CANopen Value Meaning 0 deactivate A 1 activate 0 normal A 1 inverted 0 normal A 1 open circuit monitoring 4 115 BL67 Communication in CANopen E BL67 8DI PD Table 63 Byte Bit Parameter Parameter BL67 8DI PD 0 0 Input filter O A default setting 7 Input filter 7 1 0 Digital input 0 7 Digital input 7 2 0 Operation Mode Group A Value Meaning O deactivate A 1 activate 0 normal A 1 inverted 0 normal A 1 open circuit monitoring 3 Operation Mode Group D 3 reserved 4 116 D301006 0806 BL67 CANopen I O Module Objects Object
168. tion Access PDO mapping Value range BL67 Default value BL67 Sub index Description Access PDO mapping Value range BL67 Default value BL67 Sub index Description Access PDO mapping Value range BL67 Default value BL67 D301006 0806 BL67 CANopen 00 Number of mapped application objects in the PDO rw No 0 deactivate 1 to 64 activated see Table 34 Ol 1st mapping object rw No Unsigned32 see page 4 90 40hex 64th mapping object rw No Unsigned32 No 4 89 BL67 Communication in CANopen Table 41 Possible default values for objects 1A00 ox to hex 1A03hex 4 90 Note The number of mapping objects which are automatically generated by the gateway during start up depends on the actual physical structure of the BL67 station Possible default values for objects 1A00 Object Sub index 1A00 01 nex 08 oo Oe 04 1A02 01 04 1A03 01 04 to 1A03 hex Default value Description BL67 6000 0108 6000 0808 6401 0110 6401 0410 6401 0510 6401 0810 6401 0910 6401 0C10 1st mapping object digital input 8th mapping object digital input 1st mapping object analog input 4th mapping object analog input 1st mapping object analog input 4th mapping object analog input 1st mapping object analog input 4th mapping object analog input hex appl
169. to TATF ox which input data are transferred Additionally they define the priority and the mode for the data transfer via TPDO Object 1800 defines the priority the minimum inhibit time the event timer and the transmission type for TPDO1 object 1A00 defines the object index the sub index and the data length for the data which have to be transferred via TPDO1 Objects 1801 and 1A01 x thus define the TPDO2 objects 1802 and 1A02 define RPDO3 etc hex Object 1800 ex to 181Fhex Transmit PDO Parameters Objects 1800 to 181F define the priority the transmission type the inhibit time and the event timer for TPDO1 to TPDO32 The priority is defined via the identifier COB ID see Identifier for the Standard Objects page 4 9 in sub index 01 With the highest bit of sub index 01 the further content can be defined as valid invalid The transmission type is defined in sub index 02hex Possible trans mission type can be found in Table 39 The inhibit time is defined in sub index 03 The event timer is defined in sub index 05 Object description INDEX 1800 to 181F Name Transmit PDO parameters Object code HECORD Data Type PDO CommPar D301006 0806 BL67 CANopen Object Dictionary Table 37 Object description Object 1800 to 181F ex Value description Sub index OG ex Description highest sub index used Access ro PDO mapping No Value range BL67 5 Default value
170. total of 36 groups each 8 bit can be defined 288 digital output channels The substitute value is defined for each digital output channel The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object e g 6206 for the partic ular output channel Substitute values 0 The output will be switched off if an error occurs 1 The output will be switched onif an error occurs Table 74 Feature Description Value Objects 6207 Name Error state output 8 Bit Object code ARRAY PDO mapping Yes Sub index OG ex Data Type Unsigned8 Access ro Default value BL67 No Sub index 01 4 to 244 Data Type Unsigned8 Access rw Default value BL67 00 6 4 128 D301006 0806 BL67 CANopen I O Module Objects Table 75 Objects 6250hex 6251 55 0202 og 6250 Error Mode Output Bit 1 to 128 6251 Error Mode Output Bit 129 to 256 6252 Error Mode Output Bit 257 to 288 The objects defined the values bit wise Each sub index for these objects is a Boolean value A total of 128 bits can be represented 128 digital output channels If more than 128 output channels are present then object 6251 is used If more than 256 output channels are present then object 6252 x is used Since the number of digital input channels in a station is limited to 288 it is not possible to make use of the complete range of the array in object 6522 It is possible to defin
171. ts E BL67 8XSG PD Table 83 Byte Bit Parameter Value Meaning parameters BL67 8XSG PD 0 0 Input filter O 0 deactivate A 1 activate A default setting 7 Input filter 7 1 0 Digital input 0 0 normal A SS 1 inverted 7 Digital input 7 2 0 Output on 0 automatic recoveryA overcurrent 0 1 controlled recovery 7 Output on overcurrent 3 0 Output O 0 deactivate A 1 activate 7 Output 7 D301006 0806 BL67 CANopen 4 139 BL67 Communication in CANopen Table 84 General overview for analog input objects 4 140 Objects for Analog Input Modules General Overview for Analog Input Objects Object 5420 hex 6401 hex 6421 hex 6422 hex 6423 hex 6424 hex 6425 6426 hex 6427 hex 6428 hex Name Page Manu Spec Analog Input Range 4 142 Read analog input 16 Bit 4 147 Analog input interrupt Trigger 4 149 Selection Analog input interrupt source 4 151 Analog input global interrupt enable 4 152 Analog input interrupt upper limit 4 153 Integer Analog input interrupt lower limit 4 154 Integer Analog input interrupt delta Unsigned 4 155 Analog input interrupt negative delta 4 156 Unsigned Analog input interrupt positive delta 4 157 Unsigned D301006 0806 BL67 CANopen I O Module Objects The following figure shows the relationship between the analog input objects for an Integer16 access Figure 4 Relationship between the ana
172. tus Meaning Remedy LED indicators Red Short circuit or over Automatic restart load at sensor supply when debugging sensor supply is switched off Off No voltage supply Check the wiring of the voltage supply at the gateway ERR Off No errors in communi OR cation between the BL67 CANopen gateway and other CANopen nodes Red Faulty or interrupted Check that the fieldbus communication ends with a termination between BL67 resistor if the BL67 CANopen gateway and CANopen gateway is other CANopen the last node in the bus Possible causes topology CAN BusOff Check the seating of Heartbeat error the CANopen bus Guarding error connector or the joints Transmit timeout in the case of direct wiring All connections must be correct and properly seated Check the CANopen cable for possible damage and for correct connections Check that the correct bit rate has been set Check that the NMT master is still func tioning properly 3 22 D301006 0806 BL67 CANopen Status Indicators Diagnostic Messages Gateway Table 4 LED Status LED indicators Bus OFF red orange green ERR red OR blinking alter BUS nately Meaning Fieldbus not operating NMT slave state of the BL67 CANopen gateway is Stopped NMT slave state of the BL67 CANopen gateway is Pre Opera tional NMT slave state of the BL67 CANopen gateway is Opera tional Inval
173. vice 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 Its PDO transmission type number 1 to 240 indicates the Sync rate it listens to how many Sync messages the node waits before the next transmission of its values Acycli cally transmitted synchronous PDOs are triggered by a defined application specific event The node transmits its values with the next Sync message but will not transmit again until another application specific event has occurred D301006 0806 BL67 CANopen 2 5 Short description of CANopen Special Function Objects CANopen also defines three specific protocols for synchronization emergency indication and time stamp transmission Synchronization object Sync The Sync Object is broadcast periodically by the Sync Producer The time period between Sync messages is defined by the Communication Cycle Period which may be reset by a configu ration tool to the application devices during the boot up process There can be a time jitter in transmission by the Sync Producer due to some other objects with higher pri
174. ware hardware can be selected The number of data bits embedded in the telegram the type of parity the number of stop bits the bit transmission rate and the XON XOFF character used must be configured in the module with the appropriate param 4 eters in order to adapt it to the data format of the data terminal device 4 bytes are used for the module parameters Table 109 Feature Description Objects 5600 Name RS232 RS4xx parameters Object code ARRAY Data type Unsigned32 Access rw Default value No PDO mapping No D301006 0806 BL67 CANopen 4 167 BL67 Communication in CANopen Parameters BL67 1RS232 Table 110 Byte Bit Parameter Value Meaning Parameters BL67 1RS232 0 3to data rate 0000 reserved 0 0001 300 bps 0010 600 bps 0011 1200 bps 0100 2400 bps 0101 4800 bps 0110 9600 bps A 0111 14400 bps 1000 19200 bps 1001 28800 bps 1010 38400 bps 1011 57600 bps 1100 115200 bps 1101 reserved 1110 reserved 1111 reserved A default setting 5 4 reserved 6 Disable 1 ReducedCtrl Constant setting The diag nostic messages are mapped into byte 6 of the process input data independent of diag nostic Byte 7 contains the status byte user data are displayed in bytes 0 5 7 Diagnostic 0 release 1 block A 4 168 D301006 0806 BL67 CANopen I O Module Objects Byte Bit Parameter Value Meaning 1 0 Stop bits 0 1 1 2A 2 1 Parity 00 none 01 odd A 10
175. wer feeding module provides a new isoltated I voltage source for all modules mounted to ist right D301006 0806 BL67 CANopen Technical Information Technical Data Table 1 Supply voltage Technical data S for gateway System supply V Up 24 V DC used to generate 3 CANopen the galvanically isolated module bus supply Permissible range 18 to 30 V DC Field supply Vo U 24V DC Permissible range 18 to 30 V DC leva 600 mA current consump tion CPU module bus at maximum system extension lug max 1 3 A maximum output current of module bus supply lu max 4 short circuit and overload protec tion of the sensor supply from gateway or power feeding module lvo max 10 A Isolation voltages Uks 0 V DC PROFIBUS DP service interface Uco 0 V DC CANopen module bus Use 1000 V DC Vo Vi to Usys D301006 0806 BL67 CANopen 3 7 BL67 Gateway for CANopen A I G line length lt 30m 3 8 Ambient conditions Ambient temperature m Lambient n tstore Relative humidity Climatic tests Noxious gas Resistance to vibration Protection class Shock resistant Topple and fall free fall Emitted interference High frequency radiated Immunity to interference Static electricity Electromagnetic HF fields Fast transients Burst Conducted interferences induced by HF fields High energy transients Surge A voltage supply 0 to 55 C 32 to 131 F 25 to 85 C 13 to
176. x D301006 0806 BL67 CANopen 4 73 BL67 Communication in CANopen Object 1400 to 141F Receive PDO Comm Default Parameters Objects 1400 ax to 141F define the priority and the transmission type or RPDO1 to RPDO32 The priority is defined via the identifier COB ID see Identifier for the Standard Objects page 4 9 in sub index 01 With the highest bit of sub index O1hex the further content can be defined as valid invalid hex Sub index 02 defines the transmission type Table 32 Object description Object 1400 to 141F ex INDEX 1400 to 141F ox Name Receive PDO parameters Object code RECORD Data Type PDO CommPar Value description Sub index 00 6 Description maximum number of entries Access ro PDO mapping No Value range BL67 2 Default value BL67 02 Sub index Ol Description COB ID for the PDOs see Table 33 Access rw PDO mapping No 4 74 D301006 0806 BL67 CANopen Object Dictionary Table 32 Object description Object 1400 to 141F ex Value range BL67 Unsigned32 Default value BL67 Index 1400 ex 0000 0200 ex Node ID Index 1401 pex 0000 0300 Node ID Index 1402 0000 0400 Node ID Index 1403 0000 0500 ex Node ID Index 1404 to 141F ox blocked Sub index 02 Description Transmission type see Table 34 Access rw PDO mapping No Value range BL67 Unsigned8 Default value BL67 FFhex D301006 0806 BL67 CANopen 4
177. x Data Type Access Default value BL67 Sub index Data Type Access Default value BL67 hex input channel 1 to 142 8E define the parameters for the analog Description Value Manu spec analog input range ARRAY No 00 Unsigned8 ro No 01 to 8E Unsigned16 rw No D301006 0806 BL67 CANopen I O Module Objects The structure of the 2 bytes of parameter data depends on the module concerned sub index is assigned for each channel The following explains the structure for each module type Parameter E BL67 2A1 I Table 86 Byte Bit Parameters BL67 2AI I 0 0 A default setting Current mode Value representation Diagnostic Channel Kx Value Meaning 0 0 20 mA A 1 4 20 mA 0 Integer 15 bit sign A 1 reserved 0 release A 1 block 0 activate A 1 deactivate 4 to T reserved BL67 2AI V Parameter Voltage mode Value representation Channel Value Meaning 0 0 10VA 1 10 10 V 0 Integer 15 bit sign A 1 reserved 0 release A 1 block Diagnostic Kx 0 activate A 1 deactivate Table 87 Byte Bit Parameters BL67 2AI V 0 0 A default setting 1 2 3 4 to 7 reserved D301006 0806 BL67 CANopen 4 143 BL67 Communication in CANopen nm BL67 2AI PT Table 88 Byte Bit Parameter Parameter data BL67 2AI Pt 0 0 Mains A default setting suppression 1 Value representation 2
178. zh E vv P GND IT IT TH PE HTH de PE Vil IGND Vol IPE VG L PE Vil IGND Vo Ou 5 D301006 0806 BL67 CANopen 7 5 Guidelines for Electrical Installation Electromagnetic Compatibility EMC 7 6 BL67 products comply in full with the requirements pertaining to EMC regulations Nevertheless an EMC plan should be made before installation Hereby all potential electromechanical sources of interference should be considered such as galvanic inductive and capacitive couplings as well as radiation couplings Ensuring Electromagnetic Compatibility The EMC of BL67 modules is guaranteed when the following basic rules are adhered to Correct and large surface grounding of inactive metal compo nents Correct shielding of cables and devices Proper cable routing correct wiring Creation of a standard reference potential and grounding of all electrically operated devices Special EMC measures for special applications Grounding of Inactive Metal Components All inactive metal components for example switchgear cabinets switchgear cabinet doors supporting bars mounting plates tophat rails etc must be connected to one another over a large surface area and with a low impedance grounding This guarantees a stan dardized reference potential area for all control elements and reduces the influence of coupled disturbances Inthe areas of screw connections the painted anodized or isolat

BL67 - USER MANUAL FOR CANOPEN

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