Omron C200HW-CORT21-V1 Operation Manual Download Page 68

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I/O Data mapping

Section 4-2

Index

Sub-index

Object

Default value

2100h

Default_Output_Bytes

2100h

00h

Number of entries

2100h

01h

8_bit_output1

2100h

02h

8_bit_output2

2100h

03h

8_bit_output3

2100h

04h

8_bit_output4

2101h

8-bit output network variables

2101h

00h

Number of entries

100

2101h

01h

8_bit_output1

2101h

64h

8_bit_output100

2102h

16-bit output network variables

2102h

00h

Number of entries

100

2102h

01h

16_bit_output1

2102h

64h

16_bit_output100

2103h

32-bit output network variables

2103h

00h

Number of entries

2103h

01h

32_bit_output1

2103h

32h

32_bit_output50

2104h

64-bit output network variables

2104h

00h

Number of entries

2104h

01h

64_bit_output1

2104h

19h

64_bit_output25

Note

The object names are the internal device names and do not have to
correspond with the names used in the network configuration tool. The
names chosen in the figure above are just to indicate the type of the object.

Summary of Contents for C200HW-CORT21-V1

Page 1: ...At the end of this document you will find links to products related to this catalog You can go directly to our shop by clicking HERE HERE ...

Page 2: ...C200HW CORT21 V1 CANopen Slave Unit OPERATION MANUAL OMRON Cat No W904 E2 2 ...

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Page 6: ...C200HW CORT21 V1 CANopen Slave Unit Operation Manual Produced June 2001 ...

Page 7: ...iv ...

Page 8: ...ed Wd in documentation in this sense The abbreviation PLC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product 1 2 3 1 Indicates lists of one...

Page 9: ...vi ...

Page 10: ...ng up a network 36 4 PLC INTERFACE 47 4 1 Input and Output Data 48 4 2 I O Data mapping 49 4 3 Control and Status area 60 5 MESSAGE COMMUNICATION IOWR IORD 69 5 1 Message communication 70 5 2 IOWR IORD 70 5 3 Error log 72 5 4 Reading the error log 74 5 5 Writing to the local object dictionary 75 5 6 Reading from the local object dictionary 77 5 7 Transmitting a user defined CAN message 79 5 8 Rece...

Page 11: ...dices Appendix A EDS file C200HW CORT21 V1 107 Appendix B Stored Parameters 113 Appendix C CS1 PLC series compatibility 115 Appendix D Baud rate configuration via Unit settings 117 Index 119 Revision History 123 ...

Page 12: ...ance of the Unit Section 3 describes the installation of the C200HW CORT21 V1 Section 4 describes the interface with the user via the PLC system Section 5 describes the message communication Section 6 gives an overview of the implemented error handling and status mechanisms Section 7 describes the troubleshooting procedures and maintenance operations Failure to read and understand the information ...

Page 13: ...x ...

Page 14: ...important for the safe and reliable application of the CANopen Slave Units You must read this section and understand the information contained before attempting to set up or operate a CANopen Slave Unit and PLC system 1 Intended Audience xii 2 General Precautions xii 3 Safety Precautions xii 4 Operating Environment Precautions xii 5 Application Precautions xiii 6 EC Directives xiv ...

Page 15: ...information for installing and operating OMRON CANopen Slave Units Be sure to read this manual before operation and keep this manual close at hand for reference during operation It is extremely important that a PLC and all PLC Units be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult with...

Page 16: ...nits only with the power supplies and voltages specified in the operation manuals Other power supplies and voltages may damage the Units Take measures to stabilise the power supply to conform to the rated supply if it is not stable Provide circuit breakers and other safety measures to provide protection against shorts in external wiring Do not apply voltages exceeding the rated input voltage to In...

Page 17: ... that meet EC directives also meet the common emission standard EN50081 2 When C200HW CORT21 V1 products are built into equipment however the measure necessary to ensure that the standard is met will vary with the overall configuration of the control panel the other devices connected tot the control panel and other conditions The user must therefore confirm that EC directives are met for the overa...

Page 18: ...PDOs 7 1 3 1 1 Communication parameters 8 1 3 1 2 Mapping parameters 9 1 3 2 Service Data Objects SDOs 10 1 3 3 Special Function Objects 11 1 3 3 1 SYNC Object 11 1 3 3 2 Time Stamp Object 12 1 3 3 3 EMCY Object 12 1 3 4 Network Management Objects NMT 13 1 3 4 1 Module Control Services 14 1 3 4 2 Error control services 15 1 3 4 3 Configuration control services 15 1 3 5 Predefined Connection Set 16...

Page 19: ...ful features of CAN It supports the multi master functionality that enables cyclic or event driven communication between any two or more nodes and it offers a lot of other configuration flexibility This flexibility makes this protocol a bit less plug and play than other common protocols but it gives the system integrator more power in fine tuning the network In contrast with other industrial field...

Page 20: ...s pin assignments for several types of connector The standardised device profiles interface profiles and application profiles describe the default behaviour and the optional functionality of devices interfaces and applications The interaction between devices at the three ISO layers is depicted below At the application layer the interaction involves the accessing of objects via an index numbering s...

Page 21: ... hex Objects 0000 Reserved for future use 0001 009F Data type definitions 00A0 0FFF Reserved for future use 1000 1FFF Communication Profile Area 2000 5FFF Manufacturer Specific Profile Area 6000 9FFF Standardised Device Profile Area A000 FFFF Reserved for future use Object oriented Index Sub index A CANopen device is organised in an object oriented manner All objects are accessed via an index numb...

Page 22: ... the objects in this area need to be implemented depends on the type of device For some types of device e g I O devices or drives a so called device profile has been defined A device profile defines the application objects of such a device If implemented according to this profile similar devices can easily be exchanged because they have the same interface The objects of a device profile are locate...

Page 23: ...ut it can also be manufacturer specific The following figure gives an example which pertains to the C200HW CORT21 V1 This Unit uses the Manufacturer Specific Profile Area in the object dictionary By default the unit has four bytes input data for the CANopen network located at index 2000h sub indices 01h to 04h The IR words 101 and 102 are mapped to these objects In each PLC I O refresh the input b...

Page 24: ...ility Client Server model This model describes peer to peer communication The client transmits a message the message will be acknowledged by the server This model is used to transfer data which exceeds the maximum data length of one message The data to be transmitted is first segmented by the sender and segments are transmitted one by one The acknowledgement by the receiver can be for each segment...

Page 25: ...the communication object identifier CANopen defines two transmission modes Synchronous transmission Asynchronous transmission Synchronous PDOs are transmitted within the synchronous window after the Sync Object see section 1 3 3 1 The priority of synchronous PDOs should be higher than the priority of asynchronous PDOs The transmission of synchronous PDOs can be subdivided into cyclic and acyclic t...

Page 26: ...ANopen network To keep the complexity of the figure to a minimum the PDO definition in this figure is symbolised and not indicated by object entries that define the communication parameters and mapping parameters The data located at index 2000h copied from the PLC memory is mapped to TPDO1 TPDO4 one byte per PDO In the PDO the data is preceded by a message identifier ID that characterises the mess...

Page 27: ...wing format The command specifier in an SDO indicates whether it concerns a download or an upload a request or a response a segmented block or expedited transfer and it contains the number of data bytes in the current frame the end indicator and an alternating toggle bit for each subsequent segment The 3 byte multiplexor is a pointer to the object in the object dictionary The remaining bytes carry...

Page 28: ...on Objects SYNC Object Time Stamp Object EMCY Object These objects follow the producer consumer communication model 1 3 3 1 SYNC Object Process synchronisation A SYNC Object enables the synchronisation of processes on the CANopen network A SYNC object is transmitted by a SYNC Producer and can be processed by one or more SYNC Consumers see figure below CANopen devices may be SYNC Producer SYNC Cons...

Page 29: ...e C200HW CORT21 V1 does not support this function 1 3 3 3 EMCY Object Emergency messages are triggered by the occurrence of device internal errors and are broadcast to all other devices with high priority An emergency message is only sent once per error event As long as no new device errors occur no further emergency message will be sent EMCY identifier Each producer has its own emergency message ...

Page 30: ...lfils the function of NMT Master the other nodes are its NMT Slaves The network management provides the following functionality groups Module control services Initialisation of NMT Slaves that should take part in the distributed application Error control services Supervision of the nodes and the network communication status Configuration control services Up and downloading of configuration data fr...

Page 31: ... Profile Area are set to their power on values After this the device enters the Initialise state Initialise The basic device initialisation of CANopen is executed If the previous state was not Reset Communication the objects are initialised with the stored values If the device does not support storage of parameters the objects are initialised with the default values according the Profile specifica...

Page 32: ...ansmits the Heartbeat message cyclically with the frequency defined in the Heartbeat Producer time object One or more Heartbeat Consumer may receive this message The relationship between producer and consumer is configurable via object dictionary entries The Heartbeat Consumer monitors the reception of the Heartbeat within the Heartbeat consumer time If the Heartbeat is not received within this ti...

Page 33: ...t a node can be configured to only process specific messages This message filtering is based on the value of the identifier In CANopen a node will only process a message from another node when the identifier is known in advance i e the node has been configured to filter the identifier To achieve this the ID of an RPDO of the receiving node must have the same value as the ID of a TPDO of the transm...

Page 34: ...ntifiers need to be changed in such a way that the receiving identifier of one station equals the transmitting identifier of the other station The identifiers of NMT SDO transmit and receive and NMT Error Control are fixed and can not be changed 1 3 6 Device configuration Pre Operational state A device can be configured during the Pre Operational state using SDO accesses It is possible but not rec...

Page 35: ...NMT master must set the device to Operational state to enable PDO communication 1 3 7 Network length The permissible length of a CANopen network depends on the network baud rate The following table lists the relationship between the baud rate and the maximum network length Baud rate kbit s Network length m 10 5000 20 2500 50 1000 125 500 250 250 500 100 800 50 1000 25 For bus lengths greater than ...

Page 36: ...tion product name and revision vendor name supported baud rates device type etc Object dictionary with default values The EDS file is used by a network configurator tool and should be supplied by the vendor of the particular CANopen device See appendix A for the contents of the EDS file of C200HW CORT21 V1 The DCF is structured in nearly the same way as the EDS file is The DCF is the result of the...

Page 37: ...rmance test specification and offers the service of an official test laboratory where CANopen devices can be certified The first step of the certification is the testing of the EDS file The content of the EDS file must have the correct value ranges must include all mandatory entries references should point to existing entries and it must be consistent In the second step the physical CANopen device...

Page 38: ...on performance of the Unit 2 1 Overall Specifications 22 2 2 Dimensions 24 2 3 Performance 25 2 3 1 PLC cycle time 25 2 3 2 CAN open Interface 26 2 3 3 Overall performance 27 2 3 3 1 I O response time 27 2 3 3 2 Transmission of user defined CAN messages 29 2 3 3 3 Reception of user defined CAN messages 29 ...

Page 39: ...Network baud rate 10 kbit s 1000 kbit s by 3 DIP switches front CANopen node address 001 127 by 7 DIP switches rear User interface Indicators Unit status RUN green LED ERR red LED Network status 2 x 7 segment display No of IR words PLC Unit 3 words 1 word control data 2 words CANopen transmit data Unit PLC 5 words 3 words Unit status 2 words CANopen receive data No of DM settings 20 words Amount o...

Page 40: ... 16 bit max 100 32 bit max 50 64 bit max 25 Receive objects 8 bit max 100 16 bit max 100 32 bit max 50 64 bit max 25 The total size of additionally configured transmit and receive objects is limited to 100 words each Number of SDOs 1 server Emergency Message EMCY Producer Synchronisation SYNC Consumer Error control services Heartbeat 1 producer and 1 consumer and Node guarding Storing of Parameter...

Page 41: ... 2 2 Dimensions Dimensions The following figure shows the dimensions of the Unit Refer to the PLC s Installation Guide for the dimensions of the Unit when it is mounted to the Backplane of the host PLC All dimensions are in mm ...

Page 42: ... on PLC memory locations and refer to section 5 8 for receiving user defined CAN messages Calculation Using the default mapping mode eight 8 bit objects allocated to the Special I O unit s IR area the I O refresh time of the C200HW CORT21 V1 is tIORF def 0 85 ms When additional application objects are mapped using the Unit settings the I O refresh time can be calculated with the following formula ...

Page 43: ...open Interface This sub section describes the performance of the physical layer of CAN and the performance of the CANopen interface of C200HW CORT21 V1 The following figure depicts the transmission of CAN messages on the bus Message delay time Every message has a certain message delay time which is mainly determined by the size of the data field in the message CAN s bit stuff mechanism after every...

Page 44: ...m and maximum I O response time In the bottom figure the processing of received messages is finished just after a PLC I O refresh and the received application data cannot be transferred to the PLC until the next I O refresh The other factors that can influence the I O response time are for both cases identical and are explained below PLC CORT21 V1 Bus Input node Output node tIN tMD tUPR tRF tPE tR...

Page 45: ...at which the objects change state requires an higher transmission rate than the Unit is capable of see section 2 3 2 a transmit queue overflow occurs The Unit will notify the other nodes on the network by transmitting an emergency message Transmit queue overflow errors can be solved by increasing the PLC cycle time or by reducing the rate at which the data objects change In case of high bus loads ...

Page 46: ... minimum time between the execution of the IOWR instruction in the PLC program and the message being transmitted on the bus is 0 5 ms 2 3 3 3 Reception of user defined CAN messages In order to receive user defined CAN messages an IOWR instruction must be executed to configure the Unit regarding which messages to receive filter identifiers by range and or mask which PLC memory locations to copy the...

Page 47: ...Performance Section 2 3 30 ...

Page 48: ...s Switches 35 3 2 Mounting the C200HW CORT21 V1 35 3 3 Setting up a network 36 3 3 1 Network cabling 36 3 3 2 Network configuration 37 3 3 2 1 PDO Communication Parameters 37 3 3 2 2 PDO Mapping Parameters 41 3 3 2 3 Heartbeat Time 41 3 3 2 4 Guard Time Life Time Factor 42 3 3 2 5 SYNC Producer Consumer 43 3 3 2 6 Communication Cycle Period 43 3 3 2 7 Synchronous Window Length 44 3 3 2 8 SDO Param...

Page 49: ...Address DIP switches 3 1 1 LEDs Unit status The C200HW CORT21 V1 has 2 indicator LEDs These LEDs indicate the status of the Unit in general Refer to section 6 5 for a detailed functional description of the LEDs 3 1 2 7 segment display Network status The Unit has two 7 segment displays The displays are used to indicate the network status In case there is a network error an error code is shown other...

Page 50: ...ssible to start up the network communication Note Always turn OFF the power to the PLC before changing the Machine number setting The Unit only reads the Machine number setting during the initialisation after power up i e it is not processed at a software reset Use a small flat blade screwdriver to turn the rotary switch be careful not to damage the switch 3 1 4 Baud rate switches The DIP switches...

Page 51: ...style connector Its pins are numbered 1 to 5 starting from the top The label next to the connector indicates the colour of the individual wire in the cable that has to be connected to the respective pin The CAN interface of C200HW CORT21 V1 requires external power supply for the transceiver and opto couplers Therefore 24V DC 10 must be connected between pin 1 and 5 The current consumption Is less ...

Page 52: ... CORT21 V1 CANopen Slave Unit can be mounted to the CPU Rack or Expansion I O Rack of any CS1 C200HX HG or HE PLC Refer to the PLC s Operation Manuals for details on mounting Units Limitations There are some limitations on mounting the Unit The current consumption of all Units mounted on one backplane should not exceed the maximum output of the power supply The C200HW CORT21 V1 consumes up to 250 ...

Page 53: ...meet the requirements defined in ISO 11898 The following tables list the electrical characteristics of a CAN cable and of the terminator according ISO 11898 Value Cable Parameters Minimum Nominal Maximum Impedance Ω 108 120 132 Length related resistance mΩ m 70 Specific line delay ns m 5 Value Terminator Parameter Minimum Nominal Maximum Resistance Ω 118 120 130 Cable length The maximum permissibl...

Page 54: ... from the non volatile memory in the Unit Note that the CANopen communication of C200HW CORT21 V1 must first be enabled IR n 00 before the Unit can be configured After completing the desired configuration the communication does not start until the NMT master gives the command Start_Remote_Node to enter the Operational State Refer to section 1 3 4 1 for more details about the Pre Operational state ...

Page 55: ...st described by an example The following figure shows a possible network configuration Nodes 2 to 5 are 8 digital input 8 digital output modules Node 1 is the Network Management Master which is also able to transmit and receive data over the network Note that the terms input and output are with respect to the network Node 1 transmits 8 bits of data to Node 2 and Node 3 multicast Node 2 and Node 4 ...

Page 56: ...nd receive PDOs TPDO1 RPDO1 The inputs of Node 1 are allocated to its TPDO1 but its 16 Outputs must be divided over two PDOs RPDO1 and RPDO2 to allow linking each byte to a different Node The assignment of the COB IDs can be done manually or automatically by a configuration tool e g ProCANopen from Vector Informatik GmbH This PC based tool simplifies the PDO linking by using a graphical representa...

Page 57: ...so to Receive PDOs For Transmit PDOs the transmission type determines when and how CAN messages are sent onto the network For Receive PDOs the transmission type determines when and how the data content of the RPDO is transferred to the mapped application objects Refer to section 1 3 1 1 for general information about the transmission modes In C200HW CORT21 V1 asynchronous transmission is triggered ...

Page 58: ...number of bits These 32 bit variables can only be written to when sub index 0 number of entries is set to 0 After configuring the mapping parameters set sub index 0 to the desired number of mappings The Unit will then check if the mappings are correct and are not exceeding 8 bytes of data If not correct the Unit sends an abort message and keeps the previous configuration This configuration procedu...

Page 59: ...variable that contains the Producer Heartbeat Time in milliseconds The value 0 means that the Producer Heartbeat time is disabled When this variable is set unequal to zero at boot up the Heartbeat service will be active Node Life guarding can not be active if the Producer Heartbeat Time and or Consumer Heartbeat Time are set unequal to 0 3 3 2 4 Guard Time Life Time Factor Condition Remote transmi...

Page 60: ...s up to the NMT master to take appropriate action 3 3 2 5 SYNC Producer Consumer The C200HW CORT21 V1 can only consume SYNC Objects and cannot produce them Index Sub index Object Default value 1005h COB ID SYNC message 00000080h The COB ID SYNC message is a 32 bit variable The upper 21 bits in the variable should be set to 0 in C200HW CORT21 V1 these are only relevant for SYNC producers and device...

Page 61: ...is user configurable the window size cannot be specified in advance 3 3 2 8 SDO Parameters The structure of client or server SDO Parameters is shown below Index Sub index Object Default value 1200h Server SDO parameter 1200h 00h Number of entries 2 1200h 01h COB ID Client Server rx 600h Node ID 1200h 02h COB ID Server Client tx 580h Node ID The variables of this complex data type are read only and...

Page 62: ...gnature text save are written to sub index 01h Note that the character s is sent as the least significant byte therefore the 32 bit value of the signature text becomes 65766173h Store Parameter Signature e v a s 65h 76h 61h 73h Any other value than 65766173h written to sub index 01h will result in an abort response Storing of all parameters takes approximately four seconds Writing to any of the pa...

Page 63: ...ture text load are written to sub index 01h Note that the character l is sent as the least significant byte therefore the 32 bit value of the signature text becomes 64616F6Ch Restore Parameter Signature d a o l 64h 61h 6Fh 6Ch Any other value than 64616F6Ch written to sub index 01h will result into an abort response If the correct signature is transmitted and the Unit is not able to restore the pa...

Page 64: ...as 4 1 Input and Output Data 48 4 2 I O Data mapping 49 4 2 1 Application Objects 50 4 2 2 Mapping of the Application Objects onto PDOs 52 4 2 3 Mapping of the Application Objects onto PLC memory locations 53 4 2 4 Mapping Example 56 4 2 4 1 CANopen configuration 57 4 2 4 2 PLC configuration 58 4 3 Control and Status area 60 4 3 1 Control words 61 4 3 2 Status words 63 ...

Page 65: ...ut and output signal connections it exchanges its I O data with the host PLC INPUT Data INPUT Data is process data which the C200HW CORT21 V1 transmits onto the CANopen network The Unit reads the input data from the mapped PLC areas during the PLC s I O refresh The moment of transmission to other CANopen nodes depends on the configured transmission type OUTPUT Data OUTPUT Data is process data whic...

Page 66: ... corresponding Input Application Objects The actual transmission of the application objects over the CANopen Network depends on the TPDO mapping and the TPDO communication parameters Output data received from the CANopen Network is first stored in the corresponding Output Application Objects in the Unit The transmission type of the RPDO determines at which PLC I O refresh the data is written to th...

Page 67: ...fault value 2000h Default_Input_Bytes 2000h 00h Number of entries 4 2000h 01h 8_bit_input1 0 2000h 02h 8_bit_input2 0 2000h 03h 8_bit_input3 0 2000h 04h 8_bit_input4 0 2001h 8 bit input network variables 2001h 00h Number of entries 100 2001h 01h 8_bit_input1 0 2001h 64h 8_bit_input100 0 2002h 16 bit input network variables 2002h 00h Number of entries 100 2002h 01h 16_bit_input1 0 2002h 64h 16_bit_...

Page 68: ...t network variables 2102h 00h Number of entries 100 2102h 01h 16_bit_output1 0 2102h 64h 16_bit_output100 0 2103h 32 bit output network variables 2103h 00h Number of entries 50 2103h 01h 32_bit_output1 0 2103h 32h 32_bit_output50 0 2104h 64 bit output network variables 2104h 00h Number of entries 25 2104h 01h 64_bit_output1 0 2104h 19h 64_bit_output25 0 Note The object names are the internal devic...

Page 69: ...he Default_Input_Bytes and Default_Output_Bytes are mapped The mapping of these objects is listed in the following table Mapped Data Object PDO Index Sub index TPDO1 2000h 01 TPDO2 2000h 02 TPDO3 2000h 03 TPDO4 2000h 04 RPDO1 2100h 01 RPDO2 2100h 02 RPDO3 2100h 03 RPDO4 2100h 04 The PDOs listed in the table are the PDOs of the predefined connection set see section 1 3 5 The objects located at indi...

Page 70: ...2319 E DM2400 to DM2419 F DM2500 to DM2519 All C200H PLC models except C200HE C200HG CPU3 E CPU4 E C200HX CPU3 E CPU4 E Alternatively starting at DM7000 to DM8500 selected by PLC setup of C200H DM6602 0000 see Operation Manual of CPU Unit For CS1 allocations see Appendix C The first word in the DM area allocated to the Unit will be indicated by DM m the last word by DM m 19 DM m DM m 15 are used t...

Page 71: ...00HW CORT21 V1 2 m 6 other Setting error 1 Number of 64 bit input objects 0000 0025 0 25 64 bit objects to be transferred from PLC to C200HW CORT21 V1 2 m 7 other Setting error 1 Slave output mapping mode 0001 Default output mapping to IR n 6 and IR n 7 only Any settings in DM m 9 DM m 15 are ignored m 8 0001 Additional output mapping by DM m 9 DM m 15 Start address range of 8 bit output area m 9 ...

Page 72: ...n not start at the highest PLC address in the memory range This will result in a DM setting error and IR n 4 will indicate that the boundary of the respective PLC memory area is exceeded It is possible to have both 32 bit and 64 bit objects In the PLC memory area the 64 bit objects will start directly after the 32 bit objects Allocation of objects to PLC memory locations The 8 bit objects with an ...

Page 73: ...Os must be configured to establish the communication relationship as is depicted in the figure above On the PLC side the DM settings must be configured because the predefined connection set is not sufficient The following table shows a possible configuration for this example Connection Number PDO Application Object PLC address Index Sub Index 2000h 01h IR101 bit 00 07 2000h 02h IR101 bit 08 15 200...

Page 74: ...ult value 1400h Receive PDO1 parameter 1400h 00h Number of entries 2 1400h 01h COB ID 202h 1400h 02h Transmission Type 254 1401h Receive PDO2 parameter 1401h 00h Number of entries 2 1401h 01h COB ID 302h 1401h 02h Transmission Type 254 1402h Receive PDO3 parameter 1402h 00h Number of entries 2 1402h 01h COB ID 402h 1402h 02h Transmission Type 254 1600h Receive PDO1 mapping 1600h 00h Number of entr...

Page 75: ...20000408h 1A01h Transmit PDO2 mapping 1A01h 00h Number of entries 1 1A01h 01h mapped object 20020110h 1A02h Transmit PDO3 mapping 1A02h 00h Number of entries 1 1A02h 01h mapped object 20010108h 1A03h Transmit PDO4 mapping 1A03h 00h Number of entries 1 1A03h 01h mapped object 20030120h 4 2 4 2 PLC configuration By default the C200HW CORT21 V1 only transfers the four input and output bytes mapped to...

Page 76: ...50 Start address of 8 bit input area IR050 1002 0001 1 x 8 bit input object 1003 C010 Start address of 16 bit input area LR10 1004 0001 1 x 16 bit input object 1005 B000 Start address of 32 64 bit input area HR00 1006 0001 1 x 32 bit input object 1007 0000 0 x 64 bit input object 1008 0001 Additional output mapping 1009 0000 Start address of 8 bit output area DM0000 1010 0000 0 x 8 bit output obje...

Page 77: ...ing table gives an overview of the meaning of these words IR word Meaning Data Direction n Control word n 1 Input word 1 PLC C200HW CORT21 V1 n 2 Input word 2 n 3 Status word 1 n 4 Status word 2 n 5 Status word 3 C200HW CORT21 V1 PLC n 6 Output word 1 n 7 Output word 2 Refer to the next two sub sections for a detailed explanation of the Control and Status words Machine number IR area 0 IR100 IR107...

Page 78: ...sage the C200HW CORT21 V1 will refrain from CANopen communication until the bit is set to ON again Switching of IR n 00 does not have any effect on the contents of the object dictionary 0 CANopen communication is disabled The CANopen data exchange between PLC and CAN bus is stopped On a falling edge the C200HW CORT21 V1 will first send out an emergency telegram before disabling the communication T...

Page 79: ...ode is broadcast once IR n 02 Stop all nodes The function of this is bit is to request all nodes on the CANopen network including this Unit to enter Pre Operational state by broadcasting the NMT command Enter_Pre Operational_State see section 1 3 4 1 CANopen communication must be enabled IR n 00 1 0 No action 1 On a rising edge the NMT command Enter_Pre Operational_State is broadcast once IR n 03 ...

Page 80: ...umber of 16 bit input objects or the number of objects exceeds PLC memory area Invalid start address 32 64 bit input area Invalid number of 32 bit input objects or the number of objects exceeds PLC memory area Invalid number of 64 bit input objects or the number of objects exceeds PLC memory area Total size of input objects exceeds 100 words Invalid start address 8 bit output area Invalid number o...

Page 81: ...he Unit is accessible via SDOs to allow configuration 1 0 Operational This state is entered after receiving the NMT command Start_Remote_Node The Unit is fully operational and can be accessed via SDOs and PDOs 1 1 Stopped This state is entered after receiving the NMT command Stop_Remote_Node In this state all data communication via SDOs as well as PDOs is disabled Refer to section 1 3 4 1 for more...

Page 82: ...le area to the power on values 0 The NMT command Reset_Node was not received during the last PLC scan 1 The NMT command Reset_Node was received during the last PLC scan Refer to section 1 3 4 1 for more details about the CANopen state machine IR n 3 05 Reset communication This bit is set for one PLC scan when the C200HW CORT21 V1 has received the NMT command Reset_Communication This command will s...

Page 83: ...f recovery the C200HW CORT21 V1 will enter pre operational state IR n 3 11 Heartbeat Life guarding error The C200HW CORT21 V1 can monitor the heartbeat of another node or perform life guarding on the NMT master that guards the C200HW CORT21 V1 In case the Heartbeat mechanism is enabled and the heartbeat producer fails to send the heartbeat within the set heartbeat time see section 3 3 2 3 IR n 3 1...

Page 84: ...ew error s in the error log since the last read access 1 New error s have occurred since the last read access See section 5 3 for more details about the error log IR n 4 When status bit IR n 3 12 DM setting error is set the bits of IR n 4 indicate which DM setting s caused the error s IR n 5 The most recent Emergency trigger and respective error count are indicated in IR n 5 The Emergency trigger ...

Page 85: ...Control and Status area Section 4 3 68 ...

Page 86: ...are used to transfer the messages to and from the Unit 5 1 Message communication 70 5 2 IOWR IORD 70 5 3 Error log 72 5 4 Reading the error log 74 5 5 Writing to the local object dictionary 75 5 6 Reading from the local object dictionary 77 5 7 Transmitting a user defined CAN message 79 5 8 Receiving a user defined CAN message 80 ...

Page 87: ...te according to vendor or application specific CAN based protocols different from CANopen This functionality can be used simultaneously with the CANopen communication The next sections will first describe the general use of the IOWR IORD instructions and the error log After that the five message communication functions of the C200HW CORT21 V1 are explained in detail 5 2 IOWR IORD The ladder symbol...

Page 88: ...transferred The following table lists the control codes and message lengths for the C200HW CORT21 V1 Function Message Length Control code IORD IOWR Reading the error log 0000 1 26 N A Writing to the local object dictionary 0001 N A 4 7 Reading from the local object dictionary 0002 2 5 2 Transmitting a user defined CAN message 0003 N A 3 6 Receiving a user defined CAN message 0004 N A 4 PLC EQ flag...

Page 89: ...12 13 14 15 16 17 18 19 20 21 22 23 24 25 Oldest error Possible error codes The following table lists all possible error codes the meaning of the error codes and to which function they are applicable Error code Description Applicable to 0350 Invalid control code or Function is inactive due to current state i e CANopen is disabled IOWR IORD 0360 Message length is out of range Reading the error log ...

Page 90: ... not exist Reading from the local object dictionary 0421 Sub index does not exist Reading from the local object dictionary 0422 Object entry is write only Reading from the local object dictionary 0423 The object entry to read was never indicated by a successful IOWR with control code 2 since power on or reset Reading from the local object dictionary 0424 Unable to access specified object The Unit ...

Page 91: ...er than 9999 new errors Only the 25 most recent errors are stored in the error log The message length specified in the source information of the IORD instruction must lie within the range 1 26 If a length greater than 26 is specified the Unit will respond with a negative acknowledge and the error code 0360 is stored in the error log It is recommended to always read the entire log 26 words and chec...

Page 92: ...d write RWR read write on input application objects or RWW read write on output application objects If an object entry is a simple variable the value for the Sub Index word n 1 should be set to zero Refer to the CANopen Communication Profile Specification or the EDS file see appendix A for the data length of a specific object entry Example The following example shows how to store all configuration...

Page 93: ...e PDO valid RTR allowed DM404 Destination IOWR 0001 Control code 0001 DM400 Source of message 1005 Mach No 1 message length 5 words Address Start value New value Description DM400 1400 1400 PDO index number DM401 0001 0001 PDO sub index DM402 Don t care 0004 Data length DM403 Don t care 0201 DM404 Don t care 4000 Data 40000201 Explanation A PDO should be disabled made invalid before its COB ID can...

Page 94: ...only be executed after a successful execution of the IOWR instruction The following figure shows the IOWR and IORD message structure IOWR message structure word n Index object entry hex range 0000h FFFFh word n 1 Sub Index object entry hex range 0000h 00FFh IORD message structure word n Data length range 0001 0008 word n 1 Data byte 2 Data byte 1 word n 2 Data byte 4 Data byte 3 Note Data byte 1 i...

Page 95: ...AG 11 01 Read_Obj Note that the C200H syntax of the IOWR and IORD instruction is used On the rising edge of IR11 00 the Index and Sub Index are transmitted to the Unit After successful execution of the IOWR instruction IR11 01 is set When IR 11 01 is set the indicated object entry is read and written to PLC address DM0300 If the reading of the object entry was successful IR11 01 is reset The resul...

Page 96: ...f the frame the data length number of data bytes and the actual data up to a maximum of 8 bytes The figure below shows the IOWR message structure IOWR message structure word n Identifier hex range 0000h 07FFh word n 1 Data length range 0000 0008 word n 2 Data byte 2 Data byte 1 word n 3 Data byte 4 Data byte 3 word n 4 Data byte 6 Data byte 5 word n 5 Data byte 8 Data byte 7 Note Transmission time...

Page 97: ...6 12 00 EQ_FLAG ERROR PLC memory address Contents Meaning DM0400 0000 ID 0000h NMT command DM0401 0002 Data length 2 bytes DM0402 0201 Data byte 1 01h Data byte 2 02h 5 8 Receiving a user defined CAN message Control code 0004 The C200HW CORT21 V1 can receive arbitrary CAN messages with a combination of the IOWR instruction and the I O refresh If it is not required that the CANopen protocol is acti...

Page 98: ...4h Set the minimum and maximum identifier value to cover the range and set the identifier mask to all bits don t care word n 010A word n 1 0114 word n 2 0000 3 Configuring C200HW CORT21 V1 to receive specific identifiers within a range e g receive all odd identifiers within the range 010Ah to 0114h Set the minimum identifier to the first odd identifier in the range the maximum identifier to the ma...

Page 99: ... The figure below shows the structure of the receive buffer The representation in the PLC memory after transferring the buffer to the PLC is identical Receive buffer structure word n Number of new messages received since the last I O refresh BCD range 0000 9999 word n 1 Identifier message 1 hex range 0000h 07FFh word n 2 Data length range 0000 0008 word n 3 Data byte 2 Data byte 1 word n 4 Data by...

Page 100: ...count changes On average the count changes every 2 ms The identifier of the message is 280h a second node transmits its 8 bit input value every 4 ms with identifier 282h a third node transmits its 16 bit clock value every 200 µs with identifier 281h the scan time of the PLC is fixed to 8 ms The C200HW CORT21 V1 should be programmed to only receive the 32 bit counter value and the 8 bit input value...

Page 101: ...re DM0619 0280 Message with ID 0280 DM0620 0004 Length 4 bytes DM0621 1002 DM0622 000F Data 000F1002h DM0623 0000 DM0624 0000 Ignore DM0625 0280 Message with ID 0280 DM0626 0004 Length 4 bytes DM0627 1001 DM0628 000F Data 000F1001h DM0629 0000 DM0630 0000 Ignore DM0631 0282 Message with ID 0282 DM0632 0001 Length 1 byte DM0633 00AA Data AAh DM0634 0000 DM0635 0000 DM0636 0000 Ignore The snapshot o...

Page 102: ...an overview of the implemented error handling and status indication mechanisms 6 1 Introduction 86 6 2 Emergency message 87 6 3 Error Register Predefined Error Field 90 6 4 Fatal PLC error handling 91 6 5 LEDs 7 Segment Display 92 6 6 Flow diagrams 93 ...

Page 103: ...for mutual life checking See sections 1 3 4 2 3 3 2 3 3 3 2 4 for details Error register Predefined error field Object entries that indicate the actual error s and record the occurred errors since power on or the last reset Another node or the host PLC can read these entries to retrieve the error information The C200HW CORT21 V1 also has some manufacturer specific status indication mechanisms Fata...

Page 104: ...o 00h The 16 bit Emergency Error Code depends on the type of error The table below describes the three possible error codes EEC hex Description 0000 Error reset At least one error has been resolved 8100 Communication error FF00 Device specific error ER byte 2 The error register byte 2 has the same value as the object at index 1001 see section 6 3 The figure below shows the error register The error...

Page 105: ...ommunicate but will not send high priority error messages on the bus hence Error Passive because the errors could be related to the Unit itself 0 No high occurrence of errors on the bus or the errors have been resolved before going Bus Off 1 The communication interface has gone in Error Passive Mode due to a high occurrence of errors on the bus Comm Err 03 Recovered from Bus Off If the high error ...

Page 106: ...be set and kept ON by the host PLC program indicates a Fatal PLC error When this occurs an emergency message is sent out with this bit set This bit is negated when IR n 00 is set again Note that switching to from Program mode also clears IR n 00 and also causes these emergency messages to be sent 0 No Fatal PLC error IR n 00 is set CANopen is enabled 1 Fatal PLC error A falling edge of IR n 00 is ...

Page 107: ... actual errors This byte is also transmitted as part of the emergency message and a description of this byte can be found in the section that describes the emergency message section 6 2 Predefined Error Field Object entry 1003h The Predefined Error Field is an array of 32 bit variables The figure below shows the structure of this object entry Index Sub index Object Default value 1003h Predefined E...

Page 108: ...Clearing the error history The error history can be cleared by writing 0 to sub index 00h 6 4 Fatal PLC error handling The C200HW CORT21 V1 informs the CANopen network when a fatal PLC error has occurred A fatal PLC error stops the execution of the ladder program and resets the complete IR area Bit IR n 00 has to be set to enable the CANopen communication When a fatal PLC error occurs IR n 00 is r...

Page 109: ...s RUN ERR indicate the status of the Unit in general LEDs LED Colour State Description OFF Fatal error or no power supply via backplane Blinking Initialising the hardware software RUN Green ON The Unit is initialised and no fatal errors were detected OFF No errors Blinking Non fatal error due to incorrect Unit settings Details in IR n 4 ERR Red ON Fatal error Details in IR n 3 13 IR n 3 14 ...

Page 110: ...ower failure See section 3 1 5 03h Heartbeat Life guarding error See section 3 3 2 3 3 3 2 4 04h Bus Off See section 4 3 2 IR n 3 10 05h Non volatile memory error See section 3 3 2 9 06h FFh Reserved If more than one error has occurred the errors are displayed cyclically in ascending order with a one second interval time 6 6 Flow diagrams The next two pages show basic flow diagrams of the C200HW C...

Page 111: ...et Non Fatal Error Reset Communication Reset Application N Y Pre Operational state RUN LED ON ERR LED OFF 7 Segment display Display value Node ID Dots ON IR n 3 X000 0000 0000 X001 Transmission reception of user defined CAN messages possible CANopen SDO accesses possible Received NMT command Start_Remote_Node Y Received NMT command Stop_Remote_Node Received NMT command Enter_Pre operational_state ...

Page 112: ...mission reception of user defined CAN messages possible Start Message handling CAN open Abnormal rate of errors on the bus Unit goes Bus Off Y RUN LED ON ERR LED OFF 7 Segment display Display value 04h Blinking Dots OFF IR n 3 X000 0100 0000 X000 No CAN open communication Solution Check network and if all OK toggle IR n 03 Network power failure Unit remains in the same state N Y RUN LED ON ERR LED...

Page 113: ...Flow diagrams Section 6 6 96 ...

Page 114: ...ribes the troubleshooting procedures and maintenance operations needed to keep the CANopen network operating properly 7 1 Error Indicators 98 7 2 Troubleshooting 98 7 3 Maintenance 104 7 3 1 Cleaning 104 7 3 2 Inspection 104 7 3 3 Replacement of Units 105 ...

Page 115: ... it if necessary After correction perform the I O Table Create operation An I O Unit Over error occurred The MACHINE No rotary switch setting is incorrect Make sure that the setting does not exceed the maximum allowed Unit number See section 3 1 3 If the Machine number exceeds the PLC s limit adjust the Machine number and restart the Unit Make sure that the PLC program and DM settings are adapted ...

Page 116: ...e and restart the Unit If this does not help replace the Unit Configuration problems Description Possible cause Possible remedy Not able to access read write an object entry The object entry does not exist or has the wrong attribute Check the EDS file Appendix A if the object entry exists If the object exists check the attribute of the object To read an object the attribute has to be RO RW RWW or ...

Page 117: ...command Start_Remote_Node to the Unit or set IR n 01 The Unit should go to Operational state and the dots should go OFF The network cabling is not correct Check if the correct pins of the bus connector are connected see section 3 1 5 if there are no short circuits if the stub lines are not too long and if the network is terminated at the appropriate places see section 3 3 1 The Unit operates on a ...

Page 118: ... the host PLC Other nodes transmit more SDOs linked to the unit than can be processed by the unit s CAN interface The CAN interface transmits an Emergency message receive queue overflow Reduce the number of output data objects and RPDOs Reduce the update rate of the transmitting nodes The Unit transmits all data messages but the processing at the receiving node takes longer than the Unit s I O ref...

Page 119: ...n object the attribute must be RO RW RWW or RWR To write to an object the attribute must be WO RW RWW or RWR The specified data length in the IOWR message structure does not correspond with the data length of the object entry Check the data length of the object entry User defined CAN message is not received by another node An incorrect identifier or data length was set in the IOWR message structur...

Page 120: ...ection 3 3 1 The transmitting node has a low speed fault tolerant CAN interface Low speed CAN devices use a different physical layer from the C200HW CORT21 V1 s high speed CAN Converters between high speed and low speed CAN are commercially available The Unit operates on a different baud rate than the other node on the network Configure all the units on the network to the same baud rate Not all us...

Page 121: ...tion In general inspect the system once every 6 to 12 months but inspect more frequently if the system is used with high temperature or humidity or under dirty dusty conditions Inspection Equipment Prepare the following equipment before inspecting the system Required Equipment Have a standard and Philips head screwdriver multimeter alcohol and a clean cloth Equipment that could be needed Depending...

Page 122: ...contact try wiping the contact with a clean lint free cloth dampened with alcohol After replacing a Unit set the new Unit s switches to the same settings as the old Unit If the Unit requires configuration data other than the predefined connection set store the settings in its non volatile memory Hot swapping The CANopen network allows connection and disconnection of nodes while in operation The no...

Page 123: ...Maintenance Section 7 3 106 ...

Page 124: ...ables Line5 100 TX RX 08 bit objects Line6 100 TX RX 16 bit objects Line7 50 TX RX 32 bit objects Line8 25 TX RX 64 bit objects MandatoryObjects SupportedObjects 3 1 0x1000 2 0x1001 3 0x1018 1000 ParameterName Device Type ObjectType 0x7 DataType 0x0007 AccessType ro DefaultValue 0 PDOMapping 0 1001 ParameterName Error Register ObjectType 0x7 DataType 0x0005 AccessType ro DefaultValue 0 PDOMapping ...

Page 125: ...ataType 0x0009 AccessType const DefaultValue C200HW CORT21 V1 PDOMapping 0 1009 ParameterName Manufacturer Hardware Version ObjectType 0x7 DataType 0x0009 AccessType const DefaultValue 01 00 PDOMapping 0 100a ParameterName Manufacturer Software Version ObjectType 0x7 DataType 0x0009 AccessType const DefaultValue 01 00 PDOMapping 0 100b ParameterName Node ID ObjectType 0x7 DataType 0x0007 AccessTyp...

Page 126: ... 0x0007 AccessType rw DefaultValue NODEID 0x40000200 PDOMapping 0 LowLimit 0x40000001 HighLimit 0xC00007FF 1400sub2 ParameterName Transmission Type ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 0xFE PDOMapping 0 LowLimit 0x00 HighLimit 0xFE 1401 ParameterName RPDO 1 Communication Parameter ObjectType 0x9 SubNumber 3 1401sub0 ParameterName Number of Entries ObjectType 0x7 DataType 0x000...

Page 127: ...Name Number of Entries ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 1 PDOMapping 0 LowLimit 0 HighLimit 8 1602sub1 ParameterName Mapping Entry 1 ObjectType 0x7 DataType 0x0007 AccessType rw DefaultValue 0x21000308 PDOMapping 0 1603 ParameterName RPDO 3 Mapping Parameter ObjectType 0x9 SubNumber 2 1603sub0 ParameterName Number of Entries ObjectType 0x7 DataType 0x0005 AccessType rw Def...

Page 128: ...e 0x0005 AccessType rw DefaultValue 0xFE PDOMapping 0 LowLimit 0x00 HighLimit 0xFE 1a00 ParameterName TPDO 0 Mapping Parameter ObjectType 0x9 SubNumber 2 1a00sub0 ParameterName Number of Entries ObjectType 0x7 DataType 0x0005 AccessType rw DefaultValue 1 PDOMapping 0 LowLimit 0 HighLimit 8 1a00sub1 ParameterName Mapping Entry 1 ObjectType 0x7 DataType 0x0007 AccessType rw DefaultValue 0x20000108 P...

Page 129: ...DataType 0x0005 AccessType ro DefaultValue 4 PDOMapping 0 2100sub1 ParameterName Default_Output_Byte1 ObjectType 0x7 DataType 0x0005 AccessType rww DefaultValue 0x00 PDOMapping 1 2100sub2 ParameterName Default_Output_Byte2 ObjectType 0x7 DataType 0x0005 AccessType rww DefaultValue 0x00 PDOMapping 1 2100sub3 ParameterName Default_Output_Byte3 ObjectType 0x7 DataType 0x0005 AccessType rww DefaultVal...

Page 130: ...apped object RPDO1 2100 0108h 1600h 2 8 2 nd 8 th mapped object RPDO1 0000 0000h 1 1 st mapped object RPDO2 2100 0208h 1601h 2 8 2 nd 8 th mapped object RPDO2 0000 0000h 1 1 st mapped object RPDO3 2100 0308h 1602h 2 8 2 nd 8 th mapped object RPDO3 0000 0000h 1 1 st mapped object RPDO4 2100 0408h 1603h 2 8 2 nd 8 th mapped object RPDO4 0000 0000h 1604h 163Fh 1 8 1 st 8 th mapped object RPDO5 RPDO64...

Page 131: ...00 0000h 1 1 st mapped object TPDO2 2000 0208h 1A01h 2 8 2 nd 8 th mapped object TPDO2 0000 0000h 1 1 st mapped object TPDO3 2000 0308h 1A02h 2 8 2 nd 8 th mapped object TPDO3 0000 0000h 1 1 st mapped object TPDO4 2000 0408h 1A03h 2 8 2 nd 8 th mapped object TPDO4 0000 0000h 1A04h 1A3Fh 1 8 1 st 8 th mapped object TPDO5 TPDO64 0000 0000h ...

Page 132: ...in the CS1 PLC series Function instead of C200H addresses CS1 will use addresses MACHINE No 0 to 9 IR100 IR199 Control Status area MACHINE No A to F IR400 IR459 CIO2000 CIO2159 Unit settings DM1000 DM2599 or DM7000 DM8599 D20000 D21599 IR000 IR235 CIO0000 CIO0235 IR300 IR511 CIO0300 CIO0511 HR00 HR99 HR000 HR099 LR00 LR63 CIO1000 CIO1063 I O data mapping areas DM0000 DM5999 D00000 D05999 MACHINE N...

Page 133: ...116 ...

Page 134: ...heir distributor to assist in setting the correct values The table below lists the DM words for configuration of the baud rate DM word Value Meaning m 16 0000 0063 BRP value The Baud Rate Prescaler value determines the length of the time quanta within one bit time m 17 0000 0003 SJW value The Re Synchronisation Jump Width defines the maximum number of time quanta a bit time may be shortened or len...

Page 135: ...118 ...

Page 136: ...2 33 35 DM Settings 22 53 59 E EDS File 5 19 23 52 107 EEC 12 87 90 EMC xiv EMCY Object 12 23 87 90 Enable CANopen 37 61 E continued EQ Flag 71 ERR LED 55 66 92 Error Communication 66 72 87 88 Error Device 87 89 Error Fatal PLC 61 67 89 91 Error Code 72 74 Error Control Services 14 23 Error Log 63 67 72 Error Register 86 90 Examples CANopen Configuration 57 Change Object 75 Mapping 6 9 56 PDO link...

Page 137: ...e Queue 28 88 90 Transmit Queue 28 88 90 P Parameters Store Restore 45 46 75 113 PDO Cyclic Acyclic 8 23 40 Granularity 9 41 Linking 16 23 38 Mapping 9 17 23 41 52 Receive Transmit 8 23 40 Transmission types 40 Performance 25 PLC Cycle Time 25 101 PLC Interface 47 PLC Types 22 Power Supply xiii 34 35 66 Predefined Connection Set 16 52 Pre operational State 14 16 39 62 64 93 Producer Consumer Model...

Page 138: ...6 Time Stamp Object 12 17 TPDO 8 23 40 Troubleshooting 97 U Unit Settings 22 53 59 User defined CAN Receive 29 65 70 80 User defined CAN Transmit 70 79 V W Variables Attributes 38 Window Length 8 11 44 0 9 7 Segment Display 92 ...

Page 139: ...122 ...

Page 140: ... manual Cat No W904 E2 2 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 1 July 2000 Original production 2 June 2001 CANopen functionality added to existing user defined CAN communication ...

Page 141: ......

Page 142: ...Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 5681 300 Fax 31 0 23 5681 388 ...

Page 143: ...Authorized Distributor Cat No W904 E2 2 Note Specifications subject to change without notice Printed in the Netherlands OMRON ...

Page 144: ...ry time enquiry in real time Logistics systems for the shipment of materials almost anywhere in the world Purchasing management order record and tracking of shipments To access the product click on the green button Product Code Reference Product link Industrial Career Final Switches Terminals M16 Socket for welding 103150 M16 0 Buy on EAN Industrial Career Final Push Close mounting M22 116083 M22 ...

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