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Chapter 2 Decentral block periphery CAN-Bus CANopen

Manual VIPA System 100V

2-2

HB100E - SM-CAN - Rev. 15/02

Principles of CANopen

All the modules in this chapter have got the UL Certification:

The CAN-Bus (

C

ontrol

A

rea

N

etwork) is an international open fieldbus

standard for building, manufacturing and process automation and has been
developed for automotive production.

Due to the wide range of error localization possibilities, the CAN-Bus is
seen as the bus system with the highest security with a rest error
probability of less than 4.7 x 10

-11

. Defective messages are signalized and

automatically transferred again.

In contrast to PROFIBUS and Interbus, CAN-Bus also defines several 7-
layer user profiles under the CAL-Layer-7-protocol (CAL=CAN application
layer).

One of those user profiles is CANopen, which standardization is controlled
by the CiA CAN in Automation e.V.

CANopen is the user profile for industrial real-time systems and is at this
time on its way through the manufacturing sites. CANopen has been
published as Profile DS-301 from the CAN-User Organization (C.i.A). The
communication profile DS-301 serves the standardization of the devices to
ensure the compatibility of the products from different manufacturers.
Another step is the device profile DS-401 that standardizes the device
specific and the process data of the digital and analog in-/output modules.

CANopen consists of the communication profile that defines the objects
used for the transfer of certain data, and the device profiles that define the
kind of data transferred with the objects.

The CANopen communication profile bases on an object directory
comparable to the PROFIBUS directory. The communication profile DS-301
defines two kinds of objects and some special objects:

•

Process data objects (PDO)

PDOs provide the transfer of real-time data

•

Service data objects (SDO)

SDOs allow the read and write access to the object directory

UL Certification

General

CANopen

PDO and SDO

UL-Recognition-Mark

Underwriters Laboratories (UL)

Standard UL 508, File Nr.: E234291

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Summary of Contents for System 100V Series

Page 1: ...VIPA System 100V SM CAN Manual HB100E_SM CAN Rev 15 02 January 2015 ...

Page 2: ...isions Conformity is indicated by the CE marking affixed to the product Conformity Information For more information regarding CE marking and Declaration of Conformity DoC please contact your local VIPA customer service organization Trademarks VIPA SLIO System 100V System 200V System 300V System 300S System 400V System 500S and Commander Compact are registered trademarks of VIPA Gesellschaft für Vi...

Page 3: ...imensions 1 5 Chapter 2 Decentral block periphery CAN Bus CANopen 2 1 Principles of CANopen 2 2 System overview 2 5 Structure 2 6 Installation and Cabling 2 12 Circuit diagrams 2 13 Deployment with CANopen 2 14 Fast introduction 2 15 Baudrate and module ID settings 2 18 Message structure 2 19 PDO Process Data Object 2 21 SDO Service Data Object 2 24 Object directory 2 26 Emergency object 2 40 NMT ...

Page 4: ...Contents Manual VIPA System 100V ii HB100E SM CAN Rev 15 02 ...

Page 5: ...ion to the System 100V like dimensions installation and operating conditions Chapter 2 Decentral block periphery CANopen The decentral block periphery consists of one CANopen slave and in out put components The CANopen block periphery is available in different variants described in the following chapter This chapter summarizes all information you need for assembly project engineering and operating...

Page 6: ...ery chapter provides a self contained description of a specific topic The following guides are available in the manual an overall table of contents at the beginning of the manual an overview of the topics for every chapter The manual is available in printed form on paper in electronic form as PDF file Adobe Acrobat Reader Important passages in the text are highlighted by following icons and headin...

Page 7: ...be available to all personnel in the project design department installation department commissioning operation The following conditions must be met before using or commissioning the components described in this manual Hardware modifications to the process control system should only be carried out when the system has been disconnected from power Installation and hardware modification only by proper...

Page 8: ...Safety information Manual VIPA System 100V 4 HB100E SM CAN Rev 15 02 ...

Page 9: ... VIPA System 100V as central resp decentral automation system Besides a system overview you will find general information to the System 100V like dimensions installation and operating conditions Topic Page Chapter 1 Basics 1 1 Safety information for Users 1 2 Overview System 100V 1 3 General Description of the System 100V 1 4 Assembly dimensions 1 5 Overview Content ...

Page 10: ...dule to become inoperable or unusable Modules that have been damaged by electrostatic discharges may fail after a temperature change mechanical shock or changes in the electrical load Only the consequent implementation of protection devices and meticulous attention to the applicable rules and regulations for handling the respective equipment can prevent failures of electrostatically sensitive modu...

Page 11: ...ystem 100V expansion modules System 200V modules expandable with central Micro PLC with I O functions and PROFIBUS DP slave CANopen slave with I O functions The central system is built of one CPU and integrated I O functions The CPU is instruction compatible to the S7 300 from Siemens and may be programmed and projected by means of S7 programming tools from Siemens and VIPA via MPI By means of bus...

Page 12: ...DC24V MMC M P I 2 0 0 PW SF FC MC L M PE X 2 3 4 R S RUN STOP MRST DI 8xDC24V 0 1 2 3 4 5 6 7 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V 0 1 2 3 4 5 6 7 1 2 3 4 5 6 7 8 9 I0 DO 8xDC24V L 0 1 2 3 4 5 6 7 F 1 2 3 4 5 6 7 8 9 I0 DO 8xDC24V L 0 1 2 3 4 5 6 7 F 1 2 3 4 5 6 7 8 9 I0 X3 X4 X5 X6 A B DI 16 20 xDC24V DI 16 20 xDC24V 0 5A Plug in via CageClamps core cross section 0 08 2 5mm2 Total isolation of the cab...

Page 13: ...IPA System 100V Chapter 1 Basics HB100E SM CAN Rev 15 02 1 5 Assembly dimensions 60 mm 60 mm 44 mm 34 mm 48 mm ca 70 mm 45 mm 76 62 mm 76 mm 2 77 cm 24 mm Installation dimensions Installed and wired dimensions ...

Page 14: ...Chapter 1 Basics Manual VIPA System 100V 1 6 HB100E SM CAN Rev 15 02 50 mm 27 mm 8 cm 76 mm 8 cm 85 mm 51 mm 65 mm 24 mm 5 mm 11 mm 45 mm CPU 11x with EasyConn from VIPA ...

Page 15: ...s chapter contains an introduction of the telegram structure and the function codes of CANopen Afterwards the principles of process and service data exchange are described followed by the object directory the parameter data and information about error control and maintenance Topic Page Chapter 2 Decentral block periphery CAN Bus CANopen 2 1 Principles of CANopen 2 2 System overview 2 5 Structure 2...

Page 16: ... time systems and is at this time on its way through the manufacturing sites CANopen has been published as Profile DS 301 from the CAN User Organization C i A The communication profile DS 301 serves the standardization of the devices to ensure the compatibility of the products from different manufacturers Another step is the device profile DS 401 that standardizes the device specific and the proce...

Page 17: ...il down or is new at the network Bus access methods are commonly divided into controlled deterministic and uncontrolled random bus access systems CAN employs a Carrier Sense Multiple Access CSMA method i e all stations have the same right to access the bus as long as the bus is not in use random bus access Data communications is message related not station related Every message contains a unique i...

Page 18: ... 500kBit s 100m 250kBit s 250m 125kBit s 500m 50kBit s 1000m 20kBit s 2500m The Emergency object serves the diagnosis It is provided with a high priority and delivers information about the device and the net Every bus participant identifies itself with an address This address must be unique in this bus system and may range between 01 99 The address is adjusted at the CAN Bus coupler via the addres...

Page 19: ...each 1 PDO for send and receive PDO Linking 2 SDOs as server Emergency object NMT Node Guarding Heartbeat Decentral block periphery Old order no New order no Module width Number of input DC 24V Number of output DC 24V 1A Number of relay output DC 30V AC 230V 5A Input data Output data Number of clamps Current consumption module Digital in output 123 4CF00 153 4CF00 4tier tot 8 1Byte 1Byte 2x11 55mA...

Page 20: ...age ER red On at error RD green Blinks with 1Hz at positive self test and successful initialization BA yellow Off at positive self test and successful initialization 1Hz blinking in state Pre Operational On at state Operational 10Hz blinking in state Prepared Front view 1 2 3 4 PW ER RD BA C A N X 2 3 4 0 1 2 3 4 5 6 7 1 2 3 4 5 6 7 8 9 I0 DC 24V L M PE X1 1 2 X3 0 1 2 3 4 5 6 7 1 2 3 4 5 6 7 8 9 ...

Page 21: ...ks 1Hz PW on Error in CAN baudrate adjusting ER blinks 10Hz RD blinks 10Hz BA blinks 10Hz PW on Module ID adjusting activated ER off RD blinks 1Hz BA off The CAN Bus coupler is linked up to the CAN Bus system via a 9pin plug The following illustration shows the pin assignment of this interface Pin Assignment 1 not used 2 CAN low 3 CAN Ground 4 not used 5 not used 6 optional Ground 7 CAN high 8 not...

Page 22: ... necessary for short cable lines node 1 120Ω CAN Bus CAN_H CAN_L 120Ω node n For all CAN signals are monitored at the bus as difference levels the CAN line is comparable less sensitive to interference EMC Due to the fact that always both lines have the same environment the interference doesn t affect the difference level Note The bus cable has always to be terminated with a terminating resistor of...

Page 23: ...nized as signal state 0 and 15 28 8V as signal state 1 More information about the installation of the input section is to find under Circuit diagrams LED 0 7 Description LEDs green I 0 0 to I 0 7 starting with ca 15V the signal 1 is recognized and the according LED is addressed DI 8xDC24V 0 1 2 3 4 5 6 7 1 2 3 4 5 6 7 8 9 I0 Pin 1 2 3 4 5 6 7 8 9 10 Assignment not used Input I 0 0 Input I 0 1 Inpu...

Page 24: ...ED At activated output the concerning LED is on At overload overheat or short circuit the red error LED labeled with F is on LED L 0 7 F Description LED yellow Supply voltage is applied LEDs green Q 0 0 to Q 0 7 as soon as an output is active the according LED is addressed LED red Error at overload overheat or short circuit DO 8xDC24V 1A L 0 1 2 3 4 5 6 7 F 1 2 3 4 5 6 7 8 9 I0 Pin 1 2 3 4 5 6 7 8...

Page 25: ...hows its status via a green LED At activated in output the concerning LED is on If an overload overheat or short circuit occurs the error LED marked with F is blinking red LED L 0 3 4 7 F Description LED yellow Supply voltage is available LEDs green I Q 0 0 to I Q 0 3 as soon as an I O 1 the according LED is addressed LEDs green Q 0 4 to Q 0 7 as soon as an output is active the according LED is ad...

Page 26: ...rail For dismantling the modules you have to For the dismantling you have to pull down the locker with a screwdriver and lift the module from the profile rail Ç Ç Dismantling Take a fitting screwdriver and push the cage clamp in the rectangular opening to the back then insert the cable into the round opening The cage clamp locks securely by removing the screwdriver Assembly Dismantling Cabling ...

Page 27: ...3 VIPA 153 4CH00 DC 24V M 1 2 3 4 5 6 7 8 9 10 X3 1 10 M L DC 24V 2 3 4 5 6 7 8 9 X4 VIPA 153 6CL10 DC 24V M 1 2 3 4 5 6 7 8 9 10 DC 24V M 1 2 3 4 5 6 7 8 9 10 L DC 24V M 1 2 3 4 5 6 7 8 9 10 M 1 2 3 4 5 6 7 8 9 10 X3 X4 X5 X6 DC 24V VIPA 153 6CH00 X4 1 2 3 4 5 6 7 8 9 10 11 X4M 1 2 3 4 5 6 7 8 9 10 11 X6 1 2 3 4 5 6 7 8 9 10 11 X6M 1 2 3 4 5 6 7 8 9 10 11 DC 24V M 1 2 3 4 5 6 7 8 9 10 X3 X5 1 10 ...

Page 28: ...r Node Guarding SDO Status machine Application Object Object directory Index Subind Value entry 1 entry 2 entry 3 entry n Application Application Object Application Object Application Object Application Object Process I Os CAN bus system Communication Supports the communication data objects and the according functionality for the data transfer via the CANopen network Application The application da...

Page 29: ...may specify the baudrate and the module ID via 00 at the address selector within a period of 10s Further information is available under Baudrate and module ID settings below The CAN identifier for the I O data of the System 100V are evaluated from the node addresses 1 63 Data type Default CAN identifier Digital inputs 1 24 Bit 0x180 384 node address Digital outputs 1 8 Bit 0x200 512 node address T...

Page 30: ...Bit Status 8Bit Bit 0 6 node state 0x7F pre operational 0x05 operational 0x04 stopped res prepared Bit 7 Toggle Bit toggles after every sending If you want the bus coupler to recognize a network master failure Watchdog function you have to set the guard time object 0x100C and the life time factor object 0x100D to values 0 Reaction time at break down Guard Time x Life Time Factor The System 100V CA...

Page 31: ...ror Code Meaning Info 0 Info 1 Info 2 Info 3 Info 4 0x0000 Reset Emergency 0x1000 PDO Control 0xFF 0x10 PDO Number LowByte Timer Value HighByte Timer Value 0x8100 Heartbeat Consumer Node ID LowByte Timer Value HighByte Timer Value 0x00 0x00 0x8100 SDO Block Transfer 0xF1 LowByte Index HighByte Index SubIndex 0x00 0x8130 Node Guarding Error LowByte GuardTime HighByte GuardTime LifeTime 0x00 0x00 0x...

Page 32: ...00 kBaud 50 m After 5 seconds the selected CAN baudrate is saved in the EEPROM The LEDs ER and BA are extinguished and the green RD LED still blinks Now you have another 5s for adjusting the module ID Define the module ID in a range between 01 99 by means of the address selection switch Every module ID may only exist once on the bus The module ID must be defined before the bus coupler is turned on...

Page 33: ... additional division of the 2Byte identifier into function portion and a module ID gives the difference between this and a level 2 message The function determines the type of message object and the module ID addresses the receiver CANopen devices exchange data in the form of objects The CANopen communication profile defines two different object types as well as a number of special objects The VIPA...

Page 34: ...lave CiA DS 301 Digital output data 1 SDO1S2M 1011 Master CiA DS 301 Configuration data SDO1M2S 1011 Slave CiA DS 301 Configuration data SDO2S2M Master Application spec Configuration data SDO2M2S Slave Application spec Configuration data Node Guarding 1110 Master Slave RTR CiA DS 301 Module monitoring Heartbeat 1110 Master Slave Application spec Module monitoring The function code for SDO2 is to f...

Page 35: ...there is each 1 RxPDO and 1 TxPDO available The occupancy of these PDOs with input res output data occurs automatically The PDO Mapping is fixed and must not be altered The most important communication parameter of a PDO is the CAN identifier also called Communication Object Identifier COB ID It identifies the data and specifies their priority at the bus access For every CAN data telegram there ma...

Page 36: ...time but only the alterations of it At the same time a short reaction time is received because you don t have to wait for a request of another master after the change of an input value The PDOs may also be polled by data request telegrams Remote Frames Thus allows that e g the input process image at event triggered inputs may be brought on the bus also without input changes for example a monitor o...

Page 37: ...n switches its outputs to error state at SYNC break down The transmission types 254 255 are asynchronous or also event triggered At the transmission type 254 the event is proprietary at 255 it is defined in the device profile When choosing the event triggered PDO communication you have to regard that there may be a lot of events at the same time and therefore according delay times may occur until ...

Page 38: ...essage of the SDO 4 of the 8 bytes are occupied by protocol information For access on object directory entries with a length up to 4 bytes a single CAN message is sufficient For data lengths more than 4 bytes a segmented transmission takes place The following segments of the SDO contain up to 7 bytes user data The last byte contains an end identifier A SDO is transmitted confirmed i e every receip...

Page 39: ...ty in the device 0x06060000 Access failed due to a hardware error 0x06070010 Data type does not match length of service parameter does not match 0x06070012 Data type does not match length of service parameter too high 0x06070013 Data type does not match length of service parameter too low 0x06090011 Sub index does not exist 0x06090030 Value range of parameter exceeded only for write access 0x06090...

Page 40: ... General communication specific parameters e g the device name 0x1400 0x140F Communication parameters of the Receive PDOs e g identifier 0x1600 0x160F The mapping parameters of the Receive PDOs The mapping parameters contain the cross references to the application objects that are mapped into the PDOs and the data width of the according object 0x1800 0x180F 0x1A00 0x1A0F Communication and mapping ...

Page 41: ...meter for Receive PDOs RxPDO Master to Slave 0x1600 Mapping parameter for Receive PDOs RxPDO 0x1800 X Communication parameter for Transmit PDOs TxPDO Slave to Master 0x1A00 Mapping parameter for Transmit PDOs TxPDO 0x2001 CAN Baudrate 0x2100 Kill EEPROM 0x2400 X PDO Control 0x6000 Digital Input 8 Bit Array see DS 401 0x6002 X Polarity Digital Input 8 Bit Array see DS 401 0x6100 Digital Input 16 Bi...

Page 42: ...rmation contains information about the signal types of the I O device z 1 means digital inputs y 1 means digital outputs x 1 means analog inputs w 1 means analog outputs VIPA 123 xxxxx 0x0003 0191 Index Sub index Name Type Attr Map Default value Meaning 0x1001 0 Error Register Unsigned8 ro Y 0x00 Error register Bit7 Bit0 ManSpec reserved reserved Comm reserved reserved reserved Generic ManSpec Pro...

Page 43: ... detailed error description New errors are always saved at subindex 1 all other subindices are incremented accordingly By means of writing a 0 to subindex 0 the complete error memory is deleted If there were no error since power on the object 0x1003 only exists of a subindex 0 with entered 0 By means of a reset or power cycle the error memory is deleted Index Sub index Name Type Attr Map Default v...

Page 44: ... length of the SYNC interval in µs If a value different from Zero is entered here the coupler switches into error state when it doesn t receive a SYNC telegram during the Watchdog time at synchronous PDO operation Index Sub index Name Type Attr Map Default value Meaning 0x1007 0 Synchronous window length Unsigned32 rw N 0x00000000 Contains the length of time window for synchronous PDOs in µs Index...

Page 45: ...ing 0x100A 0 Manufacturer Software version Visible string ro N Software version number CANopen software VIPA 153 xxxxx 1 00 For the returned value is larger than 4Byte the segmented SDO protocol is used for transmission Index Sub index Name Type Attr Map Default value Meaning 0x100B 0 Node ID Unsigned32 ro N 0x00000000 Node number The node number is supported for reasons of compatibility Index Sub...

Page 46: ...the guarding protocol Index Sub index Name Type Attr Map Default value Meaning 0x1010 0 Store Parameter Unsigned8 ro N 0x01 Number of store Options 1 Store all parameters Unsigned32 ro rw 0x01 Stores all storable Parameters By writing the signature save in the ASCII Code hex Code 0x65766173 at Subindex 1 the current parameters are saved nonvolatile Byte sequence at the bus incl SDO protocol 0x23 0...

Page 47: ...4 By this means the default identifier for the PDOs are set active again Index Sub index Name Type Attr Map Default value Meaning 0x1014 0 COB ID Emergency Unsigned32 ro N 0x00000080 Node_ID Identifier of the emergency telegram Index Sub index Name Type Attr Map Default value Meaning 0x1016 0 Consumer heartbeat time Unsigned8 ro N 0x05 Number of entries 1 Unsigned32 rw N 0x00000000 Consumer heartb...

Page 48: ... 153 6CH00 0x1536CA00 Product Code 3 Revision Number Unsigned32 ro N Revision Number 4 Serial Number Unsigned32 ro N Serial Number Index Sub index Name Type Attr Map Default value Meaning 0x1029 0 Error behavior Unsigned8 ro N 0x02 Number of error classes 1 Communication Error Unsigned8 ro N 0x00 Communication error 2 Manufacturer specific error Unsigned8 ro N 0x00 Manufacturer specific error As s...

Page 49: ... this PDO is allowed 0 or not 1 The Subindex 2 contains the transmission type Index Sub index Name Type Attr Map Default value Meaning 0x1600 0 Number of Elements Unsigned8 ro N 0x01 Mapping parameter of the first receive PDO sub index 0 number of mapped objects 1 1 mapped object Unsigned32 ro N 0x62000108 2 byte index 1 byte sub index 1 byte bit width The first receive PDO RxPDO1 is per default p...

Page 50: ...ifferent 0 the PDO is transmitted after expiration of this timer If an inhibit timer exists the event is delayed for this time Index Sub index Name Type Attr Map Default value Meaning 0x1A00 0 Number of Elements Unsigned8 ro N VIPA 153 4CF00 0x01 VIPA 153 4CH00 0x02 VIPA 153 6CL10 0x03 VIPA 153 6CH00 0x02 Mapping parameter of the first transmit PDO sub index 0 number of mapped objects 1 1 mapped o...

Page 51: ...Value CAN baudrate 00 1MBaud 01 500kBaud 02 250kBaud 03 125kBaud 04 100kBaud 05 50kBaud 06 20kBaud 07 10kBaud 08 800kBaud Index Sub index Name Type Attr Map Default value Meaning 0x2400 0 Number of Elements Unsigned8 ro N 0x0A Time control for RxPDOs 1 RxPDO1 Unsigned16 rw N 0x0000 Timer value ms As soon as the timer value differs from 0 the control starts With every received RxPDO the timer is se...

Page 52: ...ing 0x6002 0x00 8 bit digital input block Unsigned8 ro N VIPA 153 4CF00 0x01 VIPA 153 4CH00 0x02 VIPA 153 6CL10 0x03 VIPA 153 6CH00 0x02 Number of available digital 8 bit input blocks 0x01 1 input block Unsigned8 rw N 0x00 1 polarity digital input block 0x02 2 input block Unsigned8 rw N 0x00 2 polarity digital input block 0x03 3 input block Unsigned8 rw N 0x00 3 polarity digital input block Indivi...

Page 53: ...1 error mode digital output block With the help of this object you may define if an output channel changes at an error event to a specified value predefined in the object 0x6207 1 take the value in object 0x6207 0 fix output value at error event Index Sub Index Name Type Attr Map Default value Meaning 0x6207 0x00 8 bit digital output block Unsigned8 ro N 0x01 Number of available digital 8 bit outp...

Page 54: ...de then the 1byte error register and finally the additional code of 5byte length Error code low byte Error code high byte ErrorRegister Index 0x1001 Info 0 Info 1 Info 2 Info 3 Info 4 Error Code Meaning Info 0 Info 1 Info 2 Info 3 Info4 0x0000 Reset Emergency 0x1000 PDO Control 0xFF 0x10 PDO Number LowByte Timer Value HighByte Timer Value 0x8100 Heartbeat Consumer Node ID LowByte Timer Value HighB...

Page 55: ...verview over all CANopen status transitions and the concerning NMT command specifier CS Initialize Communication Initialize Hardware Pre Operation Prepared Operational 12 12 7 6 6 10 11 7 10 11 8 10 11 8 1 Power On 1 The initialization state is reached automatically at power on 6 Start_Remote_Node CS 0x01 Starts module releases outputs and starts transmission of PDOs 7 Stop_Remote_Node CS 0x02 Out...

Page 56: ...g proper anymore After the time fixed by the multiplication of guard time 0x100C and Life Time Factor 0x100D the module automatically switches to the state pre operational If either the guard time object 0x100C or the and Life Time Factor 0x100D is set to 0 by the master by means of a SDO download the expiration of the guarding time is not proofed and the module stays in the current state Besides ...

Page 57: ...ible 9 Max permissible BERO quiescent current 1 5 mA Input delay of 0 to 1 3 ms Input delay of 1 to 0 3 ms Number of simultaneously utilizable inputs horizontal configuration 8 Number of simultaneously utilizable inputs vertical configuration 8 Input characteristic curve IEC 61131 2 type 1 Initial data size 1 Byte Technical data digital outputs Number of outputs 8 0 Cable length shielded 1000 m Ca...

Page 58: ...e display yes Group error display red SF LED Channel error display none Isolation Between channels Between channels of groups to Between channels and backplane bus Between channels and power supply Max potential difference between circuits Max potential difference between inputs Ucm Max potential difference between Mana and Mintern Uiso Max potential difference between inputs and Mana Ucm Max pote...

Page 59: ...RxPDOs max 1 Datasizes Input bytes 1 Output bytes 1 Parameter bytes Diagnostic bytes Housing Material PPE PA 6 6 Mounting Profile rail 35 mm Mechanical data Dimensions WxHxD 101 6 x 76 x 48 mm Weight 219 g Environmental conditions Operating temperature 0 C to 60 C Storage temperature 25 C to 70 C Certifications UL508 certification yes ...

Page 60: ... delay of 1 to 0 3 ms Number of simultaneously utilizable inputs horizontal configuration 12 Number of simultaneously utilizable inputs vertical configuration 12 Input characteristic curve IEC 61131 2 type 1 Initial data size 2 Byte Technical data digital outputs Number of outputs 8 4 Cable length shielded 1000 m Cable length unshielded 600 m Rated load voltage DC 24 V Reverse polarity protection ...

Page 61: ...hannels of groups to Between channels and backplane bus Between channels and power supply Max potential difference between circuits Max potential difference between inputs Ucm Max potential difference between Mana and Mintern Uiso Max potential difference between inputs and Mana Ucm Max potential difference between inputs and Mintern Uiso Max potential difference between Mintern and outputs Insula...

Page 62: ...2 Order no 153 4CH00 Parameter bytes Diagnostic bytes Housing Material PPE PA 6 6 Mounting Profile rail 35 mm Mechanical data Dimensions WxHxD 101 6 x 76 x 48 mm Weight 216 g Environmental conditions Operating temperature 0 C to 60 C Storage temperature 25 C to 70 C Certifications UL508 certification yes ...

Page 63: ... delay of 1 to 0 3 ms Number of simultaneously utilizable inputs horizontal configuration 24 Number of simultaneously utilizable inputs vertical configuration 24 Input characteristic curve IEC 61131 2 type 1 Initial data size 3 Byte Technical data digital outputs Number of outputs 8 Cable length shielded 1000 m Cable length unshielded 600 m Rated load voltage DC 24 V Reverse polarity protection of...

Page 64: ...hannels of groups to Between channels and backplane bus Between channels and power supply Max potential difference between circuits Max potential difference between inputs Ucm Max potential difference between Mana and Mintern Uiso Max potential difference between inputs and Mana Ucm Max potential difference between inputs and Mintern Uiso Max potential difference between Mintern and outputs Insula...

Page 65: ...1 Order no 153 6CL10 Parameter bytes Diagnostic bytes Housing Material PPE PA 6 6 Mounting Profile rail 35 mm Mechanical data Dimensions WxHxD 152 4 x 76 x 48 mm Weight 311 g Environmental conditions Operating temperature 0 C to 60 C Storage temperature 25 C to 70 C Certifications UL508 certification yes ...

Page 66: ... delay of 1 to 0 3 ms Number of simultaneously utilizable inputs horizontal configuration 12 Number of simultaneously utilizable inputs vertical configuration 12 Input characteristic curve IEC 61131 2 type 1 Initial data size 2 Byte Technical data digital outputs Number of outputs 8 4 Cable length shielded 1000 m Cable length unshielded 600 m Rated load voltage DC 24 V Reverse polarity protection ...

Page 67: ...hannels of groups to Between channels and backplane bus Between channels and power supply Max potential difference between circuits Max potential difference between inputs Ucm Max potential difference between Mana and Mintern Uiso Max potential difference between inputs and Mana Ucm Max potential difference between inputs and Mintern Uiso Max potential difference between Mintern and outputs Insula...

Page 68: ...2 Order no 153 6CH00 Parameter bytes Diagnostic bytes Housing Material PPE PA 6 6 Mounting Profile rail 35 mm Mechanical data Dimensions WxHxD 152 4 x 76 x 48 mm Weight 266 g Environmental conditions Operating temperature 0 C to 60 C Storage temperature 25 C to 70 C Certifications UL508 certification yes ...

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