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Schneider Electric IP67 User's Manual

1. Sub index Description Data type Default value Access PDO Mapping Backed up 0 Sub index UNSIGNED8 See table rw no yes number 1 1st object in UNSIGNED32 See table rw no yes the PDO 2 2nd object in UNSIGNED32 See table rw no yes the PDO 8 Most recent UNSIGNED32 See table rw no yes object in PDO Sub index Each data object to be transported is represented in the following manner Structure Bits 31 to 16 MSB 15 to 8 7 to 0 LSB Data Index number of Sub index number of Length of object to be object to be object to be transported transported transported Example 2000H 01H 08H Note e The maximum total length of data that can be transported by the PDO is 8 bytes e By default the 2nd PDO transports objects 2000H and 2001H for the configurable splitters 1606218 02 08 2006 159 The Object Dictionary Default Values The following table gives the default value of object 1605H depending on the splitter reference Product references Sub index Default value FTB 1CNOBE08SPO 0 1 FTB 1CN12E04SPO 1 2000 0108H FTB 1CN16 0 FTB 1CNO8E08CMO 0 2 1 2000 0108H 2 2001 0108H FTB 1CN16CPO 0 3 FTB 1CN16CMO 1 2000 0108H 2 2001 0108H 2001 0208H 160 1606218 02 08 2006 The Object Dictionary Object 1800H 1st Transmit PDO Communication Parameter Description Characteristics This object contains the PDO transmi
2. Note Use a grounding strip or a conductor with a cross section of 1 to 1 5 mm AWG18 AWG16 and a length of lt 3 m 9 84 ft long The maximum recommended length for the grounding strip is 3 m 9 84 ft 1606218 02 08 2006 21 Installation Method for Plastic Units Position of the Ground Electrode on the Metal Unit Method for Metal Units Mounting the Metal Unit Follow the steps below to connect the ground to the unit Step Action 1 Remove the label located above the symbol representing the ground 2 Insert the end of the grounding strip into the grounding terminal of the splitter box 3 Screw in the ground connection screw The following figure shows the position of the ground electrode on the metal boxes PERI d aui D RESET A pisi o coe Note Use a grounding strip or a conductor with a cross section of 1 to 1 5 mm AWG18 AWG16 and a length of lt 3 m 9 84 ft long The maximum recommended length for the grounding strip is 3 m 9 84 ft Follow the steps below to connect the unit to the ground electrode Step Action 1 Crimp the lug on the ground cable 2 Screw in the lug with the ground conductor connection screw supplied with the product Once these steps have all been completed see table above the product can be mounted on its support 22 1606218 02 08 2006 Installation
3. Sub Description Data type Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 1 ro no yes 1 Fallback mode UNSIGNED16 FFFFH rw no yes Note When the value of object 6306H is FFFFH all discrete outputs take the fallback value defined by object 6307H in the event of a fault 1606218 02 08 2006 183 The Object Dictionary Object 6307H Fallback Value 16 Bits Description The value defined in this object is the value taken by the discrete output in the event of an error where the bit corresponding to the 6306H object is at 1 Value Output value in the event of a fault 0 Set to 0 1 Set to 1 Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Backed up index Mapping 0 Sub index number UNSIGNED8 1 ro no yes 1 Fallback value UNSIGNED16 0 rw yes yes 184 1606218 02 08 2006 The Object Dictionary Object 6308H Filter Mask Output 16 Bits Description Characteristics This object is used to configure the mask for outputs Status Description 0 Current output value is frozen 1 Authorizes writing output see objects 6200H and 6300H The characteristics of this object are outlined in the following table Sub Description Data type
4. FTB 1CN16EMO TEFTBO3P01E eds TEFTB0O3M01E_r dib run TEFTB03M01E_s dib stop TEFTBO3MO1E d dib diag FTB 1CN16CPO TEFTBO4P01E eds TEFTB0O4P01E_r dib run TEFTB04P01E_s dib stop TEFTB04P01E_d dib diag TEFTB04M01E_r dib run TEFTB04M01E_s dib stop TEFTB04M01E_d dib diag FTB 1CN16CMO TEFTBO4MP01E eds FTB 1CNO8EO08CMO TEF TBO5M01E eds TEFTBO5M01E_r dib run TEFTBOSMO 1E s dib stop TEFTBO5M01E_d dib diag A WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Do not modify the EDS file manually and do not use any configuration tools that have not been approved by Schneider Electric All modifications must be made using the Advantys Configuration Tool or be carried out by qualified Schneider Electric personnel Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 103 Software Tools Creating a New EDS and DCF Configuration File Introduction Creating a New EDS and DCF Configuration File Once the Advantys Configuration Tool ACT software has been installed and registered you can begin the process for creating island EDS and DCF configuration files Step Action Launch the Advantys Configuration Tool software A window appears Advantys fe Create a new island L A Load an existing island Download a new island island
5. Master Monitoring Guarding Protocol If the master requests Guarding messages on a strictly cyclical basis the slave can detect a master failure If the slave does not receive a request from the master within the defined Life Time interval Guarding error it considers that a master failure has occurred Watchdog function In this case the corresponding outputs go into fallback mode and the slave switches back into Pre Operational mode A WARNING RISK OF UNINTENDED DEVICE OPERATION An unexpected change in state to Pre Operational mode may occur when the slave does not successfully detect the master s request even though a slave master communication monitoring protocol is used Depending on the configuration of the slave s inputs and outputs this change in state may result in unintended device operation or in bodily injury or equipment damage The person in charge of configuring the system is fully responsible for the configuration of the slave inputs outputs and must ensure secure fallback operations in the event of a loss of master slave communication The person in charge of the configuration must also take all necessary steps to ensure equipment and personnel safety should it prove impossible to secure the fallback operations Failure to follow this instruction can result in death serious injury or equipment damage Note Even if the monitoring function over time is disabled Guard Time and
6. PC Select Create new island Click on the OKbutton 104 1606218 02 08 2006 Software Tools Step Action 2 The New island window appears Name CANopen 11 characters max Catalog Selection FTM IP67 modular I O splitter boxes H OTB IP20 remote I O FTM IP67 modular I O splitter boxes FTB IP67 monobloc I O splitter boxes The creation of an island must be in line with the physical configuration of your installation e Enter the name of the island in the fieldName The name of the island must correspond to the name of the EDS configuration file e Select the catalog in the Catalog selection drop down menu Confirm your selection by clicking on the OK button 3 Building the Island A browser window appears A representative model of the island can be built in this window At this point this is an image of an empty 35mm 1 37in DIN rail The catalog browser contains all the references of the catalog selected Building the island is a drag and drop operation Click on the reference in the catalog browser window and while holding down the left mouse button drag the reference over to the DIN rail and drop it release the mouse button 1606218 02 08 2006 105 Software Tools Step Action Island Configuration Once the island has been built you can set its parameters The parameters you need to define will depend on
7. function for channel 17 Note All objects are read by bytes 1606218 02 08 2006 87 Application Specific Functions List of The list of input objects for the Advantys FTB 1CN16CP0 and FTB 1CN16CMO FTB 1CN16CPO splitter boxes is given in the following table 1CN16CM0 Object init Bit Description Input Objects 2000H 1 Bit 0 Choice between the input function and the diagnostics input function for channel 10 Bit 7 Choice between the input function and the diagnostics input function for channel 17 6000H 1 Bit 0 e Channel 0 input reading if channel 0 configured for input e Not assigned if channel 0 configured for output Bit 7 e Channel 7 input reading if channel 7 configured for input e Notassigned if channel 7 configured for output 2 Bit 0 e Channel 10 input reading if channel 10 configured for input e Channel 10 diagnostics input reading if channel 10 configured for diagnostics input e Notassigned if channel 10 configured for output Bit 7 e Channel 17 input reading if channel 17 configured for input e Channel 17 diagnostics input reading if channel 17 configured for diagnostics input e Notassigned if channel 17 configured for output 6100H 1 Bit 0 e Channel 0 input reading if channel 0 configured for input e Not assigned if channel 0 configured for output Bit 7 e Channel 7 input reading if channel 7 configured for input e Notassigned if chan
8. 2 2 55 143 Object 100CH Guard Time 0 2 ree 144 Object 100DH Life Time Factor 0 c cece eee eee 145 Object 1010H Store Parameters 0 cece ee eee 146 Object 1011H Restore Default Parameters 000 0 eee ee eee 148 Object 1014H COB ID Emergency Message EMCY 5 150 Object 1016H Consumer Heartbeat Time 0000 eee eee 151 Object 1017H Producer Heartbeat Time 002e cece eeeee 152 Object 1018H Identity Object sisse erre 153 Object 1200H Server SDO Parameter liliis 154 Object 1400H 1st Receive PDO Communication Parameter 155 Object 1405H 2nd Receive PDO Communication Parameter 156 Object 1600H 1st Receive PDO Mapping Parameter 157 Object 1605H 2nd Receive PDO Mapping Parameter 159 Object 1800H ist Transmit PDO Communication Parameter 161 Object 1805H 2nd Transmit PDO Communication Parameter 164 Object 1A00H 1st Transmit PDO Mapping Parameter 167 Object 1A05H 2nd Transmit PDO Mapping Parameter 169 8 3 Manufacturer specific Zone Objects 2000H to 5FFFH 171 Ata Glance cro repe pua ra e o Rl Rl Ee do HEEL Rr s 171 Object 2000H Input Diag Parameter 00 00 172 Object 2001H Input Output Parameter elles 173 Object 3000H Manufacturer Specific Diagnostic
9. EMC Compatibility Product Compliance Ce This product complies with the European directive 89 336 CEE on electromagnetic compatibility The products described in this manual meet all the conditions regarding electromagnetic compatibility and are compliant with the applicable standards However this does not mean that the electromagnetic compatibility of your installation is assured This is why it is strongly recommended to follow all indications concerning an EMC compliant installation Only in these conditions and thanks to the exclusive use of CE approved components will the devices used be deemed as compliant with the EMC directives When handling the products ensure that all safety measures related to electromagnetic compatibility and all conditions for the use of the products are complied with by all persons concerned This is especially important when handling products sensitive to electrostatic discharges WARNING RISK OF ELECTROMAGNETIC INTERFERENCE AND UNINTENDED EQUIPMENT OPERATION The products described in this manual contain highly complex semiconductors that can be damaged or destroyed by electrostatic discharges ESD If for example they are used within the vicinity of devices rated as class A or B according to IEC 6100 4 4 the level of electromagnetic interference may be enough to cause the device to operate unexpectedly and or to damage it Damage may not necessarily cause a failure or malfunction t
10. Object 6200H Write Outputs 8 Bits Description This object is used to command outputs per byte Note The bits corresponding to a configured input channel are not used Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 2 ro no yes 1 Write outputs 8 bits pin 4 UNSIGNED8 0 rw yes yes channels 00 07 2 Write outputs 8 bits pin 2 UNSIGNED8 0 rw yes yes channels 10 17 A WARNING RISK OF UNINTENDED EQUIPMENT OPERATION It is not advisable to use the 6200H and 6300H objects simultaneously Where both these objects are used the Advantys FTB splitter box executes the most recent command received Failure to follow this instruction can result in death serious injury or equipment damage 180 1606218 02 08 2006 The Object Dictionary Object 6300H Write Outputs 16 Bits Description Characteristics This object is used to command the state of discrete outputs Note The bits corresponding to a configured input channel are ignored The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Backed up Mapping 0 Sub index number UNSIGNED8 1 ro no yes 1 Write outputs 16 bits UN
11. 0 The PDO object exists 1 The PDO object does not exist 30 0 RTR mechanism authorized 1 RTR mechanism not authorized 29 0 11 Bit ID CAN 2 0A 28 11 0 if bit 29 0 10 0 LSb X Bit 10 0 of the identifier 162 1606218 02 08 2006 The Object Dictionary Inhibit Time In the case of PDO transmission Transmit PDO the Inhibit Time can be entered in Sub index 3 this 16 bit field After data has been changed the PDO sender checks that an Inhibit Time has expired since the last transmission A new PDO transmission can only take place if the Inhibit Time has expired The Inhibit Time is useful for asynchronous transmission transmission mode 255 to avoid overloads on the CANopen bus The Inhibit Time is a multiple of 100 us of the value written in sub index 3 of objects 1800H and 1805H The following table gives some examples of values Value Inhibit Time in ms Dec Hex 0000 0000 0 100 0064 10 1000 03E8 100 5000 1388 500 10000 2710 1000 65535 FFFF 6553 5 Event Timer The Event Timer only works in asynchronous transmission mode transmission Sub index 5 mode 255 If data changes before the Event Timer expires a TPDO is sent If a value higher than 0 is written in the 16 bit field the TPDO is sent after the Event Timer expires The value written in sub index 5 of objects 1800H and 1805H corresponds to the Event Timer in milliseconds The data transfer takes place even i
12. Guard Time parameter expressed in milliseconds See Node Guarding and Life Guarding Monitoring Protocols p 62 Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default Access PDO Backed up value Mapping 0 UNSIGNED16 0 rw no yes Common typical values for the Guard Time parameter lie between 250 ms and 2s 144 1606218 02 08 2006 The Object Dictionary Object 100DH Life Time Factor Description This object contains the Life Time Factor parameter It is used to calculate the Life Time Object The characteristics of this object are outlined in the table below Node Guarding Characteristics and Life Guarding Monitoring Protocols p 62 Sub index Description Data type Default Access PDO Backed up value Mapping 0 UNSIGNED8 0 rw no yes Reliable To enable reliable and secure operation the user must enter a Life Time Factor Operation with a minimum value of 2 When the value 1 is used should a delay occur due to the processing of high priority messages or internal processing on the Node Guarding master the splitter switches back to the Pre Operational default state without generating any errors WARNING RISK OF UNINTENDED DEVICE OPERATION Set the Life Time Factor to a minimum value of 2 to prevent any inadvertent change of state to
13. LSB Data Index number of Sub index number of Length of object to be object to be object to be transported transported transported Example 3000H 01H 08H Note e The maximum total length of data that can be transported by the PDO is 8 bytes e By default object 1A05H is configured on object 3000H see the table below 1606218 02 08 2006 169 The Object Dictionary Default Values The following table gives the default value of object 1A05H depending on the splitter reference Product references Sub index Default value FTB 1CN16E 0 2 3000 0108H 3000 0208H FTB 1CNO8E08CMO FTB 1CN12bE04SPO FTB 1CNO8E08SPO 4 3000 0108H 3000 0208H 3000 0308H 3000 0508H FTB 1CN16C 0 6 o n5 com O N O 3000 0108H 3000 0208H 3000 0308H 3000 0408H 3000 0508H oc AJ OJN 3000 0608H 170 1606218 02 08 2006 The Object Dictionary 8 3 Manufacturer specific Zone Objects 2000H to 5FFFH At a Glance Introduction What s in this Section This section lists the objects from the manufacturer specific zone Each object with all its technical characteristics is described according to the CANopen standard This section contains the following topics Topic Page Object 2000H Input Diag Parameter 172 Object 2001H Input Output Parameter 173 Object 3000H Manufacturer
14. Life Time Factor registers set to 0 the slave will respond to a remote request from the master The initial value of the Toggle Bit sent in the first Guarding message is O Then the Toggle bit changes in each subsequent Guarding message which makes it possible to indicate if a message has been lost The network state of the device is indicated in the seven remaining bits Network state Response in hex Stopped 04H or 84H Pre operational 7FH or FFH Operational 05H or 85H 64 1606218 02 08 2006 CANopen Network Interface The Heartbeat Error Monitoring Protocol Operation of Heartbeat Mechanism Meaning of Possible Values The default monitoring method is Node Guarding If a non zero value is written in the object 1017H the Heartbeat mechanism is used If the Heartbeat error monitoring protocol is selected the producer transmits a Heartbeat message periodically depending on the Producer Hearbeat Time parameter The devices responsible for monitoring this message Heartbeat Consumer generate a HeartBeat event if the message is not received in the configured time Consumer Heartbeat Time Note The simultaneous use of both monitoring methods Guarding and Heartbeat is impossible Should both methods be activated at once the equipment will only use the Heartbeat monitoring method The Heartbeat message indicates th
15. Life Time Activation of Monitoring Reliable Operation Error monitoring protocols are used to detect communication errors on the network The default monitoring method Node Guarding consists in the master controlling the slaves It is possible to add Life Guarding control of the master by the slaves Note The simultaneous use of both monitoring methods Guarding and Heartbeat is impossible Should both methods be activated at once the equipment will only use the Heartbeat monitoring method The Life Time parameter is calculated as follows Life Time Guard Time x Life Time Factor The object 100CH contains the Guard Time parameter expressed in milliseconds The object 100DH contains the Life Time Factor parameter When one of the two parameters Life Time Factor or Guard Time is set to 0 default configuration the device does not perform monitoring no Life Guarding To activate monitoring over time you must enter a value minimum 1 in the object 100DH and specify a time in ms in the object 100CH Common typical values for the Guard Time parameter lie between 250 ms and 2 s To enable reliable and secure operation the user must enter a Life Time Factor with a minimum value of 2 When the value 1 is used should a delay occur due to the processing of high priority messages or internal processing on the Node Guarding master the device switches back to the Pre O
16. Pre Operational state Depending on the I O configuration an inadvertent change of state may result in unintended device operation Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 145 The Object Dictionary Object 1010H Store Parameters Description This object is used to store the parameters of the splitter box in backed up memory Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default Acces PDO Backed up value s Mapping 0 Sub index number UNSIGNED8 4 ro no no 1 Store all parameters UNSIGNED32 rw no no 2 Store communication UNSIGNED32 rw no no parameters 1000H 1FFFH 3 Store standardized UNSIGNED32 rw no no application parameters 6000H 9FFFH 4 Store manufacturer UNSIGNED32 rw no no specific application parameters 2000H 5FFFH Operation To save the parameters the save ASCII character string 6576 6173H must be written to the corresponding sub index Most significant word Least significant word Hex value 65H 76H 61H 73H ISO 8859 ASCII e V a S signature The read result of a sub index is always 0000 0001H 146 1606218 02 08 2006 The Object Dictionary Back up Behavior Storage Function Writing a valid value The device sto
17. SWITCH 2000H IF 1H DH 1H un bonsai on oH 1H EINER s 6103H Input p OH 1H OH 1H CHANGE ENTRY into POLARITY 6000H 6100H EH DH 6102H Polarity Input 1606218 02 08 2006 77 Application Specific Functions List of Advantys FTB 1CNO8E08SPO0 Splitter Box I O Objects List of FTB 1CNO8E08SPO Input Objects The list of input objects for the Advantys FTB 1CNO8E08SPO0 splitter box is given in the following table Object Sub Bit Description index 2000H 1 Bit 0 Choice between the input function and the diagnostics input function for channel 10 Bit 7 Choice between the input function and the diagnostics input function for channel 17 6000H 1 Bit 0 Not assigned Bit 7 Not assigned 2 Bit 0 Reading of channel 10 input Bit 7 Reading of channel 17 input 6100H 1 Bit 0 Not assigned Bit 7 Not assigned Bit 8 Reading of channel 10 input Bit 15 Reading of channel 17 input 6102H 1 Bit 0 Not assigned Bit 7 Not assigned Bit 8 Polarity of channel 10 Bit 15 Polarity of channel 17 6103H 1 Bit 0 Not assigned Bit 7 Not assigned Bit 8 Channel 10 masking Bit 15 Channel 17 masking 78 1606218 02 08 2006 Application Specific Functions Note All the objects are 16 bit word tables except for 2000H and 6000H e Sub index 1 of object 6000H corresponds to the
18. The maximum admissible load for the FTB splitter boxes is limited to e 1 6 A per output actuator current e 200 mA for both inputs sensor current WARNING RISK OF EQUIPMENT DAMAGE AND NON COMPLIANCE WITH IP67 Unused M12 connectors must not be left unprotected If an M12 connector is not correctly connected to the end of another connector or standard cable fit a sealing plug in order to ensure that the product is IP67 standard compliant To ensure the IP67 protection index check that the cover is screwed onto the base splitter box and that all connectors are fitted with cables or sealing plugs Failure to follow this instruction can result in death serious injury or equipment damage The following diagram shows the front view of a 5 pin M12 connector and the convention for numbering the pins Pin Assignment 1 24 VDC 2 Channel 10 to 17 diagnostics input or functional input or output 3 0 VDC 4 Channel 00 to 07 functional input or output 5 Ground 30 1606218 02 08 2006 Splitter Box Characteristics and Wiring Allocation of the M12 Connectors to the I Os The following table shows the assignment of the M12 connector pins to the marking of the splitter box s Inputs Outputs and diagnostics Connector Pin 4 Pin 2 number 0 Channel 00 Channel 10 1 Channel 01 Channel 11 2 Channel 02 Channel 12 3 Channel 03 Channel 13
19. configuration of the supported communication objects 1000H 1FFFH are saved in the object directory The device then automatically goes into the Init state The device goes into Init mode after being in the Reset Communication state This state enables you to e define the required communication objects SDO PDO Sync Emergency e install the corresponding CAL services e configure the CAN Controller Initialization of the device is complete and the device automatically goes into the Pre Operational state and sends a Boot Up message 54 1606218 02 08 2006 CANopen Network Interface Pre Operational Stopped Operational The device goes into the Pre Operational state e after the Init state e on receiving the NMT ENTER PRE OPERATIONAL indication if it was in the Operational or Stopped state When the device is in this state its configuration can be modified However only SDOs can be used to read or write device related data When configuration is complete the device goes into one of the following states on receiving the corresponding indication e Stopped on receiving the NMT STOP REMOTE NODE indication e Operational on receiving the NMT START REMOTE NODE indication The device goes into the Stopped state on receiving the STOP REMOTE NODE indication NMT service if it was in Pre Operational or Operational state In this state the device cannot be co
20. on right Element Function 1 LED 2 LED number on the plastic unit 3 Pin number displayed on the metal unit 4 Connector number for the metal unit LED Behavior according to Settings and Channel Status Channel configuration Input voltage Logical value LED status Input closing function 0 VDC 0 24 VDC 1 Channel error Input opening function 0 VDC 24 VDC Channel error Input diagnostics 0 VDC 24 VDC Output 0 VDC 24 VDC Channel error 126 1606218 02 08 2006 Diagnostics CANopen Objects Diagnostics Description EMCY Message When an error is detected by the FTB splitter box the following objects are updated These objects are described in more detail in the object dictionary chapter The object 1001H Error Register displays the generic errors See Objects dictionary see Object 1001H Error Register p 136 The object 1002H Manufacturer Status Register displays the errors specific to the FTB splitter box Objects dictionary see Object 1002H Manufacturer Status Register p 137 The object 1003H Pre defined Error Field saves the latest error codes transmitted by the FTB splitter box Objects dictionary see Object 1003H Pre defined Error Field p 138 The object 3000H Manufacturer Specific Diagnostic provides information about the status of the FTB s
21. 0 Sub index UNSIGNED8 See table rw no yes number 1 1st object in UNSIGNED32 See table rw no yes the PDO 2 2nd object in UNSIGNED32 See table rw no yes the PDO 8 Most recent UNSIGNED32 See table rw no yes object in PDO Sub index Each data object to be transported is represented in the following manner Structure Bits 31 to 16 MSB 15to8 7 to 0 LSB Data Index number of Sub index number of Length of object to be object to be object to be transported transported transported Example 6200H 01H 08H Note e The maximum total length of data that can be transported 08H maximum by the PDO is 8 bytes e By default object 1600H is always configured on object 6200H By default the first PDO transports object 6200H 1606218 02 08 2006 157 The Object Dictionary Default Values The following table gives the default value of object 1600H depending on the splitter reference Product references Sub index Default value FTB 1CNO8E08SPO 0 1 FTB 1CNO8E08CMO 1 6200 0108H FTB 1CN12bE04SPO FTB 1CN16C 0 0 2 1 6200 0108H 2 6200 0208H FTB 1CN16E 0 0 158 1606218 02 08 2006 The Object Dictionary Object 1605H 2nd Receive PDO Mapping Parameter Description Characteristics This object is used to describe the objects that will be transported by the second PDO The characteristics of this object are outlined in the following table
22. 12 Read channel 14 5 Read channel 05 13 Read channel 15 6 Read channel 06 14 Read channel 16 7 Read channel 07 15 Read channel 17 1606218 02 08 2006 177 The Object Dictionary Object 6102H Polarity Input Description Characteristics Value Input type not reversed reversed This object is used to define the polarity of inputs The characteristics of this object are outlined in the following table Sub Description Data type Default Access PDO Backed up index value Mapping 0 Sub index number UNSIGNED8 1 ro no yes 1 Polarity of inputs UNSIGNED16 0 rw no yes 178 1606218 02 08 2006 The Object Dictionary Object 6103H Filter Constant Input 16 Bits Description Characteristics This object is used to configure the mask for inputs Value Input type Input read Ignored input The characteristics of this object are outlined in the following table Sub Description Data type Default Access PDO Mapping Backed up index value 0 Sub index number UNSIGNED8 1 ro no yes 1 Filtering constant UNSIGNED16 0 rw no yes Note Important notes e By entering the value 1 no input update is implemented e Once the filter is enabled the input no longer changes even if the polarity is changed 1606218 02 08 2006 179 The Object Dictionary
23. 8 ft 125 Kbits s 5 m 16 4 ft 10 m 32 80 ft 6 m 19 6 ft 120 m 393 6 ft 50 Kbits s 60 m 196 8 ft 120 m 393 6 ft 72 m 236 ft 300 m 984 ft 20 Kbits s 150 m 492 ft 300 m 984 ft 180 m 590 5 ft 750 m 2 460 6 ft 10 Kbits s 300 m 984 ft 600 m 1 968 4 ft 360 m 1 181 ft 1 500 m 4 921 ft Legend The minimum cable length between two consecutive tap junction boxes must be greater than 60 of the largest of the two sums of the lengths of taps on each of the two boxes 40 1606218 02 08 2006 CANopen Network Interface Example Number of Connected Devices The following illustration shows the calculation of the length of a cable located between two tap junction boxes 3m 1m 3m 3m 1m 1m o 3 ft 3 ft 10 ft 3 ft 10 ft 10 ft o0 OO XL 7 m 23 ft p XL 5 m 16 ft 0 Min interval 0 6 7 m 23 ft Min interval gt 4 2 m 13 8 ft The table below describes the components of a CANopen network Number Description Connected CANopen devices Drop cables tap junction box device Tap junction boxes Connection cables tap junction box tap junction box Bom In this example we have two tap junction boxes and 6 devices We start by calculating the sum of the lengths of cables for each tap junction box and we obta
24. 9 97S 7 Operational o Legend Number Description 1 Device power up 2 After initialization the device automatically goes into the PRE OPERATIONAL state 3 NMT service indication START REMOTE NODE 4 NMT service indication ENTER PRE OPERATIONAL 5 NMT service indication STOP REMOTE NODE 6 NMT service indication RESET NODE 7 NMT service indication RESET COMMUNICATION NMT Network Management Telegram 1606218 02 08 2006 53 CANopen Network Interface Active CANopen Objects depending on State Machine Reset Application Reset Communication Init The crosses in the table below indicate which CANopen objects are active for which states of the state machine Initialisation Pre Operational Operational Stopped PDO object X SDO object X X Emergency X X Boot Up X NMT X X X The device goes into the Reset Application state e after the device starts up or e by RESET NODE NMT service Network Management Telegram In this state the device profile is initialized and all the device profile information is reset to default values When initialization is complete the device automatically goes into the state Reset Communication The device goes into the Reset Communication state e after the Reset Application state e by RESET COMMUNICATION NMT service In this state all the parameters standard value depending on the device
25. Advantys FTB splitter box can be mounted directly onto a wall or a machine Two mounting holes have been provided for this purpose inside the splitter box Note When mounting the unit the support must be flat and smooth so as to prevent any undue stress on the unit which may lead to a loss of sealing Plastic unit The plastic splitter box is mounted using two 4 mm 0 16 in diameter screws and two washers The tightening torque is 1 5 Nm 13 3 b in Metal unit The metal splitter box is mounted using two 6 mm 0 24 in diameter screws and two washers The tightening torque is 9 Nm 79 7 Ib in Note For metal units wire the ground terminal before attaching the splitter box to its support See Grounding of the Advantys FTB Splitter Box p 21 1606218 02 08 2006 17 Installation Plastic Unit The dimensions of the plastic unit front and side views are given in the following Dimensions illustrations mm inch 220 8 66 50 5 1 99 18 1606218 02 08 2006 Installation Metal Unit Dimensions The dimensions of the metal unit front and side views are given in the following illustrations mm inch i o eo y al oo EJ Telemecanique FTB 1CNOSE08CMO S c5y 2 47 1606218 02 08 2006 19 Installation Method Follow the steps below Step Action 1 Position the split
26. At this stage only SDO communication is authorized After receiving a startup command the device switches to the Operational state PDO and SDO communications are both authorized when the device is in the Operational state 1606218 02 08 2006 51 CANopen Network Interface The Device Profile List of Functions The list of functions supported and their coding are given in the following table Function Function code Resulting COB ID Resulting COB ID binary Hex Dec NMT 0000 0 0 SYNC 0001 80 128 EMERGENCY 0001 81 FF 129 255 TPDO tx 0011 181 1FF 385 511 RPDO rx 0100 201 27F 513 639 TPDO tx 0101 281 2FF 641 767 RPDO rx 0110 301 37F 769 895 TPDO tx 0111 381 3FF 897 1023 RPDO rx 1000 401 47F 1025 1151 TPDO tx 1001 481 AFF 1153 1279 RPDO rx 1010 501 57F 1281 1407 SDO tx 1011 581 5FF 1409 1535 SDO rx 1100 601 67F 1537 1663 Node Guarding 1110 701 77F 1793 1919 52 1606218 02 08 2006 CANopen Network Interface CANopen Boot Up Procedure for The minimum configuration of the equipment specifies a shortened boot procedure Boot Up This procedure is illustrated in the following diagram o Initialisation Reset Application Sooo V Reset Communication Mu f 9 Pre Operational O gt 9
27. Boxes Emergency Stop The following diagram shows a front view of the PWR IN and PWR OUT connectors NR 1 PWR 2 RE Pin Assignment 0 VDC 0 VDC Ground Splitter box sensor and power supply aj AJ Oj Nj Actuator power supply We recommend the use of 2 independent power supplies so as to separate the power supply to the splitter boxes sensors from the power supply to the actuators This configuration provides maximum protection against any disturbance on the outputs short circuits Separating the splitter box sensor pin 4 power supplies means that the emergency stop can be connected to the actuator power supply pin 5 of the 7 8 connector A WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Do not connect pin 4 of the power supply connector to the emergency stop circuit of the system Interrupting the power supply to this pin will deactivate the I O channels of the splitter box which can result in an unintended equipment operation Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 33 Splitter Box Characteristics and Wiring Method Follow the steps below Step Action 1 Disconnect all power to the system 2 On the PWR IN connector If the splitter box is the first in the chain connect a cable with a female connector and free wires If the splitter box is the last in the
28. CANopen splitter software installation This chapter contains the following sections Section Topic Page 6 1 Introduction to Software Tools 99 6 2 Product Configuration 101 6 3 Network Configuration 107 6 4 PLC Programming 114 1606218 02 08 2006 97 Software Tools 98 1606218 02 08 2006 Software Tools 6 1 Introduction to Software Tools Introduction General The products in the Advantys range must be configured to be able to operate Software Tools correctly on the network There are three stages in the configuration process e Configuration of the Advantys devices and the desired parameters e Configuration of the network master and slaves e PLC setup and programming I O startup of the network and subsequent use Note For more information please consult the appropriate documentation for the other network devices that may be required the Advantys Configuration Tool online help FTX ES 09 the PLC manual etc The software to be used depends on the PLC software workshop Certain PLC software workshops can configure the network The following diagram shows the software to be used for three Telemecanique PLC software workshops M340 Premium Twido Device Advantys Advantys Advantys Configuration Configuration Configuration Configuration 9 Tool Tool Tool Network Configuration Unity SyCon Twido Su
29. Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 1 ro no yes 1 Output mask filter UNSIGNED16 FFFFH rw no yes Note When the value of object 6308H is FFFFH all discrete outputs have write authorization 1606218 02 08 2006 185 The Object Dictionary 186 1606218 02 08 2006 Appendices At a Glance Introduction What s in this Appendix This appendix provides information on common IEC symbols used in this manual The appendix contains the following chapters Chapter Chapter Name Page A IEC Symbols 189 1606218 02 08 2006 187 Appendices 188 1606218 02 08 2006 IEC Symbols A Glossary of Symbols Introduction This section contains illustrations and definitions of common IEC symbols used in describing wiring schematics 1606218 02 08 2006 189 IEC Symbols Symbols Common IEC symbols are illustrated and defined in the table below Fuse Load L AC power DC power Digital sensor input for example contact switch initiator light ro im barrier and so on Earth ground 2 wire sensor Thermocouple element 190 1606218 02 08 2006 Glossary CAL CAN CE CiA CiA Draft Standard 102 CiA Draft Standard 301 CiA Draft Standard 302 CiA Dra
30. E matic COB ID allocation in accordance with Nodeguard COB ID 1 Device profile 401 Device type Analog input Digital output Input Emergency COB ID 129 PC Objects 1793 Object Configuration Predefi ined Process Data Objects PDOs from EDS file Actual node Obj ldx PDO name Enable 1800 1801 1802 1803 1804 1805 Transmit PDO Parameter Digital Transmit PDO Parameter Unused 1 Osicoder Ivi PDO Mapping method Transmit PDO Parameter Unused Transmit PDO Parameter Unused Transmit PDO Parameter Unused Transmit PDO Parameter Unused Add to configured PDOs DS301 V4 Ivi Configured PDOs PDO name Symbolic NamqCOB ID Type 1 Addr O Type O Adar Olen Transmit PDO PDO 1800 385 IB Transmit PDO PDO 1801 641 IB Transmit PDO PDO 1802 897 IB Transmit PDO PDO_1803 1153 IB Transmit PDO PDO 1804 1664 IB Transmit PDO PDO_1805 1664 IB PDO Contents Mapping PDO Characteristics New receive PDO New transmit PDO Delete configured PDO Symbolic Names 112 1606218 02 08 2006 Software Tools Step Action 6 Click on Object Configuration ode Configuratio x Node TEST Node address 2 OK Designation Node2 Configuration Protocol Cancel Control Error File name TEST EDS NodelBootU
31. Specific Diagnostic 174 1606218 02 08 2006 171 The Object Dictionary Object 2000H Input Diag Parameter Description For channels 10 to 17 connector pin 2 this object is used to select the input or diagnostics input function Channels 10 to 17 are configured as diagnostics input by default The diagnostics inputs enable the use of sensors integrating a wire cut detection function Note For configurable channels this object s status is taken into account only if the input channel is configured by the 2001H object The following table shows the configuration of channels 10 to 17 according to their sub index bit value Status Description 0 Discrete input 1 Diagnostics input Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 1 ro no yes 1 Input parameter UNSIGNED8 FFH rw no yes diagnostics input Note Channels 10 to 17 are configured as diagnostics inputs by default 172 1606218 02 08 2006 The Object Dictionary Object 2001H Input Output Parameter Description This object may only be used for Advantys splitter boxes with configurable channels Characteristics Status Description 0 Input 1 Output Note
32. This object takes priority over the 2000H object The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 2 ro no yes 1 Parameter for input output UNSIGNED8 0 rw no yes pin 4 channels 00 07 2 Parameter for input output UNSIGNED8 0 rw no yes pin 2 channels 10 17 Note All channels are configured as diagnostics input by default 1606218 02 08 2006 173 The Object Dictionary Object 3000H Manufacturer Specific Diagnostic Description Characteristics box This object provides information on the status of the Advantys FTB CANopen splitter The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 7 ro no no 1 Common diagnostics 8 UNSIGNED8 ro yes no least significant MSR bits object 1002H 2 Sensor short circuit 0 7 UNSIGNED8 ro yes no connectors 3 Actuator stopped UNSIGNED8 ro yes no channels 00 07 4 Actuator stopped UNSIGNED8 ro yes no channels 10 17 5 Actuator overload UNSIGNED8 ro yes no channels 00 07 6 Actuator overload UNSIGNED8 ro yes no channels 10 17 7 Diagnostics inputs UNSIGN
33. input pin 4 UNSIGNED8 ro yes no channels 00 07 2 Read input pin 2 UNSIGNED8 ro yes no channels 10 17 The meaning of each bit is given in the following table Bit No Sub index 1 Sub index 2 0 Read input pin 4 channel 00 Read input pin 2 channel 10 1 Read input pin 4 channel 01 Read input pin 2 channel 11 2 Read input pin 4 channel 02 Read input pin 2 channel 12 3 Read input pin 4 channel 03 Read input pin 2 channel 13 4 Read input pin 4 channel 04 Read input pin 2 channel 14 5 Read input pin 4 channel 05 Read input pin 2 channel 15 6 Read input pin 4 channel 06 Read input pin 2 channel 16 7 Read input pin 4 channel 07 Read input pin 2 channel 17 176 1606218 02 08 2006 The Object Dictionary Object 6100H Read Input 16 Bits Description This object contains the status of discrete inputs in 16 bit format Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Backed up index Mapping 0 Sub index number UNSIGNED8 1 ro no no 1 Read input 16 bits UNSIGNED16 ro yes no The meaning of each bit is given in the following table Bit No Least significant meaning Bit No Most significant meaning 0 Read channel 00 8 Read channel 10 1 Read channel 01 9 Read channel 11 2 Read channel 02 10 Read channel 12 3 Read channel 03 11 Read channel 13 4 Read channel 04
34. register Byte 6 channels 0 to 7 5 channels 10 to 7 17 Contents Faulty channels Faulty channels Types of faults The following table indicates the assignment of all EMCY byte 7 bits Bit Description Comments 0 Sensor under voltage 18V 1 No voltage in sensor 12V 2 Actuator under voltage 18V 3 No voltage in actuator 12V 4 Sensor power supply short circuit 12V 5 Actuator short circuit only where output is set up 6 Actuator overload only where output is set up 7 Detection of wire cut on sensor 1606218 02 08 2006 129 Diagnostics Behavior in the Event of Short circuit Overload Under voltage PowerSupplyfor Short circuit overload Splitter Boxes The following consequences on the FTB splitter box occur when the sensor power and Sensors supply experiences a short circuit or overload e The diagnostics LED on the corresponding M12 connector lights up red e corresponding diagnostics data is transmitted to the master via the bus e all other inputs and outputs will continue to operate correctly Disconnecting the M12 connector of the faulty channel results in LED and diagnostics data re initialization Under voltage no voltage There are three under voltage detection levels e 12 VDC lt U lt 18 VDC in this case the splitter box still operates however e the DI POWER LED is red e appropriate diagnostics dat
35. 00 PWR RUN ERR DO DI EB EEH HE PWR The CANopen DR 303 3 standard defines the functions of the RUN and ERR LEDs on the left Plastic unit on the right Metal unit Telemecanique BUS status Description LED status Auto Baud Automatic search for transmission speed in Rapid flashing progress No error Device is operating normally OK Off Warning limit One of the internal error counters has 1 flash reached reached the limit threshold Error frame Error control Guarding slave or master or Heartbeat 2 flashes event user error Synchronization SYNC signal not received in the SYNC period 3 flashes error Bus is de Splitter status Bus off Permanently switched activated on BUS status Description LED status Auto Baud Automatic recognition of transmission speed Rapid flashing Stop Device status Stopped 1 flash Pre operational Device status Pre Operational Slow flashing Operational Device status Operational Permanently switched on 1606218 02 08 2006 125 Diagnostics LED Status Diagnostics for I O Status LED for I Os on the M12 Connectors LED Behavior One LED is associated with each splitter channel The LED status depends on the channel configuration and its level 0 or 24 VDC The following figure shows the DEL addressing which correspond to the I Os for plastic units on left and metal units
36. 15to0 Value OH Reserved Address of the monitored splitter Monitoring time in ms box If the value of the sub index is O no splitter box is monitored Node Guarding and Life Guarding Monitoring Protocols p 62 1606218 02 08 2006 151 The Object Dictionary Object 1017H Producer Heartbeat Time Description This object is used to configure the time interval in ms within which the module must produce the Hearbeat message The default monitoring method of the splitter is Node Guarding If a non zero value is written in this object the Heartbeat mechanism is used Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default value Access PDO Backed up Mapping 0 UNSIGNED16 OH rw no yes If the Heartbeat error monitoring protocol is selected the splitter box sends a Heartbeat message periodically depending on the Producer Heartbeat Time parameter The products responsible for monitoring this message Heartbeat Consumer generate a Heartbeat event if the message is not received within the configured time Consumer Heartbeat Time in their object 1016H Node Guarding and Life Guarding Monitoring Protocols p 62 152 1606218 02 08 2006 The Object Dictionary Object 1018H Identity Object Description Characteristics This object contains informat
37. 1606218 02 Advantys FTB CANopen IP67 monobloc input output splitter box User guide 1606218 02 eng 3 0 a brand of oD Telemecanique www telemecanique com 1606218 02 08 2006 Table of Contents Safety Information elleeeseeeeeeeeee 7 About the BOOK 222 zs io EVER RISE dS eb 9 Chapter 1 Introduction 5 sse x EY ete 11 Presentation si ic Sides hee le xe yp beg erbe does 11 Presentation of the CANopen Advantys FTB I O Splitter Box Range 12 Overview of the Accessories Range eese seen 13 Chapter 2 Installation lle n AER IE RR Ex ER 15 Presentation 2 42400 sein attics UP glee tebe a peer P 15 OVEIVICW ades 1 hee ite Pe ew ttes ta e ee an air cece rte B 16 Installing the Unita 3 3 cereum E a EUM Ree a eee d 17 Grounding of the Advantys FTB Splitter Box llle eee eee eee 21 EMG Gompalibilily 2 4 2L ree seed pex bitin ara HP E ens 23 Chapter 3 Splitter Box Characteristics and Wiring 27 Pr sentation cc hes exo Fes ed eiu curb E nep M Ned m 27 Advantys FTB Splitter Box Environment Properties 0 00 28 Electrical Characteristics lees 29 Connecting the Actuators and Sensors 000 cece eee eens 30 Power Supply Connection 0 0 c eect eee 32 Chapter 4 CANopen Network Interface 35 Presentation osi AREA IRE weet bp ep RARE RARE agian d ea 35 4 14 Wiring on the CANope
38. 2000 174 8 4 Hardware Profile Objects 6000H to 9FFFH 00e eee 175 Ata Glalice s cu Sous Gi tee aun r AERA HR ac RO RR dla CUR deh wey ORI RES entice 175 Object 6000H Read Inputs 8 Bits liliis eee 176 Object 6100H Read Input 16 Bits 0 0 cece eee 177 Object 6102H Polarity Input llle 178 Object 6103H Filter Constant Input 16 Bits llli 179 Object 6200H Write Outputs 8 Bits 2 0 eese 180 1606218 02 08 2006 5 Appendices Appendix A Glossary Index Object 6300H Write Outputs 16 Bits llle 181 Object 6302H Polarity Outputs 16 Bits llle 182 Object 6306H Fallback Mode 16 Bits llle sese 183 Object 6307H Fallback Value 16 Bits 2 0 0 0 eee eese 184 Object 6308H Filter Mask Output 16 Bits 00 e eee eee ee 185 Creer 0c 108 EUR E ee Ce ee ee rr re ee ee ee eee 187 At aiGlanCe ce na vanadate say E A URP Sete a RR 187 IEG SYMDOIS pod TUN 189 Glossary of Symbols 00 0000 cect ett 189 rrr 191 TCU 197 1606218 02 08 2006 Safety Information Important Information NOTICE Read these instructions carefully and look at the equipment to become familiar with the device before trying to install operate or maintain it The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifie
39. 4 Channel 04 Channel 14 5 Channel 05 Channel 15 6 Channel 06 Channel 16 7 Channel 07 Channel 17 1606218 02 08 2006 31 Splitter Box Characteristics and Wiring Power Supply Connection Description Calculation of the Power Supply Cable Cross Section Assembling the Power Supply Cable For the FTB splitter boxes the power supply is linked using a Mini Style 7 8 5 pole connector The FTB splitter boxes require a 24 VDC power supply Calculations to find cable cross sections are made according to the system s own configuration data and remain the full responsibility of the user A CAUTION RISK OF EQUIPMENT DAMAGE There are two kinds of risk of damage to equipment e The 7 8 connector is sized for a maximum current of 8 A per pin The pins of the 7 8 connector must be provided with adequate protection to prevent an overload of more than 8 A e Reversed polarity connections in the power supply may damage the FTB splitter box Failure to follow this instruction can result in injury or equipment damage The following diagram gives a view of the shape and size of the connection cable connector 30 2 0 mm 1 18 0 787 in 7 1 0 mm 0 272 0 039 in 90 12i lp 3 mm 32 1606218 02 08 2006 Splitter Box Characteristics and Wiring Pin Assignment Recommen dations for the Power Supply to the Sensors Actuators and Splitter
40. 553 5 Event Timer The Event Timer only works in asynchronous transmission mode transmission Sub index 5 mode 255 If data changes before the Event Timer expires a TPDO is sent If a value higher than 0 is written in this 16 bit field the TPDO is sent after the Event Timer expires The value written in sub index 5 of objects 1800H and 1805H corresponds to the Event Timer in milliseconds The data transfer takes place even if there is no change to data The following table gives some examples of values Value Event Timer in ms Dec Hex 0000 0000 0 100 0064 100 1000 03E8 1000 5000 1388 5000 10000 2710 10000 65535 FFFF 65535 166 1606218 02 08 2006 The Object Dictionary Object 1A00H 1st Transmit PDO Mapping Parameter Description Characteristics This object describes the objects that will be transported by the PDO The characteristics of this object are outlined in the following table Sub index Description Data type Default Access PDO Backed up value Mapping 0 Sub index UNSIGNED8 See table rw no yes number 1 1st object in the UNSIGNED32 See table rw no yes PDO 2 2nd object in the UNSIGNED32 See table rw no yes PDO 8 Most recent UNSIGNED32 rw no yes object in PDO Data Field Each data object to be transported is represented in the following manner Structure Bits 31 to 16 15 to 8 7
41. 6100H pin 4 object s least significant byte e Sub index 2 of object 6000H corresponds to the 6300H pin 2 object s most significant byte e Object 2000H read by byte concerns channels 10 to 17 only pin 2 List of FTB The list of output objects for the Advantys FTB 1CNO8E08SPO0 splitter box is given 1CNO8E08SPO in the following table Output Objects Object Sub Bit Description index 6200H 1 Bit 0 Writing of channel 0 output Bit 7 Writing of channel 7 output 6300H 1 Bit 0 Writing of channel 0 output Bit 7 Writing of channel 7 output Bit 8 Not assigned Bit 15 Not assigned 6302H 1 Bit 0 Polarity of channel 0 output Bit 7 Polarity of channel 7 output Bit 8 Not assigned Bit15 Not assigned 6306H 1 Bit 0 Fallback mode of channel 0 output Bit 7 Fallback mode of channel 7 output Bit 8 Not assigned Bit 15 Not assigned 1606218 02 08 2006 79 Application Specific Functions Object Sub Bit Description index 6307H 1 Bit 0 Fallback value of channel 0 output Bit 7 Fallback value of channel 7 output Bit 8 Not assigned Bit 15 Not assigned 6308H 1 Bit 0 Masking of channel 0 output Bit 7 Masking of channel 7 output Bit 8 Not assigned Bit15 Not assigned Note All the objects are 16 bit word tables except for 6200H Sub index 1 of object 6200H corresponds to the 6300H ob
42. 6218 02 08 2006 193 Glossary N NMT Network Management Telegram NMT protocols offer services for network initialization error checking and checking device states 0 OSI Open Systems Interconnection P PDO Process Data Object On networks based on CAN technology PDOs Process Data Objects are transmitted as broadcast messages without confirmation or sent from a producer device to a consumer device PLC Programmable Logic Controller R ro Read only rw Read write S SDO Service Data Object On networks based on CAN technology the field bus master uses SDO Service Data Object messages for access read write to the network node object dictionaries Splitter box Advantys IP67 monobloc input output splitter box 194 1606218 02 08 2006 Glossary String ASCII character string SYNC Synchronization object 1606218 02 08 2006 195 Glossary 196 1606218 02 08 2006 Index Boot Up 53 C CAN bus line 49 CAN H 49 CAN L 49 CANopen Description 49 The Protocol 49 Characteristics Inputs 29 outputs 29 Splitter box 29 E EDS EDS File 102 Existing EDS File 103 EMC Compatibility 23 Environment environment 28 Error Codes 128 F Field Bus Status Diagnostics 125 FTB 12 G Ground Electrode Connection 21 Position 21 22 Guard Time 144 H Heartbeat Time 65 I O Status Diagnostics 126 IEC symbols 189 Installation 17 Introduction to
43. 9O0 0 9 The table below describes the components of a CANopen network Number Description CANopen devices connected by chaining CANopen devices connected by tap Drop cables tap junction box device Tap junction boxes Chaining cables Line terminator NIOJ BR ow wp Repeater identical arbitration on the different bus segments or Bridge different arbitration on the different bus segments CANopen bus segment Note A single line architecture is recommended to reduce signal reflection Avoid using star type architecture 1606218 02 08 2006 39 CANopen Network Interface Tap Length A tap creates a signal reflection and thus its length must be limited to the following parameters Lmax is the maximum length of a tap XLImax is the maximum value of the sum of all taps on the same tap junction box Min interval is the minimum distance necessary between two taps xLGmaxis the maximum value of the sum of all taps on the segment The values to use are given in the following table Speed Lmax XLImax Min interval LGmax 0 6x L local 1 Mbits s 0 3 m 0 98 ft 0 6 m 1 96 ft 1 5 m 4 9 ft 800 Kbits s 3 m 9 8 ft 6 m 19 6 ft 3 6 m 11 8 ft 15 m 49 ft 500 Kbits s 5 m 16 4 ft 10 m 32 80 ft 6 m 19 6 ft 30 m 98 4 ft 250 Kbits s 5 m 16 4 ft 10 m 32 80 ft 6 m 19 6 ft 60 m 196
44. All objects are read by bytes 1606218 02 08 2006 91 Application Specific Functions List of FTB The list of input objects for the Advantys FTB 1CNO8bE08CMO splitter box is given in 1CNO8bE08CMO the following table Input Objects Object Sub Bit Description index 2000H 1 Bit 0 Choice between the input function and the diagnostics input function for channel 10 Bit 7 Choice between the input function and the diagnostics input function for channel 17 6000H 1 Bit 0 e Channel 0 input reading if channel 0 configured for input e Not assigned if channel 0 configured for output Bit 7 e Channel 7 input reading if channel 7 configured for input e Notassigned if channel 7 configured for output 2 Bit 0 e Channel 10 input reading if channel 10 configured for input e Channel 10 diagnostics input reading if channel 10 configured for diagnostics input Bit 7 e Channel 17 input reading if channel 17 configured for input e Channel 17 diagnostics input reading if channel 17 configured for diagnostics input 6100H 1 Bit 0 e Channel 0 input reading if channel 0 configured for input e Not assigned if channel 0 configured for output Bit 7 e Channel 7 input reading if channel 7 configured for input e Notassigned if channel 7 configured for output Bit 8 e Channel 10 input reading if channel 10 configured for input e Channel 10 diagnostics input reading if channel 10 configured for diagnosti
45. Characteristics Input Characteristics Output characteristics Characteristic Description Splitter box s internal consumption 120 mA Splitter power supply voltage 18 30VDC Splitter and sensor supply current lt 8A Actuator supply current lt 8A Under voltage detection yes Characteristic Description Compliance with IEC 1131 2 Type 2 Compliance with 2 wire 3 wire sensor Yes Rated power voltage 24 VDC Maximum current 200 mA for 2 diagnostics input channels Logic Positive PNP Sink Filtering input ims Protection against reverse polarity and short Yes circuit in sensor power supply Overload and over voltage protection Yes Characteristic Description Output type Transistors Output voltage 24 VDC Output current 1 6A Over voltage protection Yes transient diode Maximum switching cycle 20 Hz Maximum lamp load 10 W Connection for outputs cable lengths e 0 75mm 10 m maximum AWG 19 32 8 ft e 0 34 mm 5 m maximum AWG 23 16 4 ft Protection against short circuits yes 1606218 02 08 2006 29 Splitter Box Characteristics and Wiring Connecting the Actuators and Sensors Description Characteristics of the Connections Assignment of M12 Connector Pins The actuators and sensors are connected to the FTB splitter box using M12 type connectors
46. ED8 ro yes no Note The sub indexes are only present in the 3000H object if the Advantys FTB splitter box offers the corresponding functions 174 1606218 02 08 2006 The Object Dictionary 8 4 Hardware Profile Objects 6000H to 9FFFH At a Glance Introduction What s in this Section This section lists the objects relating to the hardware profile Each object with all its technical characteristics is described according to the CANopen standard This section contains the following topics Topic Page Object 6000H Read Inputs 8 Bits 176 Object 6100H Read Input 16 Bits 177 Object 6102H Polarity Input 178 Object 6103H Filter Constant Input 16 Bits 179 Object 6200H Write Outputs 8 Bits 180 Object 6300H Write Outputs 16 Bits 181 Object 6302H Polarity Outputs 16 Bits 182 Object 6306H Fallback Mode 16 Bits 183 Object 6307H Fallback Value 16 Bits 184 Object 6308H Filter Mask Output 16 Bits 185 1606218 02 08 2006 175 The Object Dictionary Object 6000H Read Inputs 8 Bits Description This object contains the status of discrete inputs in 8 bit format Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 2 ro no no 1 Read
47. Interface Introduction to Wiring on the CANopen Bus Introduction The physical characteristics necessary for CANopen bus operation are given in the following illustration plastic units on the left and metal units on the right Description Function See 1 7 8 connector Power supply connection PWR IN Power Supply 2 7 8 connector Power supply connection PWR OUT Connection p 32 3 Rotary switch Selecting transmission speed Configuring the 4 Rotary switches Selecting the splitter box address Address and Transmission Speed p 46 oa M12 Connector CANopen bus connector Bus OUT M12 Connector CANopen bus connector Bus IN Connecting the Field Bus p 44 38 1606218 02 08 2006 CANopen Network Interface Topology Architecture The CANopen network architecture must comply with the following limitations bus length transmission speed See Transmission Speed p 42 number of connected devices See Number of Connected Devices p 41 length of the taps and the space between two taps See Tap Length p 40 line terminator See Line Terminator Resistance p 43 The connections to the CANopen bus may be of the chaining or tap type The following is an illustration of a CANopen network architecture 0 6 3
48. LOW Sensor power supply voltage 18V 3310H OUTPUT VOLTAGE TO HIGH Actuator power supply voltage 30V 3320H OUTPUT VOLTAGE TO LOW Actuator power supply voltage 18V 6101H SOFTWARE RX QUEUE OVERRUN The receive buffer has exceeded its internal memory capacity 6102H SOFTWARE TX QUEUE OVEHRUN The transmit buffer has exceeded its internal memory capacity 8100H COMMUNICATION Synchronization transmit receive error counter 96 8120H CAN IN ERROR PASSIVE MODE CAN controller interrupted 8130H LIFE GUARD ERROR Node Guarding error 8140H BUS OFF The transmit error counter has exceeded its capacity 9000H EXTERNAL ERROR Detection of wire cut on sensor FOOOH ADDITIONAL_FUNCTION Actuator voltage lt 12VDC 128 1606218 02 08 2006 Diagnostics Status Register EMCY Byte 2 Channel Diagnostics EMCY Bytes 5 6 7 The object 1001H Error Register is a byte used by the device to display internal errors when an error is detected Bit Description Comments 0 Generic error See Object 1003H 1 Current fault overload or short circuit See Object 1003H 2 Voltage fault See Object 1003H 3 Temperature Unchecked 4 Communication error See Object 1003H 5 Reserved Unchecked 6 Reserved Unchecked 7 Specific to the manufacturer Detection of wire cut on sensor Data returned in bytes 5 and 6 is the image of channels with the error defined by EMCY byte 7 manufacturer status
49. No error content is sent Error Code 0000H 138 1606218 02 08 2006 The Object Dictionary Error Code The table below lists the error codes and their meanings Meanings Error Diagnostics Meaning code 0000H ERROR_RESET_OR_NO_ERROR Clearing of one or all errors 1000H GENERIC_ERROR Internal communication error 2100H CURRENT_DEVICE_INPUT_SIDE Sensor power supply short circuit M12 connector 2320H SHORT_CIRCUIT_AT_OUTPUTS Output short circuit 3100H MAINS_VOLTAGE Sensor splitter box voltage is lower than approximately 12V 3120H INPUT_VOLTAGE_TOO_LOW Splitter box has detected under voltage in the sensor 3310H OUTPUT_VOLTAGE_TOO_HIGH Splitter box has detected over voltage in the actuator 3320H OUTPUT_VOLTAGE_TOO_LOW The splitter box has detected under voltage in the actuator see note 6101H SOFTWARE_RX_QUEUE_OVERRUN The receive buffer has exceeded its internal memory capacity 6102H SOFTWARE_TX_QUEUE_OVERRUN The transmit buffer has exceeded its internal memory capacity 8100H COMMUNICATION Synchronization transmit receive error counter gt 96 8120H CAN_IN_ERROR_PASSIVE_MODE CAN controller interrupted 8130H LIFE_GUARD_ERROR Node Guarding error 8140H BUS_OFF The CAN frame error counter has exceeded its capacity 9000H EXTERNAL_ERROR Detection of wire cut FOOOH ADDITIONAL_FUNCTION Actuator voltage is lower than approximately 12V Note When there are no
50. O Request the data obtained is read in the table Diag0 120 defined below Example 1 Variables used and parameters of the function Variable Type Description Read sdo Boolean Request launch bit Index Word Index of the object to poll LSB of the double word Index dw Sub index Word Sub index of the object to poll MSB of the double word Index dw Slave add Word Address of the slave to poll Diag0 120 Word table Data exchange area Status0 4 Word table Control and exchange status words ADR y SYS Immediate value Master board address SDO Character string Type of SDO object SDO always in upper case Index_dw Double word MSB sub index LSB index Node Id Word Word or value identifying the destination device on the CANopen bus Program Slave add 2 node at address 2 on the CANopen network Index 16 1000 index 1000H Sub index 0 sub index 0 IF Read sdo THEN clear control Read sdo FALSE Parameter update Node Id Slave add Slave address Diag0 120 2164FFFF Clear diagnostics receive table Status2 0 Clear exchange report Status3 6 Time out 120 1606218 02 08 2006 Software Tools Programmed SDO Request Example 2 request READ_VAR ADR y 1 SYS SDO Index dw Node Id Diag0 120 Status1 4 END IF This example shows the program for saving parameters with object 1010H The data to be sent is contained in the table Diag0 4 defined below Variables used and p
51. PDO Communication Parameter p 156 Object 1600H 1st Receive PDO Mapping Parameter p 157 Object 1605H 2nd Receive PDO Mapping Parameter p 159 Object 1800H 1st Transmit PDO Communication Parameter p 161 Object 1805H 2nd Transmit PDO Communication Parameter p 164 Object 1A00H 1st Transmit PDO Mapping Parameter p 167 Object 1A05H 2nd Transmit PDO Mapping Parameter p 169 72 1606218 02 08 2006 Application Specific Functions List of The manufacturer specific profile objects are listed in the following table Manufacturer Obiect specific Profile j Objects Object 2000H Input Diag Parameter p 172 Object 2001H Input Output Parameter p 173 Object 3000H Manufacturer Specific Diagnostic p 174 List of Device The device profile objects are listed in the following table Profile Objects Object Object 6000H Read Inputs 8 Bits p 176 Object 6100H Read Input 16 Bits p 177 Object 6102H Polarity Input p 178 Object 6103H Filter Constant Input 16 Bits p 179 Object 6200H Write Outputs 8 Bits p 180 Object 6300H Write Outputs 16 Bits p 181 Object 6302H Polarity Outputs 16 Bits p 182 Object 6306H Fallback Mode 16 Bits p 183 Object 6307H Fallback Value 16 Bits p 184 Object 6308H Filter Mask Output 16 Bits p 185 1606218 02 08 2006 73 Application Specific Functions Descr
52. SIGNED16 0 rw yes yes A WARNING RISK OF UNINTENDED EQUIPMENT OPERATION It is not advisable to use the 6200H and 6300H objects simultaneously Where both these objects are used the Advantys FTB splitter box executes the most recent command received Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 181 The Object Dictionary Object 6302H Polarity Outputs 16 Bits Description This object is used to define the polarity of an output Characteristics The characteristics of this object are outlined in the following table Sub Description Data type Default value Access PDO Mapping Backed up index 0 Sub index number UNSIGNED8 1 ro no yes 1 Output polarity UNSIGNED16 0 rw no yes Polarity Value Output type 0 Not reversed 1 Reversed 182 1606218 02 08 2006 The Object Dictionary Object 6306H Fallback Mode 16 Bits Description Characteristics This object is used to define discrete output status value in the event of an error This value is either that defined by the 6307H object or the most recent value received before error occurrence maintain mode Value State of value 0 Maintain 1 Fallback see object 6307H The characteristics of this object are outlined in the following table
53. Software Tools Steps Actions 3 Click on the Bus Configuration button E TSX 57353 RACK 0 POSITION 1 MES Configuration S Designation TSX P 57353 PROCESSOR CHANNEL 1 CHANNEL m EA T E T x CANopen CANopen slaves r Inputs Add Device Name Act Life T Parameter Symbol Bus startup 000 APP 1CCO2 1 400 MW1200 000 FTM 1CN10 0 400 96 MW1201 000 FIM 1CN10 0 400 96MW1202 e Atm dus 000 FTMdCNTO 0 400 3 MWi203 1vj Semi automatid REFERENCE 1 400 JEy program FTB 1CN12E04SP0 1 400 Outputs 003 FTB 1CNOB8EO8SPO 1 400 Parameter Symbol n 1 004 FTB1CN16CPO 1 400 SeMW1700 Configuration load 999 FTM 1CN10 1 400 ScMWTTO Select 009 FTM 1CN10 1 400 MW1702 008 FTM 1CN10 0 400 MW1703 v Sor r CANopen device details Qu Device Name REFERENCE Transmission Sq Vendor Name Telemecanique COB ID Messaq r Total Description N TEST SYNC Messagg No of slaves No Input MW No Output MWs COB ID EMCY 224 TxPDO 768 Auto Clear 0011 83 113 Close The bus configuration window is used to display the exact address of the data associated with the devices The start address of each PDO is defined by the start address of the exchange ar
54. UB D connector e g Advantys OTB CANopen The following table shows the correspondence between pins on 9 pin SUB D connectors and on 5 pin M12 connectors M12 5 pin Connectors 9 pin SUB D SUB D Signal Meaning M12pin 5 pin M12 connector pin connector 1 Reserved 2 CAN L CAN L bus line 5 3 CAN GND OV 3 4 Reserved 5 CAN_SHLD Optional CAN shielding 1 6 GND Optional CAN_V 7 CAN_H CAN_H bus line 4 8 Reserved 9 CAN V4 Optional power supply Method Follow the steps below Step Action 1 Connect the connection cable for chaining to the BUS IN connector 2 If the splitter box is at the end of the line connect a line terminator resistor to the BUS OUT connector Otherwise connect a connection cable to the BUS OUT connector 1606218 02 08 2006 45 CANopen Network Interface Configuring the Address and Transmission Speed Method Follow the steps below Step Action 1 Switch off the power supply to the splitter box Unscrew both screws on the transparent cover Set the communication speed Set the splitter box address Screw the transparent cover back on oc AJOJN Power up the splitter box Illustration of the Rotary Switches DATA NODE ADDRESS RATE X10 X1 Element Function 1 Sets th
55. Wiring 38 L Life Guarding 62 Life Time Factor 145 Life Time 62 M M12 Connectors Assignment of Pins for a Field Bus 44 Pin Assignment for Actuators and Sensors 30 Mini Style 7 8 Connector 32 1606218 02 08 2006 197 Index Mode Operational 55 Pre Operational 55 N Node Guarding 62 Node ID Configuration 46 O Object Dictionary 133 index ranges 133 Overview 16 P PDO Object mapping 133 Physical layer 49 CAN bus line 49 Properties 28 S Software Diagnostics 127 SUB D Connectors Assignment of Pins 45 Symbols 189 T Tap off 40 The Device Profile 52 Transmission Speed Configuration 46 U Unit Dimensions 18 19 198 1606218 02 08 2006
56. a is sent to the master via the bus e 7 VDC lt U 12 VDC in this case the I Os no longer operate however bus communication remains operational e the DI POWER LED is switched off e the relevant diagnostics data is sent to the master via the bus e U 7 VDC in this case the splitter no longer operates Note Power supply to the sensor and the Advantys FTB splitter box is provided by the M12 connectors between pins 1 24 VDC and 3 0 VDC Actuators Short circuit overload The following consequences on the FTB splitter box occur when an output experiences a short circuit or overload e The diagnostics LED on the corresponding M12 connector lights up red e the output status LED lights up red e the corresponding diagnostics data is transmitted to the master via the bus To be re activated a default output must be set to 0 after clearing the error Under voltage no voltage There are two under voltage detection levels e 12 VDC lt U lt 18 VDC in this case the splitter box still operates however e the DO POWER LED is red e the relevant diagnostics data is sent to the master via the bus e U 12 VDC e the DO POWER LED switches off e the relevant diagnostics data is sent to the master via the bus 130 1606218 02 08 2006 The Object Dictionary Presentation Introduction What s in this Chapter This chapter provides a description of the object dictionary the list of objects con
57. ading mode Watchdog Select Databas D document QSF CanOpenttravaillpro s PL7 in conf can y 2 ck Ev Transmission Speed COB ID Message SYNG SYNC Message Period Auto Clear F3 speeds ftm 1 amp ana co island vO 01 co island vO 03 co A F 3 Em File name island_v0_04 co Open File type CANopen FILE co v Cancel 1606218 02 08 2006 115 Software Tools Steps Actions Complete the fields of the Input boxes input data exchange area and Output boxes output data exchange area Configuration v Designation TSX P 57353 PROCESSOR TSX 57353 RACK 0 POSITION 1 CHANNEL 1 CHANNEL 1 v Tsx CCP 100 110 CAN OPEN PCMCIA CARD CANopen MAST M Bus startup e Automatic Semi automatic bus only C By program Configuration loading mode Inputs No of words mwj 500 Index of ist MW 1200 Outputs Maintain Reset No of words MW 500 H Index of 1st Select Database Configuration size e PL7 Transmission Speed COB ID Message SYNC SYNC Message Period Auto Clear D document QSF CanOpen travail pro 5223 words SyCon 1 Mbits s 128 roooms Enabled Disabled r SyCon Tool am hilschei 116 1606218 02 08 2006
58. an standards institute DO Digital Output discrete output E EDS An Electronic Data Sheet is a file in standard ASCII format containing information on a communication functionality of a network device and the content of its object dictionary The EDS also defines device specific and manufacturer specific objects EN European standard F FTB Advantys IP67 monobloc input output splitter box 192 1606218 02 08 2006 Glossary IEC International Electrotechnical Commission Island On the Advantys Configuration Tool interface the Advantys IP67 monobloc input output splitter box is referred to as island ISO International Standard Organization L LED Light Emitting Diode LMT Layer Management Parameter definition concerning different layers for a bus head LSB Least Significant Byte The part of a number address or field that is written as the value furthest to the right in conventional hexadecimal or binary notation LSb Least Significant Bit The part of a number address or field that is written as the value furthest to the right in conventional hexadecimal or binary notation M MNS Module Network Status MSB Most Significant Byte The part of a number address or field that is written as the value furthest to the left in conventional hexadecimal or binary notation MSb Most Significant Bit The part of a number address or field that is written as the value furthest to the left in conventional hexadecimal or binary notation 160
59. and send PDO on Remote Request 254 to 255 FE to FF x Send PDO on event Change of state mode Note For transmission modes corresponding to transfer codes 254 and 255 the events that trigger a TPDOtransmission are e modification of transported data status e the Event Timer has elapsed COB ID The structure of a COB ID for CAN2 0 is shown in the following table Structure Bit No Value Meaning 31 MSb 0 The PDO object exists 1 The PDO object does not exist 30 0 RTR mechanism authorized 1 RTR mechanism not authorized 29 0 11 Bit ID CAN 2 0A 28 11 0 if bit 29 0 10 0 LSb X Bit 10 0 of the identifier 1606218 02 08 2006 165 The Object Dictionary Inhibit Time In the case of PDO transmission Transmit PDO the Inhibit Time can be entered in Sub index 3 this 16 bit field After data has been changed the PDO sender checks that an Inibit Time has expired since the last transmission A new PDO transmission can only take place if the Inhibit Time has expired The Inhibit Time is useful for asynchronous transmission transmission mode 255 to avoid overloads on the CAN bus The Inhibit Time is a multiple of 100 us of the value written in sub index 3 of objects 1800H and 1805H The following table gives some examples of values Value Inhibit Time in ms Dec Hex 0000 0000 0 100 0064 10 1000 OSE8 100 5000 1388 500 10000 2710 1000 65535 FFFF 6
60. arameters of the function Variable Type Description Write sdo Boolean Request launch bit Index Word Index of the object to poll LSB of the double word Index dw Sub index Word Sub index of the object to poll MSB of the double word Index dw Slave add Word Address of the slave to poll Diag0 120 Word table Data exchange area Status0 4 Word table Control and exchange status words ADR y SYS Immediate value Master board address SDO Character string Type of SDO object SDO always in upper case Index_dw Double word MSB sub index LSB index Node Id Word Word or value identifying the destination device on the CANopen bus Program Slave add 2 Index 164 1000 Sub index 0 node at address 2 on the CANopen network IF write sdo THEN clear control write sdo FALSE Parameter update as ev index 1000H sub index 0 Diag0 21646173 DiagO 1 16 6576 1606218 02 08 2006 121 Software Tools Node Id Slave add Slave address Status2 0 Clear exchange report Status3 6 Time out request WRITE_VAR ADR y 1 SYS SDO Index dw Node Id Diag0 4 Status1 4 END IF 122 1606218 02 08 2006 Diagnostics Presentation Introduction Diagnostics information simplifies installation and accelerates diagnostics operations This chapter provides the information r
61. as been launched after initialization by sub index 2 1606218 02 08 2006 149 The Object Dictionary Object 1014H COB ID Emergency Message EMCY Description This object contains the EMCY emergency message identifier Object The characteristics of this object are outlined in the following table Properties Sub index Description Data type Default value Access PDO Mapping Backed up 0 UNSIGNED32 80H NODE ID rw no yes 150 1606218 02 08 2006 The Object Dictionary Object 1016H Consumer Heartbeat Time Description This object is used to monitor the communication of another product on the network It is particularly used to monitor the master The value of this object defines the time interval within which the monitored product must send a Heartbeat message The splitter box is designed in such a way that it can only monitor one product at a time The value of this object must be greater than the value of object 1017H of the monitored product The time must be a multiple of 1 ms Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default Access PDO Backed up value Mapping 0 Sub index UNSIGNED8 1 ro no yes number 1 Consumer UNSIGNED32 0 rw no yes heartbeat time Content of The content of sub index 1 is as follows Venable Bit 31 to 24 23 to 16
62. at the device status is one byte long and is formatted as follows e The most significant bit is reserved and always has a value of 0 e The 7 least significant bits provide the status for the device producing the Heartbeat message The possible values are as follows Status of the Heartbeat Value Decimal Producer Boot Up Stopped Operational 5 Pre Operational 127 1606218 02 08 2006 65 CANopen Network Interface 4 3 Behavior of FTB CANopen Splitter boxes Presentation Introduction This section addresses the different behavior patterns of the Advantys FTB CANopen IP67 splitter and the saving of different parameters What s in this This section contains the following topics Section Topic Page Behavior at Power up 67 Behavior in the Case of Communication Error 68 Saving Restoring Parameters 69 List of Saved Parameters 70 66 1606218 02 08 2006 CANopen Network Interface Behavior at Power up Description The behavior of the Advantys FTB 1CN splitter box at power up is in compliance with the CANOPEN BOOT UP see CANopen Boot Up p 53 Diagram If a back up configuration exists Where a save has been carried out the saved parameters are applied prior to switching to Pre Operational status If a back up configuration does not exist If there is no back up configuration the Advantys FTB splitter box initializ
63. ata exchange without protocol overload A modular design with the possibility of resizing Interoperability and interchangeability of devices Support guaranteed by a large number of international manufacturers A standardized network configuration Access to all device parameters Synchronization and circulation of cyclical process data and or event driven data possibility of short system response times All manufacturers offering CANopen certified products on the market are members of the CiA CAN in Automation industrial consortium As an active member of the CiA consortium Schneider Electric develops its products in compliance with standard recommendations recognized internationally by the CiA consortium 50 1606218 02 08 2006 CANopen Network Interface CAN Standards CANopen specifications are defined by the CiA group and can be accessed subject to some restrictions on the group site at www can cia de The source codes for master and slave devices are available from the various suppliers Note To find out more about CANopen standard specifications and mechanisms please visit the CiA home page http www can cia de Communication The communication profile is based on CAL CAN Application Layer services and on a CANopen protocols Network It provides the user with access to two types of exchange SDO and PDO On power up the device enters an initialization phase then goes into Pre operational state
64. be sent Received response 001 1 83 113 Enter request e EE E 118 1606218 02 08 2006 Software Tools Step Action Complete the fields e Request Write SDO or Read SDO Node address of the device on the CANopen network Index index of the object to read or write Sub index sub index of the object to read or write Value entry area for the data to be sent for write only e Click Send Here is an example of how to configure the Inhibit Time to 1000 ms Enter CANopen Request Request VCES BIO v Node 1 Index 16 1800 Sub index 164 3 Value 164 10 27 00 00 120 bytes max Send Cancel The value 10 27 00 00 corresponds to the number 2710 in hexadecimals which is 1000 ms see Inhibit Time and Event Timer p 60 After a Read SDO read the value given in the Received response area in the bottom right of the debug screen Slave information Node 10 Status 08h Addinfo 0001h Total h zr in No of slaves No Input MW No Output MWs Request to be sent 0011 83 Enter request Received response i 1606218 02 08 2006 119 Software Tools Examples of SDO Requests Programmed This example gives the program for reading object 1000H After a request is made SD
65. bject 1000H Device Type Description This object indicates the device type and its functionalities The least significant word indicates the profile number 401 or 191H for CANopen standard inputs outputs The most significant word is known as the additional information and provides details of the device s functionalities Bit Valid if bit 1 0 The device has discrete inputs 1 The device has discrete outputs 2 The device has analog inputs 3 The device has analog outputs Splitter box Hexadecimal code Decimal code FTB 1CN16EPO 010191H 65 937 FTB 1CN16EMO 010191H 65 937 FTB 1CN16CPO 030191H 197 009 FTB 1CN16CMO 030191H 197 009 FTB 1CNO8E08SPO 030191H 197 009 FTB 1CNO8E08CMO 030191H 197 009 FTB 1CN12bE04SPO 030191H 197 009 Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up UNSIGNED32 See list ro no no 1606218 02 08 2006 135 The Object Dictionary Object 1001H Error Register Description Characteristics This object is used by the device to display internal faults When a fault is detected the corresponding bit is therefore activated The following faults can be displayed Bit Meaning Comments 0 Generic error 1 Current fault overloa
66. cerning the communication profile the hardware profile and the specific manufacturer zone with a detailed description of each This chapter contains the following sections Section Topic Page 8 1 The Object Dictionary 133 8 2 Objects of the Communication Profile 1000H to 1FFFH 134 8 3 Manufacturer specific Zone Objects 2000H to 5FFFH 171 8 4 Hardware Profile Objects 6000H to 9FFFH 175 1606218 02 08 2006 131 The Object Dictionary 132 1606218 02 08 2006 The Object Dictionary 8 1 The Object Dictionary The Object Dictionary Index Ranges There are three zones in the object dictionary Index Zone Function Documentation hexadecimal 1000 1FFF Communication Communication Objects of the profile zone capacities Communication Profile 1000H to 1FFFH p 134 2000 5FFF Manufacturer Diagnostics information Manufacturer specific Zone specific zone some l O data Objects 2000H to 5FFFH p 171 6000 9FFF Device specific I O data Hardware Profile Objects profile zone 6000H to 9FFFH p 175 It is possible to map manufacturer specific and device specific objects in the PDO objects which are then sent via the product 1606218 02 08 2006 133 The Object Dictionary 8 2 Objects of the Communication Profile 1000H to 1FFFH At a Glance Introduction This section lists the objects relating to the communication
67. chain connect a connection cable 3 On the PWR OUT connector If the splitter box is in the middle of the chain connect a power supply connection cable If the splitter box is at the end of the chain fit a sealing plug Phaseo Power A switch mode power supply such as Phaseo ABL 7 is particularly well suited to Supply supply automation systems It is therefore highly recommended for use with Advantys FTB splitter boxes 34 1606218 02 08 2006 CANopen Network Interface Presentation Introduction What s in this Chapter This section describes how to connect the Advantys FTB CANopen splitter box to the CANopen network This chapter contains the following sections Section Topic Page 4 1 Wiring on the CANopen Bus 37 4 2 General Principles 48 4 3 Behavior of FTB CANopen Splitter boxes 66 1606218 02 08 2006 35 CANopen Network Interface 36 1606218 02 08 2006 CANopen Network Interface 4 1 Wiring on the CANopen Bus Presentation Introduction The following section describes wiring on the CANopen bus What s in this This section contains the following topics ion Section Topic Page Introduction to Wiring on the CANopen Bus 38 Topology 39 Choice of system cables 42 Connecting the Field Bus 44 Configuring the Address and Transmission Speed 46 1606218 02 08 2006 37 CANopen Network
68. ck mode if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 7 e Channel 7 output fallback mode if channel 7 configured for output e Not assigned if channel 7 configured for input Bit 8 Not assigned Bit 15 Not assigned 94 1606218 02 08 2006 Application Specific Functions Object Sub Bit Description index 6307H 1 Bit 0 e Channel 0 output fallback value if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 7 e Channel 7 output fallback value if channel 7 configured for output e Not assigned if channel 7 configured for input Bit 8 Not assigned Bit 15 Not assigned 6308H 1 Bit 0 e Channel 0 output masking if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 7 e Channel 7 output masking if channel 7 configured for output e Notassigned if channel 7 configured for input Bit 8 Not assigned Bit 15 Not assigned Note All the objects are 16 bit word tables except for 6200H For object 6200H e Sub index 1 corresponds to the 6300H pin 4 object s least significant byte e Sub index 2 corresponds to the 6300H pin 2 object s most significant byte 1606218 02 08 2006 95 Application Specific Functions 96 1606218 02 08 2006 Software Tools Presentation Introduction What s in this Chapter This chapter deals with Advantys FTB
69. ck mode of channel 4 output Bit 7 Fallback mode of channel 7 output Bit 8 Not assigned Bit 15 Not assigned 6307H 1 Bit 0 Not assigned Bit 3 Not assigned Bit 4 Fallback value of channel 4 output Bit 7 Fallback value of channel 7 output Bit 8 Not assigned Bit 15 Not assigned 6308H 1 Bit 0 Not assigned Bit 3 Not assigned Bit 4 Masking of channel 4 output Bit 7 Masking of channel 7 output Bit 8 Not assigned Bit 15 Not assigned Note All the objects are 16 bit word tables except for 6200H Sub index 1 of object 6200H corresponds to the 6300H object s least significant byte 84 1606218 02 08 2006 Application Specific Functions List of Advantys FTB 1CN16EPO and FTB 1CN16EMO Splitter Box I O Objects List of FTB 1CN16EPO and FTB 1CN16EMO Input Objects The list of input objects for the Advantys FTB 1CN16EP0 and FTB 1CN16EMO splitter boxes is given in the following table Object Sub Bit Description index 2000H 1 Bit 0 Choice between the input function and the diagnostics input function for channel 10 Bit 7 Choice between the input function and the diagnostics input function for channel 17 6000H 1 Bit 0 Reading of channel 0 input Bit 7 Reading of channel 7 input 2 Bit 0 Reading of channel 10 input Bit 7 Reading of channel 17 input 6100H 1 Bit 0 Reading of channel 0 input Bit 15 Reading of channel 17 input 6102H 1 Bi
70. cs input Bit15 e Channel 17 input reading if channel 17 configured for input e Channel 17 diagnostics input reading if channel 17 configured for diagnostics input 92 1606218 02 08 2006 Application Specific Functions Object Sub Bit Description index 6102H 1 Bit 0 e Channel 0 input polarity if channel 0 configured for input e Not assigned if channel 0 configured for output Bit 7 e Channel 7 input polarity if channel 7 configured for input e Notassigned if channel 7 configured for output Bit 8 Channel 10 input polarity if channel 10 configured for input e Channel 10 diagnostics input polarity if channel 10 configured for diagnostics input Bit15 e Channel 17 input polarity if channel 17 configured for input e Channel 17 diagnostics input reading if channel 17 configured for diagnostics input 6103H 1 Bit 0 e Channel 0 input masking if channel 0 configured for input e Not assigned if channel 0 configured for output Bit 7 Channel 7 input masking if channel 7 configured for input e Notassigned if channel 7 configured for output Bit 8 e Channel 10 input masking if channel 10 configured for input e Channel 10 diagnostics input masking if channel 10 configured for diagnostics input Bit15 e Channel 17 input masking if channel 17 configured for input Channel 17 diagnostics input masking if channel 17 configured for diagnostics input Note All the ob
71. d defining the network master configuration so as to create a functional network This phase is carried out by the operator via the PLC software workshop Before installing the software please refer to the relevant manuals 100 1606218 02 08 2006 Software Tools 6 2 Product Configuration At A Glance Introduction What s in this Section This section describes the tools and operating modes that generate the EDSs and DCFs of the Advantys range of devices using the Advantys Configuration Tool FTX ES 0 The software generates one file per island An island represents a node on the network with a separate network address An island can correspond to e An OTB module with or without expansion modules e AnFTB splitter box e A modular FTM splitter module with or without splitters This section contains the following topics Topic Page Characteristics of an EDS File 102 Existing EDS File for CANopen Advantys FTB Splitter Box 103 Creating a New EDS and DCF Configuration File 104 1606218 02 08 2006 101 Software Tools Characteristics of an EDS File Description The EDS file describes all configurable objects for CANopen products These configurable objects are used to identify the product and specify the appropriate behavior The parameters of an EDS file contain all the important information relating to the product For example The product ty
72. d or short circuit 2 Voltage fault 3 Temperature Unchecked 4 Communication error 5 Reserved Unchecked 6 Reserved Unchecked 7 Specific to the manufacturer Detection of wire cut The characteristics of this object are given in the following FTB splitter box table Sub index Description Data type Default value Access PDO Mapping Backed up UNSIGNED8 ro no no 136 1606218 02 08 2006 The Object Dictionary Object 1002H Manufacturer Status Register Description The diagnostics data is saved in this 32 bit field The least significant word LSW contains the error code Characteristics The characteristics of this object are outlined in the following table Sub index Description Data type Default value Acces PDO Backed up s Mapping 0 UNSIGNED32 80H see note ro no no Note At initial start up channels 10 to 17 are configured as diagnostics inputs by default Assignment of ES Note Bit Values e 0 no fault e 1 fault The following table indicates the assignment of the 32 bit set Bit Meaning Notes 0 Sensor under voltage 18V 1 No voltage in sensor 12V 2 Actuator under voltage 18V 3 No voltage in actuator 12V 4 Sensor power supply short circuit in M12 5 Actuator short circuit Only where output is set up 6 Actuator
73. e transmission speed Node ID x 10 Node ID x 1 Assignment of The CANopen address is configured using two specially designed rotary switches the Address on Addresses can be configured from 1 to 99 Address zero 0 cannot be used the Network Note When assigning the addresses ensure that each splitter box is assigned to a single address A configured address is registered at power up It cannot be changed if you do not remove the cover 46 1606218 02 08 2006 CANopen Network Interface Adjustment of the Transmission Speed The transmission speed is configured using a rotary switch The following transmission speeds are possible Switch position Transmission speed Automatic recognition 10 Kbits s 20 Kbits s 50 Kbits s 100 Kbits s 125 Kbits s 250 Kbits s 500 Kbits s 800 Kbits s o o oo i o m o 1 Mbits s Note Two different operating modes are possible e With a set speed of 10 Kbit s to 1 Mbits s the transmission speed of the splitter box must be the same as that of the other devices on the network e n automatic recognition mode at least one of the slaves on the network must be configured to the speed of the Master For each case if the required condition is not observed the splitter box will not be recognized by the network it will remain in the Init state 1606218 02 08 2006 47 CANop
74. e used to connect the splitter box to the field bus These are Connecting the available in different lengths Bus to the Splitter Box FTB 1CN Element Reference Function 1 FTX CN3203 Cables fitted with 2 M12 type elbow connectors 5 pins at both ends for connecting the FTX CN3206 bus between two splitter boxes FTX CN3210 FTX CN3220 FTX CN3230 FTX CN3250 2 FTX DP2206 Cables fitted with 2 7 8 type connectors 5 pins at both ends for daisy chaining 24 VDC FTX DP2210 supplies to two splitter boxes FTX DP2220 FTX DP2250 3 FTX DP2115 Cables fitted with 1 7 8 type connector 5 pins with one free end and the other for FTX DP2130 connecting 24 VDC supplies FTX DP2150 4 FTXCN12M5 Male and female M12 type connectors 5 pins for CANopen bus cables encoding A FTXCN12F5 FTXCNCT1 Connection T fitted with 2 7 8 type connectors 5 pins for power supply cables FTX CNTL12 Line terminators fitted with 1 M12 type connector FTX CY1208 Distribution Y for connecting 2 M8 type connectors to the M12 connector of the splitter FTX CY1212 box Distribution Y for connecting 2 M12 type connectors to the M12 connector of the splitter box 8 FTX C78B Sealing plug for 7 8 connector FTX CM12B Sealing plugs for M12 type connectors 1606218 02 08 2006 13 Introduction 14 1606218 02 08 2006 Installation Presentation Introduction What s in this Chapter This chapter provides all required
75. ea configured using PL7 to which the PDO offset defined using SyCon is added 4 Execute the required SDO requests either from the debug screen or with a program 1606218 02 08 2006 117 Software Tools SDO Request Follow the steps below from the Debu z 9 Step Action Screen 1 Click on the Enter request button in the bottom right of the debug screen TSX 57353 RACK 0 POSITION 1 AGE Debugging v Designation TSX P 57353 PROCESSOR Version 5 0 O DIAG CHANNEL 1 CHANNEL 1 TSX CCP 100 110 CAN OPEN PCMCIA CARD CANopen MAST v o pres CANopen slave status r Slave data Addr Device Name Act Life T p Inputs 000 APP 1CCO2 1 400 Parameter Symbol Value a 000 FTM 1CN10 0 400 8 000 FTM 1CN10 0 400 MW 1212 0 000 FTM 1CN10 0 400 MW1213 0 001 REFERENCE 1 400 EU EEEUE I TE ENS 002 FTB 1CNi2E04SP0 1 400 Output value EGER 003 FTB 1CNO8EO8SPO 1 400 OK Bin e Dec Hex 004 FTB 1CN16CPO 1 400 009 FTM 1CN10 1 400 p Outputs 009 FTM 1CN10 1 400 Parameter Symbol Value A 009 FTM 1CN10 0 400 0 MW1713 0 b adl r Slave information Node 10 Status 08h Addinfo 0001h Profile 401 NodeStat Total ll No of slaves No Input MW No Output MWs Request to
76. ects to be sent to the device click on Add to Configured Objects then click OK 8 Select File Save A CO configuration file is created which contains the complete network architecture and the initial configuration of each node This file is used by PLC programming software e g PL7 Unity etc 1606218 02 08 2006 113 Software Tools 6 4 PLC Programming Presentation Introduction What s in this Section This chapter describes how to integrate the CANopen network configuration file and configuring under PL7 This section contains the following topics Topic Page Integration and Use under PL7 115 Examples of SDO Requests 120 114 1606218 02 08 2006 Software Tools Integration and Use under PL7 Configuration Follow the steps below Steps Actions 1 In the master configuration window select the network configuration file generated with SYCON TSX 57353 RACK 0 POSITION 1 lolx Configuration Y Designation TSX P 57353 PROCESSOR CHANNEL 1 CHANNEL Tv TSX CCP 100 110 CAN OPEN PCMCIA CARD Y CANopen MAST M Bus startup Inputs Outputs o 1 Maintain Reset O cusurus No of words MW 500 Semi automatic bus only No of words MW 500 gt Index of ist MW 1000 gt By program Index of 1st MW 1500 gt Configuration lo
77. en Network Interface 4 2 General Principles Presentation Introduction This section addresses the general principles for operating and using the CANopen network What s in this This section contains the following topics Section Topic Page About CANopen 49 The Device Profile 52 CANopen Boot Up 53 Process Data Object PDO Transmission 56 Inhibit Time and Event Timer 60 Access to Data by Explicit Exchanges SDO 61 Node Guarding and Life Guarding Monitoring Protocols 62 The Heartbeat Error Monitoring Protocol 65 48 1606218 02 08 2006 CANopen Network Interface About CANopen Introduction CANopen is a standard fieldbus protocol for industrial control systems It is particularly well suited to real time PLCs as it provides an effective low cost solution for industrial applications The CANopen The CANopen protocol was created as a subset of CAL CAN Application Layer By Protocol defining profiles it is able to be even more specifically adapted to use with standard industrial components CANopen is a CiA standard CAN in Automation that was very quickly adopted by users when it was put on the market In Europe CANopen is now recognized as the industry standard for industrial systems based on a CAN design Physical Layer CAN uses a differentially driven two wire bus line common return A CAN signal is the difference between the voltage level
78. equired for analyzing errors and faults This analysis is done either by e LED display or e CANopen object analysis What s in this This chapter contains the following topics Chapter Topic Page Power Supply Diagnostics 124 Field Bus Status Diagnostics LED 125 LED Status Diagnostics for I O 126 CANopen Objects Diagnostics 127 Behavior in the Event of Short circuit Overload Under voltage 130 1606218 02 08 2006 123 Diagnostics Power Supply Diagnostics Description The power supply status for the splitter actuators and sensors is displayed on the splitter box s front panel by the DO and DI POWER LEDs as indicated in the following diagram on the left Plastic unit on the right Metal unit DI DO DI OOOOO Q He HEH NE PWR RUN ERR PWR RUN ERR Telemecanique Telemecanique The color of the LED depends on the power supply status as indicated in the following table LED Description LED status DI PWR Sensor and splitter power supply is unavailable Off Power supply for sensor and splitter OK Green Undervoltage in sensor and splitter power supply Red DO PWR Actuator power supply unavailable Off Actuator power supply is OK Green Under voltage in actuator power supply Red 124 1606218 02 08 2006 Diagnostics Field Bus Status Diagnostics LED Description of the Display ERR LED RUN LED RUN ERR S reiemecaniaue DI QQ000
79. es the CANopen data with the default parameters 1606218 02 08 2006 67 CANopen Network Interface Behavior in the Case of Communication Error Description In the event of a communication error detected by one of the error monitoring protocols Node Guarding or Heartbeat fallback values are applied physically on the outputs until the next write of the output command object and when the communication error has disappeared 68 1606218 02 08 2006 CANopen Network Interface Saving Restoring Parameters Management of Saved Parameters Updating Default Parameters Saving and Resetting Parameters Recommen dations to Avoid Data Losses During initial power up the Advantys splitter box is initialized with the default parameters During subsequent power ups it is initialized with the saved parameters Note When the master detects the presence of the splitter box on the network the parameters of the splitter box that are re defined in the master s configuration tool are overwritten Saved parameters are only applied once the speed on the Advantys splitter box has been detected The back up of parameters is performed by writing a signature to the object 1010H see Object 1010H Store Parameters p 146 These parameters will be used during the next start ups Saved parameters are reset with the default values by writing a signature in the object 1011H see Object 1011H Re
80. eters shown in the above table must be considered for networks complying with the standard ISO11898 2 42 1606218 02 08 2006 CANopen Network Interface Line Terminator Resistance What types of cables can be used To minimize the voltage drop in the connection it is advisable to use a higher line terminator resistance for high length cables than that specified by the standard 18011898 2 When configuring the system the connector resistances must also be taken into consideration For each connector 5 mQ to 20 mQ must be added to the terminator resistance A WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The potential difference at the CAN GND connections of all the CANopen bus items must not be greater than 2 VDC The connectors have a standard DC of 5 MA to 20 ma It is important to connect a 120 Q line terminator between CAN H and CAN L at the line end see Physical Layer p 49 Failure to follow this instruction can result in death serious injury or equipment damage Pre assembled cables make installing the system considerably easier Cabling errors are avoided and implementation is achieved more rapidly Schneider Electric offers a full range of products such as field bus links power supply cables and cables for detectors together with accessories such as line terminators Connectors and cables for assembly are also available 1606218 02 08 2006 43 CANopen Network Inter
81. f there is no change to data The following table gives some examples of values Value Event Timer in ms Dec Hex 0000 0000 0 100 0064 100 1000 03E8 1000 5000 1388 5000 10000 2710 10000 65535 FFFF 65535 1606218 02 08 2006 163 The Object Dictionary Object 1805H 2nd Transmit PDO Communication Parameter Description This object contains the Transmit PDO identifier Properties The characteristics of this object are outlined in the following table Sub index Description Data type Default value Acces PDO Backed up s Mapping 0 Sub index UNSIGNED8 05H ro no yes number 1 COB ID UNSIGNED32 0000 0280H Node ID rw no yes 2 Transmission UNSIGNED8 FFH 255 Dec rw no yes mode Inhibit Time UNSIGNED16 0 rw no yes Not available Event Timer UNSIGNED16 0 rw no yes 164 1606218 02 08 2006 The Object Dictionary Transmission The PDO transmission mode can be configured as described in the table below mode Transfer code Transmission mode Notes Dec Hex Cyclic Acyclic Synchrono Asynchron RTR only us ous 0 0 x x Send PDO on first SYNC message following an event 1 to 240 1 to FO x x Send PDO every x SYNC messages 241 to 251 F1 to FB Reserved 252 FC x x Receive SYNC message and send PDO on Remote Request 253 FD x x Update data
82. f this object are outlined in the following table Sub index Description Data type Default Acce PDO Mapping Backed up value ss 0 Sub index number UNSIGNED8 4 ro no no 1 Restore all default UNSIGNED32 rw no no parameters 2 Restore default UNSIGNED32 rw no no communication parameters 1000H 1FFFH 3 Restore default UNSIGNED32 rw no no standardized application parameters 6000H 9FFFH 4 Restore default UNSIGNED32 rw no no manufacturer specific application parameters 2000H 5FFFH Operation To restore the parameters the load ASCII character string 65616F6CH must be written to the corresponding sub index Most significant word Least significant word ISO 8859 d a o ASCII signature Hex value 64H 61H 6FH 6CH The read result of a sub index is always 0000 0001H 148 1606218 02 08 2006 The Object Dictionary Restoration Behavior Writing a valid value The device stores the default parameters and then confirms SDO transmission downloading initialization response Writing an invalid value The device refuses storage and replies with an Abort SDO Transfer abort code 0800 002xH in which x 0 F The default values are actually only used when e the splitter box has been reset e the reset node command has been launched after initialization by sub indexes 1 3or 4 e thereset communication command h
83. face Connecting the Field Bus Description The splitter box can either be in the middle of the chain connection or at line end The field bus is connected via a 5 pin M12 connector Illustration ofthe The following diagram shows the characteristics of the connection cable connector Connection Cable Connector Bus Connector The BUS IN connector is a 5 pin M12 male connector Pin Assignment The BUS OUT connector is a 5 pin M12 female connector The following diagram shows a front view of the bus connectors 3 2 2 3 e BUS 4 4 1 4 BUS IN OUT The following table gives the assignments of the bus connector pins Pin Signal Meaning 1 CAN SHLD Optional CAN shielding 2 CAN V4 NC not connected 3 CAN GND OV 4 CAN_H CAN_H bus line 5 CAN_L CAN_L bus line Note Pin 1 is connected to the ground connection terminal of the splitter box 44 1606218 02 08 2006 CANopen Network Interface Correspondence between 9 pin SUB D Connectors and A CAUTION RISK OF EQUIPMENT DAMAGE AND NON COMPLIANCE WITH STANDARD IP67 Unused M12 connectors must not be left unprotected If an M12 connector is not fitted with a line terminator or connected to a standard cable fit a sealing plug so as to guarantee the product s IP67 protection Failure to follow this instruction can result in injury or equipment damage The bus connector on IP20 products is a 9 pin S
84. ft Standard 401 CMS COB CAN Application Layer Application Layer ISO OSI layer 7 for systems intercon nection model defined by CAN in Automation CiA Controller Area Network European Community CAN in Automation declared association CAN bus manufacturers and users organization Description of the CAN physical communication layer 2 for industrial applications Description of the CAN physical communication layer 2 for industrial applications Description of the communication profile for industrial systems Description of the CAN physical communication layer 2 for industrial applications CAN Message Specification Application layer service for object usage and management Communication Object Messages are sent in COBs in a network and are considered as communication objects 1606218 02 08 2006 191 Glossary COB ID COB Identifier Each communication object is clearly identified by the COB ID identifier which determines the object s priority CSMA CA Carrier Sense Multiple Access Collision Avoidance Multiple access using carrier sensing with collision notification D DBT COB ID Distributor Application layer service used to assign COB ID identifiers to communication objects in CMS services DESINA Standard relating to the connector technology of sensors and actuators established by a German association of machine manufacturers DI Digital Input discrete input DIN Germ
85. gned if channel 17 configured for input 6307H 1 Bit 0 e Channel 0 output fallback value if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 15 e Channel 17 output fallback value if channel 17 configured for output e Not assigned if channel 17 configured for input 6308H 1 Bit 0 e Channel 0 output masking if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 15 e Channel 17 output masking if channel 17 configured for output e Not assigned if channel 17 configured for input Note All the objects are 16 bit word tables except for 6200H For object 6200H e Sub index 1 corresponds to the 6300H pin 4 object s least significant byte e Sub index 2 corresponds to the 6300H pin 2 object s most significant byte 90 1606218 02 08 2006 Application Specific Functions List of Advantys FTB 1CNO8E08CMO Splitter Box I O Objects Configuration Object 2001H Object 2001H is used to select the input and output functions for channels 00 to 17 as an input or output Object 2001H Input Output Parameter p 173 The table below presents the mapping of object 2001H Object Sub index Bit Description 2001H 1 Bit 0 Choice between the input function and the output function for channel 0 Bit 7 Choice between the input function and the output function for channel 7 2 Bit 8 Not assigned Bit 15 Not assigned Note
86. h the SyCon network tool and follow the steps below Steps Actions 1 Open a CANopen type file 2 Click on File and select Copy EDS Us Edit View Insert Online Settings O New Ctrl N Open Ctrl O n Close Save Ctrl S Save As Export gt Copy EDS Print Ctrl P Print Preview Print Setup 1 D document ftm_v0_04 co 2 D document ana co 3 D document ana 4 20 co 4 D document 500k pb Exit 1606218 02 08 2006 107 Software Tools Steps Actions Select the file to be imported and click on Open te File Edit View Insert Online Settings Window Help meg al ea Copy EDS File name TEST EDS File type EDS Files eds Click on Yes to import the 3 associated image files Question Q Do you want to import the corresponding bitmap files If the image files are in the same directory as the EDS file they are found automatically Imported files EDS files 1 Bitmap files Click OK 108 1606218 02 08 2006 Software Tools Steps Actions 6 Click on Insert and select Node or click on the associated button i File Edit D i X Master EU 7 Select the devices to be inserted in the network enter the node address given by the rotary s
87. h voltages arising from the disconnection of inductive loads create large fields in the wires that may cause disturbances in nearby circuits or devices It is advisable to provide an anti interference device at the load level In this way the voltage peak generated by the inductive load is short circuited directly at the point at which it occurs 1606218 02 08 2006 25 Installation 26 1606218 02 08 2006 Splitter Box Characteristics and Wiring 3 Presentation Introduction This chapter provides an overall description of all Advantys FTB splitter boxes Note The in the tables corresponds to values that are not applicable What s in this This chapter contains the following topics 2 Chapter Topic Page Advantys FTB Splitter Box Environment Properties 28 Electrical Characteristics 29 Connecting the Actuators and Sensors 30 Power Supply Connection 32 1606218 02 08 2006 Splitter Box Characteristics and Wiring Advantys FTB Splitter Box Environment Properties Environment Properties Characteristic Description Reference standard Product certification cULus Operating temperature 20 C 60 C 4 F 140 F Storage temperature 25 C 70 C 13 F 158 F Degree of protection IP67 According to IEC 60529 Altitude Om 2 000 m 6 561 ft Vibration withstand capacity for plastic units e Constant a
88. hat is immediately detectable It may occur sporadically or in a delayed manner If there is a risk of electromagnetic interference the system designer must implement the necessary protective measures Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 23 Installation Grounding Cable Routing A low impedance connection with a maximum length of 3 m 9 84 ft must be installed between the splitter box s ground electrode and the reference ground in order to discharge the noise voltages The inductance of standard grounding cables PE presents a risk of high impedance when high frequency noise voltages are present It is therefore advisable to use grounding strips If this solution is not possible use a ground conductor with a large cable cross section and a ground connection that is as short as possible A WARNING RISK OF UNINTENDED EQUIPMENT OPERATION If the box is not connected to the ground or if the ground connection is made using an inappropriate cable the product will be sensitive to electromagnetic disturbances This may lead to unexpected equipment operation Failure to follow this instruction can result in death serious injury or equipment damage Make sure that the following basic wiring rules are followed e Keep the data wire and the power cables apart from one another in so far as is possible e Make sure
89. ication Specific Functions 71 Presentation pinche E ute eee Ts achat states FR Pax Paden Pew 71 List of Objects sc 4 5 Kishen ee bea ees ete EE o E et ee A eH 72 Description of the Discrete Inputs 0 ee 74 Description of Discrete Outputs eere 75 Description of Configurable Discrete I Os lille 76 List of Advantys FTB 1CNO8E08SPO0 Splitter Box I O Objects 78 List of Advantys FTB 1CN12E04SP0 Splitter Box I O Objects 81 List of Advantys FTB 1CN16EP0 and FTB 1CN16EMO Splitter Box I O Objects 85 List of Advantys FTB 1CN16CP0 and FTB 1CN16CMO Splitter Box I O Objects 87 List of Advantys FTB 1CNO8E08CMO Splitter Box I O Objects 91 Software ToOlS cud re eek es Cee Ss Pee ee See 97 Presentations 2 sie mana E ii Pene AR Gok x e Ek Shon x Ri tea gp due mp a doa 97 Introduction to Software Tools llle 99 Introduction ec oi ye i VET e ee ee Se eae Res 99 Product Configuration 0 0 cece tee 101 ATA Glance Eius ee Uer nete epi ot de pM dachte eet Sek Ble 101 Characteristics of an EDS File lllle eee 102 Existing EDS File for CANopen Advantys FTB Splitter Box 103 Creating a New EDS and DCF Configuration File 0 104 Network Configuration liie n 107 Setting the Network Parameters 00 0 e eee eee eee eee 107 PEG Programming A540 iscritta XO Ee ka E esae E Sidon aoa 114 Presenta
90. in 5 m 16 ft and 7 m 23 ft We keep the longest length i e 7 m 23 ft The minimum length of the cable between the two tap junction boxes is equal to 60 of 7 m i e 4 2 m 13 8 ft In addition to the length limitations over the whole of the CANopen bus the following limitations apply e Whatever the case no more than 64 devices may be connected on the same segment 1606218 02 08 2006 41 CANopen Network Interface Choice of system cables Transmission Speed The maximum allowable transmission speeds are given in the following table Transmission speed Cable length kBit s 1000 30 m 98 ft 800 50 m 164 ft 500 100 m 328 ft 250 250 m 820 ft 125 350 m 1 148 ft 100 500 m 1 640 ft 50 1 000 m 3 280 ft 20 2 500 m 8 202 ft 10 5 000 m 16 404 ft Specific The specific resistances and AWG cable sections are shown in the following table Resistance Maximum speed Cable length Specific resistance of Cable sections cables Kbits s m ft mQ m most mm2 AWG 1000 for 40 m 0 40 0 131 70 21 34 0 25 0 34 AWG24 AWG22 131 ft 500 for 100 m 40 300 131 984 60 18 29 0 34 0 6 AWG22 AWG20 328 ft 100 for 500 m 300 600 984 1968 lt 40 lt 12 19 0 5 0 6 AWG20 1640 ft 50 for 1000 m 600 1000 1968 3280 lt 26 7 92 0 75 0 8 AWG18 3 280 ft Note The param
91. information for installing an FTB splitter box on a field bus Note The graphic representations of the splitter boxes in this chapter may not correspond to those really used However the dimensions are exact whatever the case This chapter contains the following topics Topic Page Overview 16 Installing the Unit 17 Grounding of the Advantys FTB Splitter Box 21 EMC Compatibility 23 1606218 02 08 2006 15 Installation Overview Introduction Description This section gives a detailed technical description of the Advantys FTB CANopen splitter box The illustrations below show the plastic units left and metal units right of the Advantys FTB CANopen splitter D d VM SZ m Element Function Mounting holes M12 connector for the inputs and outputs Label Display elements diagnostics and status LED Power supply connectors PWR IN Power supply distribution connector PWR OUT Bus connector BUS IN Bus connector BUS OUT o CO NI oao a AJ w N Transmission speed and addressing rotary selector switch 16 1606218 02 08 2006 Installation Installing the Unit Introduction Description Types of Screws and Tightening Torques This section gives a detailed technical description of Advantys FTB splitter boxes The
92. ion about the splitter box It indicates the manufacturer s CiA identifier vendor ID the product code and the splitter box revision numbers revision number The revision information is coded in two parts e the major revision part most significant word indicates an evolution in CANopen functionalities e the minor revision part least significant word indicates an evolution in splitter functionalities only The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Backed up Mapping 0 Sub index UNSIGNED8 3H ro no no number 1 Vendor ID UNSIGNED32 0500 005AH ro no no 2 Product code UNSIGNED32 See the table ro no no below 3 Revision UNSIGNED32 ro no no number Default Value of Sub index 2 Reference Object code FTB 1CN16EPO 9D4FH FTB 1CN16EMO E174H FTB 1CNO8E08CMO E175H FTB 1CNO8E08SPO 9D51H FTB 1CN12bE04SPO 9D50H FTB 1CN16CPO CA49H FTB 1CN16CMO E176H The default values of sub index 2 are given in the table below 1606218 02 08 2006 153 The Object Dictionary Object 1200H Server SDO Parameter Description This object contains the message identifiers for SDO communication Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default value Access PDO Map
93. iption of the Discrete Inputs Discrete Inputs Input reading made per byte Each input byte is contained in the sub index of object 6000H For each input the following parameters may be modified e Polarity object 6102H e Filtering constant object 6103H The 2000H object is used to configure inputs 10 to 17 as a discrete input or a diagnostics input The state displayed on the inputs is determined by the configuration registers as described below SWITCH 2000H IF 1H OH 1H Sinal Filter Siana Constant input 6103H Diag OH 1 FILTER Input gt OH 1H CHANGE 0H 1H POLAR Polarity Input 74 1606218 02 08 2006 Application Specific Functions Description of Discrete Outputs Discrete Outputs The discrete outputs are controlled by a command in the sub index of object 6200H For each output the following parameters may be modified e Polarity object 6302H e Filter mask object 6308H In the event of an error loss of communication with the master for example the fallback mode is applied The state of the output is determined by the configuration registers as described below Change Filter Polarity Mask 6302H 6308H E D E D CHANGE POLAR ITY FILTER Single Digital Output Fallback Mode SWITCH IF OH Switch if OH 1H I Devi Fallback Value eee i i Failure i suu 6307H 0 1 gt 1606218 02 08 2006 75 Applicati
94. ist of Advantys FTB 1CNO8EO08SPO Splitter Box I O Objects 78 List of Advantys FTB 1CN12E04SP0 Splitter Box I O Objects 81 List of Advantys FTB 1CN16EPO and FTB 1CN16EMO Splitter Box I O Objects 85 List of Advantys FTB 1CN16CP0 and FTB 1CN16CMO Splitter Box I O 87 Objects List of Advantys FTB 1CNO8E08CM0O Splitter Box I O Objects 91 1606218 02 08 2006 Application Specific Functions List of Objects List of The communication objects are listed in the following table Communication Object Objects J Object 1000H Device Type p 135 Object 1001H Error Register p 136 Object 1002H Manufacturer Status Register p 137 Object 1003H Pre defined Error Field p 138 Object 1005H COB ID SYNC Message p 140 Object 1006H Communication Cycle Period p 141 Object 1008H Manufacturer Device Name p 142 Object 100AH Manufacturer Software Version MSV p 143 Object 100CH Guard Time p 144 Object 100DH Life Time Factor p 145 Object 1010H Store Parameters p 146 Object 1011H Restore Default Parameters p 148 Object 1014H COB ID Emergency Message EMCY p 150 Object 1016H Consumer Heartbeat Time p 151 Object 1017H Producer Heartbeat Time p 152 Object 1018H Identity Object p 153 Object 1200H Server SDO Parameter p 154 Object 1400H 1st Receive PDO Communication Parameter p 155 Object 1405H 2nd Receive
95. ite ME PLC setup and programming Unity Twido Suite PL7 Unity Note With Twido Suite Advantys Configuration Tool is run directly by Twido Suite to create or modify an island 1606218 02 08 2006 99 Software Tools Advantys Device Configuration Configuration Files Network Configuration PLC Setup and Programming Software Installation The first phase is accomplished by using the Advantys Configuration Tool FTX ES 0 This tool is used to define each Advantys device to set the parameters and the functions of the inputs outputs and to generate the configuration files required to integrate each device into the master There are two types of configuration file e EDS Electronic Data Sheet files which define the structure of the data available in a splitter box see the object dictionary e DCF Device Configuration File files which in addition to the information contained in an EDS file also contain settings data Cf CiA CAN standard DS 306 Note For further information on EDS file creation please refer to the user manual or to the Advantys Configuration Tool online help This phase may be carried out by a specific software application e g SyCon or by certain PLC software workshops e g Unity Twido Suite This phase involves integrating all devices into the network an
96. ject s least significant byte 80 1606218 02 08 2006 Application Specific Functions List of Advantys FTB 1CN12E04SPO Splitter Box I O Objects List of FTB 1CN12bE04SPO Input Objects The list of input objects for the Advantys FTB 1CN12E04SP0 splitter box is given in the following table Object Sub Bit Description index 2000H 1 Bit 0 Choice between the input function and the diagnostics input function for channel 10 Bit 7 Choice between the input function and the diagnostics input function for channel 17 6000H 1 Bit 0 Reading of channel 0 input Bit 3 Reading of channel 3 input Bit 4 Not assigned Bit 7 Not assigned 2 Bit 8 Reading of channel 10 input Bit 15 Reading of channel 17 input 6100H 1 Bit 0 Reading of channel 0 input Bit 3 Reading of channel 3 input Bit 4 Not assigned Bit 7 Not assigned Bit 8 Reading of channel 10 input Bit 15 Reading of channel 17 input 1606218 02 08 2006 81 Application Specific Functions Object Sub Bit Description index 6102H 1 Bit 0 Polarity of channel 0 Bit 3 Polarity of channel 3 Bit 4 Not assigned Bit 7 Not assigned Bit 8 Polarity of channel 10 Bit15 Polarity of channel 17 6103H 1 Bit 0 Channel 0 masking Bit 3 Channel 3 masking Bit 4 Not assigned Bit 7 Not assigned Bit 8 Channel 10
97. jects are 16 bit word tables except for 2000H and 6000H e Sub index 1 of object 6000H corresponds to the 6100H pin 4 object s least significant byte e Object 2000H read by byte concerns channels 10 to 17 only pin 2 1606218 02 08 2006 93 Application Specific Functions List of FTB The list of output objects for the Advantys FTB 1CNO8E08CM0 splitter box is given 1CNO8bE08CMO in the following table Output Objects Object Sub Bit Description index 6200H 1 Bit 0 e Channel 0 output writing if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 7 e Channel 7 output writing if channel 7 configured for output e Notassigned if channel 7 configured for input 2 Bit 8 Not assigned Bit 15 Not assigned 6300H 1 Bit 0 e Channel 0 output writing if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 7 e Channel 7 output writing if channel 7 configured for output e Notassigned if channel 7 configured for input Bit 8 Not assigned Bit 15 Not assigned 6302H 1 Bit 0 e Channel 0 output polarity if channel O configured for output e Not assigned if channel 0 configured for input Bit 7 e Channel 7 output polarity if channel 7 configured for output e Notassigned if channel 7 configured for input Bit 8 Not assigned Bit 15 Not assigned 6306H 1 Bit 0 e Channel 0 output fallba
98. lically Q Node has to send the transmit PDO every fro received synchronization message Q Node shall use a synchronization message as trigger to send the transmit PDO when remote requested by the master Q Node shall send the transmit PDO when remote requested by master Q Transmission type of transmit PDO manufacturer specific CANopen specific transmission type 255 Communication Timer Node Event timer 0 Inhibit time 0 m CANopen Master Remote Request Condition Every 0 master cycle interval request slow down If you want to define the addresses of the activated PDOs manually Select the master e Click on Settings and select Global settings Deselect Enabled in the Process Data Auto Addressing area e Click OK Illustration Settings Process Data Auto Addressing POE addressing COB ID Allocation during PDO insertion Automatic Addressing in accordance with Profile 401 CO Manual addressing Otherwise go directly to step 6 1606218 02 08 2006 111 Software Tools Step Action Enter the required values in the Addr and O Addr boxes opposite the activated PDO Node Configuration Node Activate node in current configuration TEST Node address Designation Node2 Configuration Protocol File name TEST EDS Control Error Node BootUp 2 OK Cancel
99. lue This avoids the need to wait for the master to send a request A high priority bus status is assigned to the Change of state mode and only the updated input value is returned not the image of the full process thus considerably reducing traffic on the bus Change of state corresponds to the modification of the input value event control A WARNING RISK OF UNINTENDED DEVICE OPERATION The Change of State mode must not be used for inputs outputs whose state changes continuously such as analog inputs The continual modification of I Os using the Change of State mode may block the transmission of other crucial commands resulting in the unintended operation of the device Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 59 CANopen Network Interface Inhibit Time and Event Timer Inhibit Time In event transmission mode the Inhibit Time utility is used to define a minimum time delay before transmission of a new PDO This avoids overloading the bus where a significant number of events occur in rapid succession The Inhibit Time is expressed in multiple of 100 us Values hex Values dec Actual values ms 0000H 0 0000 000AH 10 1 0064H 100 10 03E8H 1000 100 2710H 10 000 1000 FFFFH 65 535 6553 5 Event Timer In event transmission mode the Event Timer is used to define an expiry time dela
100. masking Bit15 Channel 17 masking Note All the objects are 16 bit word tables except for 2000H and 6000H e Sub index 1 of object 6000H corresponds to the 6100H pin 4 object s least significant byte e Sub index 2 of object 6000H corresponds to the 6300H pin 2 object s most significant byte e Object 2000H read by byte concerns channels 10 to 17 only pin 2 82 1606218 02 08 2006 Application Specific Functions List of FTB The list of output objects for the Advantys FTB 1CN12E04SP0 splitter box is given 1CN12bE04SPO in the following table Output Objects Object Sub Bit Description index 6200H 1 Bit O Not assigned Bit 3 Not assigned Bit 4 Writing of channel 4 output Bit 7 Writing of channel 7 output 2 Bit 0 Not assigned Bit 7 Not assigned 6300H 1 Bit 0 Not assigned Bit 3 Not assigned Bit 4 Writing of channel 4 output Bit 7 Writing of channel 7 output Bit 8 Not assigned Bit 15 Not assigned 6302H 1 Bit 0 Not assigned Bit 3 Not assigned Bit 4 Polarity of channel 4 output Bit 7 Polarity of channel 7 output Bit 8 Not assigned Bit 15 Not assigned 1606218 02 08 2006 83 Application Specific Functions Object Sub Bit Description index 6306H 1 Bit 0 Not assigned Bit 3 Not assigned Bit 4 Fallba
101. mode 0 to 240 Synchronous RTR mode 252 Asynchronous RTR mode 253 For certain applications synchronization between scanning of the inputs and activation of the outputs may be necessary Forthis reason CANopen provides the SYNC object a high priority CAN message without any working data which when it is received by the synchronized devices is used to trigger the reading of inputs or activation of outputs Trigger The following diagram shows the time data for synchronized PDO transmission Communication cycle E SYNC SYNC SYNC A A Current input data Set point AAA AAA Output AAA Data Input search in each SYNC message lt Synchronous Actuation based on outputs p window length at next SYNC message Aside from polling by request timing related polling the slaves can also be polled by the master by using data request messages Remote Frames known as RTR messages In mode 252 the device uses the synchronization message to trigger transmission of the PDO once it has received the RTR message In mode 253 the TPDOs are transmitted once the RTR message is received 58 1606218 02 08 2006 CANopen Network Interface Change of state modes 254 and 255 The asynchronous exchange of PDO in Change of state mode enables the rapid modification of an input value followed by immediate confirmation of the change of va
102. mplitude 0 35 mm 0 0138 in 10 Hz lt f lt 57 Hz Constant acceleration 5 0 gn 57 Hz lt f lt 150 Hz According to IEC 68 2 6 Fc test Vibration resistance capacity for metal units e Constant amplitude 1 5 mm 0 06 in 5 Hz lt f lt 70 Hz e Constant acceleration 15 gn 70 Hz lt f lt 500 Hz According to IEC 68 2 6 Fc test Shock resistance capacity for plastic units 30 gn duration 11 ms According to IEC 68 2 27 Fc test Shock withstand capacity for metal units 50 gn duration 11 ms Resistance capacity for electrostatic discharges Contact 4 kV Air 8kV According to IEC 61000 4 2 Withstand capacity for radiated fields 10 V m 3 05 V ft According to IEC 61000 4 3 Withstand capacity for fast transients e Power supply 2 kV Signal 2 kV According to IEC 61000 4 4 Withstand capacity for surge e Power supply e symmetrical 500VDC e asymmetrical 1 000 VDC e Signals e symmetrical 500VDC e asymmetrical 1 000 VDC e Ground 500VDC According to IEC 61000 4 5 Withstand capacity for duct fields 10 Vrms According to IEC 61000 4 6 Withstand capacity for 50 Hz magnetic fields 30 A m 9 15 A ft According to IEC 61000 4 8 Mounting In all positions 28 1606218 02 08 2006 Splitter Box Characteristics and Wiring Electrical Characteristics Splitter Box
103. n Bus ssssseeeeee eh 37 Pr sentation sone atte uo eaten doe rr E IE uds 37 Introduction to Wiring on the CANopen Bus 000 0s ee lees 38 TOpology er x obese Wee Lac wei Ath eed xus 39 Choice of system cables liliis 42 Connecting the Field Bus lisse 44 Configuring the Address and Transmission Speed llus 46 4 2 General Principles 0 0 0 cece ren 48 Presentation sius deep NUES Pep Woda sep Sack aed antec OR eg a 48 AbOUtCANODGOR ur eri tere eeRhpete rV cope c i e a nce aes 49 The Device Profille 5 i me ie ee eee OS Nae ey ek ROREM Dac POE 52 1606218 02 08 2006 3 4 3 Chapter 5 Chapter 6 6 1 6 2 6 3 6 4 Chapter 7 CANopen BootUp code e ED e y RARE dU dein Tag x Ane 53 Process Data Object PDO Transmission llle 56 Inhibit Time and Event Timer llle 60 Access to Data by Explicit Exchanges SDO 0 0 0c eee eee 61 Node Guarding and Life Guarding Monitoring Protocols 62 The Heartbeat Error Monitoring Protocol lille 65 Behavior of FTB CANopen Splitter boxes l l ies esee 66 Presentations enlm aa LG E Ae A A ee RERO PENES EA 66 Behavior at Power up sssseseeeeeee teas 67 Behavior in the Case of Communication Error 0 000 cee ee eee 68 Saving Restoring Parameters 0 000 cece ete 69 List of Saved Parameters errer te close oa ee eee eee ees 70 Appl
104. nel 7 configured for output Bit 8 e Channel 10 input reading if channel 10 configured for input e Channel 10 diagnostics input reading if channel 10 configured for diagnostics input e Notassigned if channel 10 configured for output Bit15 e Channel 17 input reading if channel 17 configured for input e Channel 17 diagnostics input reading if channel 17 configured for diagnostics input e Notassigned if channel 17 configured for output 88 1606218 02 08 2006 Application Specific Functions List of FTB 1CN16CPO and FTB 1CN16CMO Output Objects Object Sub Bit Description index 6102H 1 Bit 0 e Channel 0 polarity if channel 0 configured for input e Not assigned if channel 0 configured for output Bit15 e Channel 17 polarity if channel 17 configured for input e Notassigned if channel 17 configured for output 6103H 1 Bit 0 e Channel 0 masking if channel 0 configured for input e Not assigned if channel 0 configured for output Bit15 e Channel 17 masking if channel 17 configured for input Not assigned if channel 17 configured for output Note All the objects are 16 bit word tables except for 2000H and 6000H e Sub index 1 of object 6000H corresponds to the 6100H pin 4 object s least significant byte e Object 2000H read by byte concerns channels 10 to 17 only pin 2 The list of output objects for the Advantys FTB 1CN16CPO and FTB 1CN16CMO splitter boxes is given in the following
105. nfigured No service is available to read and write device related data SDO Only the slave monitoring function Node Guarding or Heartbeat remains active The device goes into the Operational state if it was in the Pre Operational or Stopped state on receiving START REMOTE NODE indication When the CANopen network is started using the NMT START REMOTE NODE services all device functionalities can be used Communication can be carried out via PDOs or SDOs A WARNING RISK OF UNINTENDED DEVICE OPERATION Do not change the device configuration when it is in Operational state Changing the equipment configuration while it is in the Operational state may result in the device behaving in an unexpected manner and or in equipment damage or injury to personnel If the device needs to be reconfigured put it in the Pre Operational state and check that this has been done correctly before proceeding to modify the configuration Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 55 CANopen Network Interface Process Data Object PDO Transmission Definition of PDO Types of PDO PDOs are objects which provide the communication interface with process data and enable them to be exchanged in real time A CANopen device s PDO set describes the implicit exchanges between this device and its communication partners on the network The e
106. ommunication errors in slow speed 1606218 02 08 2006 141 The Object Dictionary Object 1008H Manufacturer Device Name Description This object contains the device name Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default value Access PDO Mapping Backed up 0 STRING See the table below ro no no The default value depends on the splitter box reference Splitter box references Default values FTB 1CNO8EO08SPO FTB1CNO8E08SP0 FTB 1CN12E04SP0 FTB1CN12E04SP0 FTB 1CN16EPO FTB1CN16EPO FTB 1CN16EMO FTB1CN16EMO FTB 1CN16CPO FTB1CN16CPO FTB 1CN16CMO FTB1CN16CMO FTB 1CNO8E08CMO FTB1CNO8E08CMO see Splitter Box Inputs and Outputs p 12 142 1606218 02 08 2006 The Object Dictionary Object 100AH Manufacturer Software Version MSV Description This object contains details of the device software version in the form SWxx yy Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default Access PDO Backed up value Mapping 0 STRING Depending ro no no on the splitter box version 143 1606218 02 08 2006 The Object Dictionary Object 100CH Guard Time Description The object 100CH contains the
107. on Node2 Configuration Protocol _ Cancel trol Ei File name TEST EDS oO Bodelpooiip Activate node in current configuration Emergency COB ID 129 OPC Objects Iv Automatic COB ID allocation in accordance with Nodeguard COB ID 1793 Object Profile 301 Configuration Device profile 401 Device type Analog input Digital output Input Predefined Process Data Objects PDOs from EDS file Actual node Obj Idx PDO name Enable 1 Osicoder vi 1800 Transmit PDO Parameter Digital 1801 Transmit PDO Parameter Unused PDO mapping method 1802 Transmit PDO Parameter Unused DS301 V4 Ivi 1803 Transmit PDO Parameter Unused 1804 Transmit PDO Parameter Unused 1805 Transmit PDO Parameter Unused Add to configured PDOs Configured PDOs PDO namd Symbolic NamdCOB ID o Add Olen 4 PDO Contents Mapping Transmit PDO PDO_1800 385 Transmit P O 1801 641 HDOREIR stica Transmit PI 1802 897 New receh Transmit PDO PDO 1803 1153 TA Transmit PDO PDO 1804 1664 BewikanemtGpo Transmit PDO PDO 1805 1664 Delete configured PDO Symbolic Names Press F1 for Help CANopen Configuration 110 1606218 02 08 2006 Software Tools Step Action Select the required transmission mode and click OK Node Transmit PDO Characteristics Master Input Data Transmission Mode Transmission event of transmit PDO defined in the device profile Q Node shall use a synchronization message as trigger to send the transmit PDO cyc
108. on Appendices Presentation Appendix A List of IEC symbols Glossary Acronyms Definitions Related Decuments Title of Documentation Reference Number Instruction sheet 1693627 CANopen hardware installation manual 35010859 User Comments We welcome your comments about this document You can reach us by e mail at techpub schneider electric com 10 1606218 02 08 2006 Introduction Presentation Introduction This chapter provides a general overview of Advantys IP 67 FTB CANopen IP67 l O splitter boxes Advantys FTB CANopen splitter boxes comply with the following specifications e CiA DS301 V4 02 CANopen application layer and communication profile e CiA DS401 V2 1 CANopen device profile generic I O modules see CANopen Profiles p 50 Note The information in this manual is primarily intended for people with some practical knowledge of the CANopen standard applied to the CANopen field bus CANopen equipment installers and users are advised to read the standard documentation before any equipment installation or handling All detailed CANopen specifications may be found at http www can cia de What s in this This chapter contains the following topics 2 Chapter Topic Page Presentation of the CANopen Advantys FTB I O Splitter Box Range 12 Overview of the Accessories Range 13 1606218 02 08 2006 11 Introduction Presentation of the CANopen Advanty
109. on Parameters e 1A00H 1A05H Transmit PDO Mapping Parameters Discrete I O The discrete I Os configuration objects are as follows Configuration 2000H Input Diag Parameter Objects 2001H Input Output Parameter 6102H Polarity Inputs 6103H Filter Constant Input 16 Bits 6200H Write Outputs 8 Bits 6300H Write Outputs 16 Bits 6302H Polarity Outputs 16 Bits 6306H Fallback Mode 16 Bits 6307H Fallback Value 16 Bits e e e e e e e e e e 6308H Filter Mask Outputs 16 Bits A DANGER RISK OF UNINTENDED EQUIPMENT OPERATION Check the contents of objects 6200H and 6300H before switching the product in Operational state Output write objects 6200H and 6300H are saved Following power up the switch to Operational state will apply to the saved output values Failure to follow this instruction will result in death or serious injury 70 1606218 02 08 2006 Application Specific Functions Presentation Introduction The FTB splitter box offers discrete input output and diagnostics channels and configurable input or output channels depending on its version This following chapter describes the operating modes for these different channels What s in this This chapter contains the following topics Chapter Topic Page List of Objects 72 Description of the Discrete Inputs 74 Description of Discrete Outputs 75 Description of Configurable Discrete I Os 76 L
110. on Specific Functions Description of Configurable Discrete I Os Configurable Splitters Channel Configured for Discrete Output The configurable splitter boxes are as follows e FTB 1CN16CPO e FTB 1CN16CMO e FTB 1CNO8E08CMO Write outputs are per word Each output word is contained in the sub index of object 6200H For each output the following parameters may be modified e Polarity object 6302H e Filter mask object 6308H In the event of an error loss of communication with the master for example the fallback mode is applied The state applied to the output is determined by the configuration registers as described below Filter Mask E D 0 1 ENTRY CHANGE POLAR NAL into 6200H 6300H ITY FILTER Single Digital tput Fallback Mode SWITCH n n 6306H IF OH da td i raid if i Fallback Value eos i Failure 1 Vus mmisu m ese Eu 6307H 0 1 76 1606218 02 08 2006 Application Specific Functions Channel Input reading made per byte Each input byte is contained in the sub index of object Configured for 6000H Discrete Input For each input the following parameters may be modified e Polarity object 6102H e Filtering constant object 6103H The 2000H object is used to configure inputs 10 to 17 as a discrete input or a diagnostics input The state displayed on the inputs is defined by the configuration registers as described below
111. p M Activate node in current configuration Emergency COB ID 129 OPC Objects Iv Automatic COB ID allocation in accordance with Nodeguard COB ID 179 Object Profile 301 Configura Device profile 401 Device type Analog input Digital output Input Obje o guratio x pPredefing m n OBjIGxTR Node TEST Nodeaddr 2 L ox 1800 Designation Node2 Cancel 1801 1802 r Predefined supported objects in the EDS file __ Access Filter 1803 Obj Idx Sub Idx Settings Default value Access An Ix 1804 1000 0 Device Type 20196 Read only 1805 1000 0 Error Register no default value Read only Decimal 1002 0 Manufacturer Status Register 0 Read only y Configure 1503 Pre Defined Error Field PDO nal 0 Number of errors 0 Read Write Transmit P 1005 0 COB ID SYNC 80 Read Add to Configured Objects Transmit Transmit Transmit H Configured objects automatically written during node startup sequence Transmit H Obj Idx Sub Idx Settings Selected value Dialog Transmit H f1016 1 Consumer Heartbeat Time 7F012C x 1017 0 Producer Heartbeat Time c8 x 1800 1 COB ID 181 x 1800 2 Transmission type FF x 1800 3 Inhibit Time 0 x 1800 5 Event timer x Delete Configured Object This window is used to configure the default values of the configured objects that will be sent to the device the next time the node is powered up For further information on the various objects see The Object Dictionary p 131 7 Select the obj
112. pe The manufacturer The identification of the vendor The item number The software version The hardware version The details of all the configurable objects etc Each EDS file is specific to a product type and cannot be re used on other products as this will result in the incorrect I O configuration It is up to the user to make sure that the correct EDS file is used An EDS file can be recognized by its eds extension Each EDS file is associated with one or more dib image files 102 1606218 02 08 2006 Software Tools Existing EDS File for CANopen Advantys FTB Splitter Box EDS File The configuration software tool suite allows you to make full use of your Advantys FTB splitter box and can be used to create a new EDS file see Creating a New EDS and DCF Configuration File p 104 If you do not use the Advantys Configuration Tool ACT you may use the EDS files supplied on the FTX ES 0 CD whose names are specified in the following table For each splitter box an assigned EDS file to be used is supplied Type of splitter box EDS file name Image name FTB 1CNO8EO8SPO TEFTBO1PO1E eds TEFTBO1POI1E r dib run TEFTBO1POI1E s dib stop TEFTBO1PO1E d dib diag FTB 1CN12bE04SPO TEFTBO2PO1E eds TEFTBO2PO E r dib run TEFTBO2PO E s dib stop TEFTBO2PO E d dib diag FTB 1CN16EPO TEFTBO3PO E eds TEFTBOS3PO E r dib run TEFTBO3PO E s dib stop TEFTBO3PO E d dib diag
113. perational default state without generating any errors A WARNING RISK OF UNINTENDED DEVICE OPERATION Set the Life Time Factor object 100DH to a minimum value of 2 to prevent any inadvertent change of state to Pre Operational state Depending on the I O configuration an inadvertent change of state may result in unintended device operation Failure to follow this instruction can result in death serious injury or equipment damage 62 1606218 02 08 2006 CANopen Network Interface Importance of Monitoring Slave Monitoring These two monitoring mechanisms are especially important in the CANopen system Devices connected to the bus do not regularly indicate their presence in operating mode commanded by Event Monitoring is performed in the following way Phase Description 1 The master sets Remote Frames or Remote Transmit Request request messages on the Guarding CobID of the slaves to be monitored 2 The slaves concerned respond by sending the Guarding message This message contains the Status Code of the slave and the Toggle Bit which changes after each message 3 The NMT Network Management Telegram master compares the Status and Toggle Bit information If they are not in the expected state or if no response is received the NMT master considers that an error has occurred on the slave 1606218 02 08 2006 63 CANopen Network Interface
114. ping Backed up 0 Sub index UNSIGNED8 2H ro no no number 1 Client to UNSIGNED32 600H Node ID ro no no Server 2 Server to UNSIGNED32 580H Node ID ro no no Client 154 1606218 02 08 2006 The Object Dictionary Object 1400H 1st Receive PDO Communication Parameter Description This object contains the receive PDO identifier Object The characteristics of this object are outlined in the following table Characteristics Sub Description Data type Default value Acces PDO Backed up index s Mapping 0 Sub index number UNSIGNED8 2H ro no yes 1 COB ID UNSIGNED32 0000 0200H Node ID rw no yes 2 Transmission mode UNSIGNED8 FFH 255 Dec rw no yes Transmission The PDO transmission mode can be configured as described in the table below Mode Transfer code Transmission mode Notes Dec Hex Cyclic Acyclic Synchrono Asynchrono us us 0 0 x x Send PDO on first SYNC message following an event 1 to 240 1toFO x x Send PDO every x SYNC messages 241 to 251 F1 to FB Reserved 252 to 253 FC to FE Reserved 3 254 to 255 FE to FF x Send PDO on event Note For modes 254 and 255 the event triggering the send is defined by the message producer 1606218 02 08 2006 155 The Object Dictionary Object 1405H 2nd Receive PDO Communication Parameter Descri
115. plitter box Objects dictionary see Object 3000H Manufacturer Specific Diagnostic p 174 For each error the EMCY message is sent by the splitter box that detected the fault Structure via the network see table structure below Once the error has been cleared an EMCY message is sent again incorporating an Error code 0 The EMCY message consists of 8 data bytes outlined in the following table Byte 0 1 2 3 4 5 6 7 Contents Error code Error register Reserve Channel 10 to Channel 00 to Manufacturer d 17 diagnostics 07 diagnostics status register Corresponding 1003H 1001H Depends on the type of error See Channel object diagnostics see Channel Diagnostics EMCY Bytes 5 6 7 p 129 Note For default configuration and where the user has activated it the 1805H PDO includes the diagnostics information 1606218 02 08 2006 127 Diagnostics Error Codes EMCY bytes 0 amp 1 The table below lists the error codes and their meanings Error Diagnostics Description code 0000H ERROR RESET OR NO ERROR Clearing of one or all errors 1000H GENERIC ERROR Internal communication error 2100H CURRENT DEVICE INPUT SIDE Detector power supply short circuit M12 connector 2320H SHORT CIRCUIT AT OUTPUTS Output short circuit 3100H MAINS VOLTAGE Splitter power supply voltage 18V 3120H INPUT VOLTAGE TOO
116. profile Each object with all its technical characteristics is described according to the CANopen standard What s in this This section contains the following topics Section Topic Page Object 1000H Device Type 135 Object 1001H Error Register 136 Object 1002H Manufacturer Status Register 137 Object 1003H Pre defined Error Field 138 Object 1005H COB ID SYNC Message 140 Object 1006H Communication Cycle Period 141 Object 1008H Manufacturer Device Name 142 Object 100AH Manufacturer Software Version MSV 143 Object 100CH Guard Time 144 Object 100DH Life Time Factor 145 Object 1010H Store Parameters 146 Object 1011H Restore Default Parameters 148 Object 1014H COB ID Emergency Message EMCY 150 Object 1016H Consumer Heartbeat Time 151 Object 1017H Producer Heartbeat Time 152 Object 1018H Identity Object 153 Object 1200H Server SDO Parameter 154 Object 1400H 1st Receive PDO Communication Parameter 155 Object 1405H 2nd Receive PDO Communication Parameter 156 Object 1600H 1st Receive PDO Mapping Parameter 157 Object 1605H 2nd Receive PDO Mapping Parameter 159 Object 1800H 1st Transmit PDO Communication Parameter 161 Object 1805H 2nd Transmit PDO Communication Parameter 164 Object 1A00H 1st Transmit PDO Mapping Parameter 167 Object 1A05H 2nd Transmit PDO Mapping Parameter 169 134 1606218 02 08 2006 The Object Dictionary O
117. ption Characteristics This object contains the receive PDO identifier The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Backed up Mapping 0 Sub index UNSIGNED8 2H ro no yes number 1 COB ID UNSIGNED32 0000 0300H Node ID rw no yes 2 Transmission UNSIGNED8 FFH 255 Dec rw no yes mode Transmission The PDO transmission mode can be configured as described in the table below Mode Transfer code Transmission mode Notes Dec Hex Cyclic Acyclic Synchrono Asynchron us ous 0 0 x x Send PDO on first SYNC message following an event 1 to 240 1toFO x x Send PDO every x SYNC messages 241 to 251 F1 to FB Reserved 252 to 253 FC to FE Reserved a 254 to 255 FE to FF x Send PDO on event Note For modes 254 and 255 the event triggering the send is defined by the message producer 156 1606218 02 08 2006 The Object Dictionary Object 1600H 1st Receive PDO Mapping Parameter Description Characteristics This object is used to describe the objects that will be transported by the first PDO The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up
118. res the parameters and then confirms SDO transmission downloading initialization response Note When storage fails the splitter box returns an Abort SDO Transfer Abort Code 0606 0000H Writing an invalid value The device refuses storage and replies with an Abort SDO Transfer Abort Code 0800 002xH with x 0 F WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The splitter box must be switched to the Pre Operational state to save its configuration The saving process takes 1 to 2 seconds If the save takes place in the Operational state the outputs will not be updated during the saving process Failure to follow this instruction can result in death serious injury or equipment damage During read access to an appropriate sub index the splitter box transmits information on its storage function in the following format Bit 32 to 2 1 0 Meaning if bit Reserved The splitter box does not store The splitter box does not store 0 parameters autonomously parameters when it receives a command Meaning if bit Reserved The splitter box stores The splitter box stores 1 parameters autonomously parameters when it receives a command 1606218 02 08 2006 147 The Object Dictionary Object 1011H Restore Default Parameters Description This object is used to restore the FTB splitter box s factory settings Characteristics The characteristics o
119. s FTB I O Splitter Box Range The CANopen Advantys FTB Product Range Configurable The splitter boxes in the CANopen Advantys FTB ranges come in the following forms e CANopen plastic unit e CANopen metal unit Each CANopen Advantys FTB splitter box contains eight connectors used to link the Connectors sensors or actuators Each of these connectors supports two channels Depending on the splitter box reference and on its configuration each channel is either e an input channel e an output channel e a DESINA standard diagnostics channel Splitter Box The configuration of the I O connector channels depends on the splitter box model Inputs and The table below shows the I O connector channels available for each model Outputs Distribution of available inputs outputs Unit type Product reference 8 input diagnostics channels 8 output Plastic FTB 1CNO8E08SPO channels 4 input channels 4 output channels 8 input Plastic FTB 1CN12E04SPO diagnostics channels 8 input channels 8 input diagnostics e Plastic FTB 1CN16EPO channels e Metal FTB 1CN16EMO 8 input output channels 8 input output e Plastic FTB 1CN16CPO diagnostics channels e Metal FTB 1CN16CMO 8 input output channels 8 input Metal FTB 1CNO8E08CMO diagnostics channels 12 1606218 02 08 2006 Introduction Overview of the Accessories Range Cables for Different cables can b
120. s a procedure The addition of this symbol to a Danger or Warning safety label indicates A that an electrical hazard exists which will result in personal injury if the instructions are not followed This is the safety alert symbol It is used to alert you to potential personal injury hazards Obey all safety messages that follow this symbol to avoid possible injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death or serious injury A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage 1606218 02 08 2006 Safety Information PLEASE NOTE Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material 2006 Schneider Electric All Rights Reserved 1606218 02 08 2006 About the Book At a Glance Document Scope This user guide contains the information required to install an Advantys FTB CANopen monobloc IP67 splitter box It has been designed to facilitate rapid familiarization with the system while optimizing the system s feature
121. s for the most advanced technology available To install Advantys FTB CANopen splitter boxes the relevant communication protocol pre requisites are necessary and it should only be installed by qualified personnel Special points and warnings regarding safety are highlighted in the different chapters The early chapters provide information for designers and installers on installing the mechanical and electrical elements of the system The following chapters from the section on network interface are specific to the communication protocol They contain information on specific wiring for the network interface and all the necessary information for the software application programmer and for the end user diagnostics 1606218 02 08 2006 About the Book Chapter Subject covered Introduction General presentation of system components Installation Dimensions Safe practice for installation I O splitter box characteristics Physical and electrical characteristics and wiring Wiring information CANopen network interface Wiring the splitter box on the network Reminder on the communication protocol System behavior Application functions Description of application functions Advantys FTB CANopen splitter box I O functions Software implementation Software installation help Diagnostics Performing diagnostics Object dictionary Description of the objects accessible for communicati
122. s of the CAN H and CAN L wires See figure below The following diagram shows the components of the physical layer of a two wire CAN bus I CAN H wire CAN L wire Potential difference between CAN H CAN L signals Line terminator 120 Q Connected devices EE The bus wires can be routed in parallel twisted or shielded form in accordance with electromagnetic compatibility requirements 1606218 02 08 2006 49 CANopen Network Interface CANopen Profiles Device Configuration via the CAN Bus General Specifications for CANopen Profiles CANopen Product Certification The communication profile The CANopen communication protocol is based on a communication profile which specifies the main communication mechanisms and their description DS301 The device profile The most important types of devices used in industrial automation are described in the Device profiles They also define device functionalities Here are some examples of standard devices Discrete and analog input output splitter boxes DS401 Motors DS402 Control devices DSP403 Closed loop controllers DSP404 PLCs DS405 Encoders DS406 The possibility of configuring devices via the CANopen bus is one of the basic principles of the autonomy required by manufacturers for each profile family CANopen is a set of profiles for CAN systems with the following specifications An open bus system Real time d
123. set outputs there are no associated messages The state of the DO POWER LED is not significant CANopen Objects Diagnostics p 127 1606218 02 08 2006 139 The Object Dictionary Object 1005H COB ID SYNC Message Description This object contains the synchronization message identifier Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default Access PDO Backed up value Mapping 0 UNSIGNED32 80H rw no yes 140 1606218 02 08 2006 The Object Dictionary Object 1006H Communication Cycle Period Description This object describes the time interval between two SYNC signals in microseconds This interval must be at least 10 ms with a minimum increment of 1ms The entry must be a double word If a value between 10 000 and 10 000 000 is entered the splitter must receive a SYNC signal within this time interval If not it switches to Pre Operational status Maximum tolerance is 1 of the configured value Monitoring of elapsed times starts when the first SYNC signal is received Object The characteristics of this object are outlined in the following table Characteristics Sub index Description Data type Default Access PDO Backed up value Mapping 0 UNSIGNED32 0 ro no no Note It is not advisable to use this object as it can create c
124. store Default Parameters p 148 While writing or deleting saved parameters the slave no longer processes communications received via the CANopen bus During this operation none of the messages transmitted to the slave are taken into account this includes SDO or Node Guarding messages In order to avoid equipment damage or injury to personnel as well as any losses of data it is not advisable to initiate parameter saves or restitution when the equipment is in Operational mode WARNING RISK OF UNINTENDED EQUIPMENT OPERATION The splitter box must be switched to the Pre Operational state to save its configuration The saving process takes 1 to 2 seconds If the save takes place in the Operational state the outputs will not be updated during the saving process Failure to follow this instruction can result in death serious injury or equipment damage 1606218 02 08 2006 69 CANopen Network Interface List of Saved Parameters Communication The objects that are saved or reused on start up are as follows Profile Objects e 1005H COB ID SYNC Message e 1006H Communication Cycle Period e 100CH Guard Time e 100DH Life Time Factor e 1014H COB ID Emergency Message EMCY e 1016H Consumer Heartbeat Time e 1017H Producer Heartbeat Time e 1400H 1405H Receive PDO Communication Parameters e 1600H 1605H Receive PDO Mapping Parameters e 1800H 1805H Transmit PDO Communicati
125. t 0 Polarity of channel 0 Bit 15 Polarity of channel 17 6103H 1 Bit 0 Channel 0 masking Bit 15 Channel 17 masking Note All the objects are 16 bit word tables except for 2000H and 6000H e Sub index 1 of object 6000H corresponds to the 6100H pin 4 object s least significant byte e Sub index 2 of object 6000H corresponds to the 6300H pin 2 object s most significant byte e Object 2000H read by byte concerns channels 10 to 17 only pin 2 1606218 02 08 2006 85 Application Specific Functions List of FTB 1CN16EPO and FTB 1CN16EMO Output Objects The Advantys FTB 1CN16EPO0 and FTB 1CN16EMO splitter boxes have no outputs 86 1606218 02 08 2006 Application Specific Functions List of Advantys FTB 1CN16CP0 and FTB 1CN16CMO Splitter Box I O Objects Configuration Object 2001H Object 2001H is used to select the input and output functions for the 00 to 17 channels as an input or output Object 2001H Input Output Parameter p 173 The table below presents the mapping of object 2001H Object Sub index Bit Description 2001H 1 Bit 0 Choice between the input function and the output function for channel 0 Bit 7 Choice between the input function and the output function for channel 7 2 Bit 8 Choice between the input function and the output function for channel 10 Bit 15 Choice between the input function and the output
126. t identifier The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Backed up Mapping 0 Sub index UNSIGNED8 5H ro no yes number 1 COB ID UNSIGNED32 0000 0180H Node ID rw no yes 2 Transmission UNSIGNED8 FFH 255 dec rw no yes mode Inhibit Time UNSIGNED16 0 rw no yes Not available Event Timer UNSIGNED16 0 rw no yes 1606218 02 08 2006 161 The Object Dictionary Transmission The PDO transmission mode can be configured as described in the table below Mode Transfer code Transmission mode Notes Dec Hex Cyclic Acyclic Synchron Asynchro RTR only ous nous 0 0 x x Send PDO on first SYNC message following an event 1 to 240 1toFO x x Send PDO every x SYNC messages 241 to 251 F1toFB Reserved 252 FC x x Receive SYNC message and send PDO on Remote Request 253 FD x x Update data and send PDO on Remote Request 254 to 255 FE to FF x Send PDO on event Change of state mode Note For transmission modes corresponding to transfer codes 254 and 255 the events that trigger a TPDO transmission are e modification of transported data status e the Event Timer has elapsed COB ID The structure of a COB ID for CAN2 0 is shown in the following table Structure Bit No Value Meaning 31 MSb
127. table Object Sub Bit Description index 6200H 1 Bit 0 e Channel 0 output writing if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 7 e Channel 7 output writing if channel 7 configured for output e Not assigned if channel 7 configured for input 2 Bit 0 e Channel 10 output writing if channel 10 configured for output e Not assigned if channel 10 configured for input Bit 7 e Channel 17 output writing if channel 17 configured for output e Not assigned if channel 17 configured for input 6300H 1 Bit 0 e Channel 0 output writing if channel 0 configured for output e Not assigned if channel 0 configured for input Bit15 e Channel 17 output writing if channel 17 configured for output Not assigned if channel 17 configured for input 1606218 02 08 2006 89 Application Specific Functions Object Sub Bit Description index 6302H 1 Bit 0 e Channel 0 output polarity if channel 0 configured for output e Not assigned if channel 0 configured for input Bit 15 e Channel 17 output polarity if channel 17 configured for output e Not assigned if channel 17 configured for input 6306H 1 Bit 0 e Channel 0 output fallback mode if channel 0 configured for output Not assigned if channel 0 configured for input Bit 15 e Channel 17 output fallback mode if channel 17 configured for output e Notassi
128. ter box on the support 2 Mount the splitter box using the screws and washers A CAUTION RISK OF EQUIPMENT DAMAGE AND NON COMPLIANCE WITH IP67 Unused connectors must not be left unprotected If a connector is not correctly connected to the end of another connector or to a standard cable fit a sealing plug in order to ensure that the product is IP67 standard compliant To ensure the IP67 protection index check that the cover is screwed onto the base splitter box and that all connectors are fitted with cables or sealing plugs Failure to follow this instruction can result in injury or equipment damage 20 1606218 02 08 2006 Installation Grounding of the Advantys FTB Splitter Box Description Position of the Ground Electrode on the Plastic Unit The ground connection is connected internally to pin 1 of the M12 connector of the field bus connector WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Check that the splitter box is correctly connected to the earth in compliance with the instructions provided in his section If the splitter box is not grounded or if the ground connection is made with an unsuitable cable the product will be sensitive to electromagnetic disturbances See EMC Compatibility p 23 Failure to follow this instruction can result in death serious injury or equipment damage The following figure shows the position of the ground electrode on the plastic boxes
129. the I O functions you wish to use The islands are configured in the configuration window Open the configuration window by double clicking on the island or by selecting the island and then the Island Module Editor menu e Modify the required parameter s e Click OK to save the changes and close the configuration window Notes The values given in the configuration window define the behavior of the island PDOs are configured in such a way as to transport the island process data The list of data contained in the PDOs is visible in the O Assignment tab of the configuration window Saving the Island and Generating an EDS or DCF Configuration File e Select the Save command from the File menu The ISL island file is saved e A Generation window appears Click on YES to generate the EDS or DCF configuration file The EDS or DCF configuration file is saved 106 1606218 02 08 2006 Software Tools 6 3 Network Configuration Setting the Network Parameters Description The configuration tool is used to draw diagrams of networks using a graphic representation of the network nodes It is then used to generate the complete configuration of the network that has been drawn It provides access to the various configuration parameters and communication parameters by PDO Below is an example of how to use the SyCon configuration tool Method Within the PL7 programming software or Unity launc
130. there is a space of atleast 10 cm 3 94 inches between the data wires and the power cables e The data wires and power cables must only cross at a right angle to one another e Itis advisable to route the data wires and power cables through separate shielded ducts e When laying the cables the noise voltage from other devices or wires must be considered This particularly applies to frequency converters motors and other devices or cables generating high frequency disturbances High frequency sources and the cables described in this manual must be as far apart from each other as possible A WARNING RISK OF UNINTENDED EQUIPMENT OPERATION Please read and comply with the cabling rules listed above Failure to comply with these wiring rules is a common cause of EMC problems This may lead to unexpected equipment operation Failure to follow this instruction can result in death serious injury or equipment damage 24 1606218 02 08 2006 Installation Control of Inductive Loads The outputs of the devices described in this manual are equipped with an integrated protective system against the high noise voltages that may be generated by inductive loads Integrated protective system against the high noise voltages generated by inductive loads Inductive load v Varistor e g electromagnetic IN valve The varistor rapidly discharges the energy accumulated in the magnetic field of the inductive load The hig
131. tions 2er reU ERE RO MR aere ve pd enden 114 Integration and Use under PL7 sislslseee eee 115 Examples of SDO Requests 00 0 cece eee eee 120 Diagnostics e ersa Coa beo See P CoU STR d EAS 123 Presentation ee gane pel RE aara Reine beet 123 Power Supply Diagnostics llle ee 124 Field Bus Status Diagnostics LED 1 2 0 0 cc eee ee 125 LED Status Diagnostics for O 1 0 0 cet ee 126 1606218 02 08 2006 CANopen Objects Diagnostics 000 e cee eee eee 127 Behavior in the Event of Short circuit Overload Under voltage 130 Chapter 8 The Object Dictionary lesser 131 Presentation sud hcec Patan Sie ei aan ie eee 131 8 14 The Object Dictionary 0 cette 133 The Object Dictionary lesse eee 133 8 2 Objects of the Communication Profile 1000H to 1FFFH 134 Ata Glance eh ete ede ede hates PUER HI eben Spit 134 Object 1000H Device Type 2 cece eh 135 Object 1001H Error Register 0 0 0 0 cee eee 136 Object 1002H Manufacturer Status Register 0 0 eee 137 Object 1003H Pre defined Error Field 0 0 0 eese 138 Object 1005H COB ID SYNC Message 00 eee eee ee eee 140 Object 1006H Communication Cycle Period 0 0 eee eee 141 Object 1008H Manufacturer Device Name 0000 cee eee 142 Object 100AH Manufacturer Software Version MSV
132. to0 Data Index number of object Sub index number of Length of object to be to be transported object to be transported transported Example 6000H 01H 08H Note e The maximum total length of data that can be transported by the PDO is 8 bytes e By default the 1st Transmit PDO transports object 6000H 1606218 02 08 2006 167 The Object Dictionary Default Values The following table gives the default value of object 1A00H depending on the splitter reference Product references Sub index Default value FTB 1CNO8E08SPO 0 1 1 6000 0108H FTB 1CNO8E08CMO 0 2 FTB 1CN16E 0 2 6000 0208H FTB 1CN16C 0 168 1606218 02 08 2006 The Object Dictionary Object 1A05H 2nd Transmit PDO Mapping Parameter Description Characteristics This object describes the objects that will be transported by the PDO The characteristics of this object are outlined in the following table Sub index Description Data type Default value Access PDO Mapping Backed up 0 Sub index UNSIGNED8 See table rw no yes number 1 1st object in UNSIGNED32 See table rw no yes the PDO 2 2nd object in UNSIGNED32 See table rw no yes the PDO 8 Most recent UNSIGNED32 See table rw no yes object in PDO Data Field Each data object to be transported is represented in the following manner Structure Bits 31 to 16 MSB 15 t08 7 to 0
133. warning Only where output is set up 7 Detection of wire cut 8 to 31 Reserved 1606218 02 08 2006 137 The Object Dictionary Object 1003H Pre defined Error Field Description Characteristics This object is a double word used to store the most recent faults as well as their characteristics e The Error Code is stored to the least significant word e The sub index 0 contains the number of stored errors The characteristics of this object are outlined in the following table Sub index Description Data type Default Access PDO Mapping Backed up value 0 Number of stored UNSIGNED8 0 rw no no errors 1 Most recent error UNSIGNED32 ro no no 2 Second to last UNSIGNED32 ro no no error 10 Appearance of a New Fault Clearing Faults Indicating Faults When a new fault appears the codes already present are moved into the upper level sub indexes the fault in sub index 1 is moved to sub index 2 the fault in sub index 2 is moved to sub index 3 the fault in sub index 10 disappears The fault code history can only be cleared by writing the value 0 in the sub index 0 of object 1003H Note Clearing a fault does not delete the error code from the Predefined Error Field PEF All faults are indicated by the sending of an Emergency message EMCY message Once the source of the fault has been cleared an EMCY message with the
134. witches and the node description and click OK Insert Online Settings Window Q5 1 us File Edit View Insert Online Settings Window Help peg l Insert Node cance ay Node filter Available devices Selected devices Lexium05 LEXIUM17D LL sse Osicoder OPTB 1CODM9LP PreventaXPSMC ZC STB NCO 1010 STB NCO 2212 lt lt Remove All TEST a ae Telemecanique Add All gt gt lt lt Remove v Vendor name Telemecanique Node ID addreg Product number 90157 Description Node2 7 Product version No entry Product revision No entry File name TEST EDS EDS Revision 1 Note The name given in the list is the comment associated with communication block defined with CANConfig 1606218 02 08 2006 109 Software Tools Configuring the Follow the steps below PDOs Step Action 1 Double click on the image of the island to be configured The configuration window appears 2 Select a configured PDO and click on PDO characteristics i EIE Ea File Edit View Insert Online Settings Window Help JAK Dieu ij ial Node configuration cxi Node TEST Node address 2 OK Designati
135. xchange of PDOs is authorized when the device is in Operational mode There are two types of PDO e PDOs transmitted by the device Transmit PDO TPDO e PDOs received by the device Receive PDO HPDO PDO Consumer PDOs are based on the Producer consumer model Producer Consumer Producer The device which sends out a PDO is called the producer while the device receiving itis known as the consumer PDO In addition to data to be transported it is possible to configure the type of exchange Transmission for each PDO Modes The PDO transmission mode can be configured as described in the table below Transfer code Transmission mode Notes Dec Hex Cyclic Acyclic Synchron Asynchro only RTR ous nous 0 0 x x Send PDO on first SYNC message following an event 1 to 240 1toFO x x Send PDO every x SYNC messages 24110251 F1to FB Reserved 7 252 FC x x Receive SYNC message and send PDO on Remote Request 253 FD x x Update data and send PDO on Remote Request 254 to 255 FE to FF x Send PDO on event Change of state mode 56 1606218 02 08 2006 CANopen Network Interface Change of state Producer p Consumer s Remote frame Remote Transmission Producer Request Consumer s Synchronous object ynchronous object Producer cyclic acyclic Consumer s 1606218 02 08 2006 57 CANopen Network Interface Synchronous
136. y where transmission of a PDO will be forced even if there has been no change in status The Event Timer is expressed in milliseconds Values hex Values dec Actual values ms 0000H 0 0 deactivated 000AH 10 10 0064H 100 100 01F4H 500 500 03E8H 1000 1000 1388H 5000 5000 2710H 10 000 10 000 60 1606218 02 08 2006 CANopen Network Interface Access to Data by Explicit Exchanges SDO What is an SDO Types of SDO The Producer Consumer Model An SDO allows a device s data to be accessed by using explicit requests The SDO service is available when the device is in Operational or Pre Operational state There are two types of SDO e Read SDOs Download SDO e Write SDOs Upload SDO The SDO protocol is based on a Producer Consumer model For a Download SDO The client sends a request indicating the object to be read The server returns the data contained within the object For an Upload SDO The client sends a request indicating the object to be written to and the desired value After the object has been updated the server returns a confirmation message For an unprocessed SDO In both cases if an SDO was not able to be processed the server returns an error code abort code 1606218 02 08 2006 61 CANopen Network Interface Node Guarding and Life Guarding Monitoring Protocols Introduction Definition of

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