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Chapter 4 CANopen

Manual VIPA System 300V

4-2

HB130E - IM - Rev. 08/26

System overview

Currently the following CANopen bus couplers are available from VIPA:

S/F1

S/F2

S/F3

S/F4

S/F5

S/F6

S/F7

S/F8

VIPA 331-7KF00

AI 8x12Bit

X 2

3 4

SM331

VIPA 353-1CA00

IM 353CAN

X 2
3 4

9 9

Type

Order number

Description

Page

IM 353CAN

VIPA 353-1CA00 CAN-Bus CANopen slave

4-5

CANopen slave
IM 353CAN

Order data

Summary of Contents for System 300V

Page 1: ...Manual VIPA System 300V IM Order no VIPA HB130E_IM Rev 08 26...

Page 2: ...Lerrzeichen...

Page 3: ...arefully examined to ensure that it conforms with the described hardware and software However discrepancies can not be avoided The specifications in this manual are examined regularly and corrections...

Page 4: ...n includes recommendations on the handling of the modules of the VIPA System 300V and introduces you to central res decentral automation systems Chapter 2 Installation and assembly guide lines All inf...

Page 5: ...3 16 IM 353 1DP01 DP V1 slave Structure 3 22 IM 353 1DP01 DP V1 slave Project engineering 3 25 IM 353 1DP01 DP V1 slave DP V1 services 3 28 IM 353 1DP01 DP V1 slave Diagnostic functions 3 30 Installa...

Page 6: ...Contents Manual VIPA System 300V ii HB130E IM Rev 08 26...

Page 7: ...ne specific topic This manual provides the following guides An overall table of contents at the beginning of the manual An overview of the topics for every chapter An index at the end of the manual Th...

Page 8: ...ive environments EX zone The manual must be available to all personnel in the project design department installation department commissioning operation The following conditions must be met before usin...

Page 9: ...er also contains general information about the System 300V like measurements hints for installation and the environmental conditions Below follows a description of Safety information for the User Comp...

Page 10: ...maged in this way are normally not immediately recognized The according error may occur only after a while of operation Modules that have been damaged by electrostatic discharges can fail after a temp...

Page 11: ...dules of the VIPA System 300V are design compatible to Siemens Due to the compatible backplane bus it is no problem to mix the modules from VIPA and Siemens The CPUs of the System 300V are instruction...

Page 12: ...are configuration you transfer your project into the CPU via MPI Another component of the decentral system is the CAN Slave It allows the link up to the fieldbus system CANopen A large number of perip...

Page 13: ...power supply This power supply requires DC 24V In addition to the electronics on the bus coupler the supply voltage is also used to power any modules connected to the backplane bus Please note that t...

Page 14: ...Chapter 1 Basics Manual VIPA System 300V 1 6 HB130E IM Rev 08 26...

Page 15: ...stallation and the cabling of a process control with the components of the System 300V The following text describes General overview Steps of installation and cabling EMC guidelines for installing a S...

Page 16: ...d in the delivery of the peripheral modules G 122 Order number A B C VIPA 390 1AB60 160mm 140mm 10mm VIPA 390 1AE80 482mm 466mm 8 3mm VIPA 390 1AF30 530mm 500mm 15mm VIPA 390 1AJ30 830mm 800mm 15mm VI...

Page 17: ...08 26 2 3 Installation dimensions Here follows all the important dimensions of the System 300V 1tier width WxHxD in mm 40 x 125 x 120 2tier width WxHxD in mm 80 x 125 x 120 65mm 40mm 122 mm 125 mm 125...

Page 18: ...MRES PLC X1 VIPA Muster PB M X5 X2 X3 PS DVI CF MPI PB DP CPU 317 BM X 2 3 4 DC 24V VIPA 321 1BH00 DI 16xDC24V X 2 3 4 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 SM321 VIPA 307 2EA00 PS 307 6 X 2 3 4 IN AC 100 2...

Page 19: ...file rail and pull it to the left side to the grounding bolt of the profile rail Fix the power supply by screwing Take a bus coupler and click it at the CPU from behind like shown in the picture Stick...

Page 20: ...PU gray connectors with CageClamp technology are used You may connect wires with a cross section of 0 08 mm 2 to 2 5 mm2 You can use flexible wires without end case as well as stiff wires You fix the...

Page 21: ...ep by step from top view For cabling you push the locking vertical to the inside with a suiting screwdriver and hold the screwdriver in this position Insert the deisolated wire into the round opening...

Page 22: ...t connector on the module until it locks In this position the front connector juts out of the module and has no contact yet Deisolate your wires If needed use core end cases Thread the included cable...

Page 23: ...se key at the front connector on the upper side of the module and at the same time push the front connector into the module until it locks Bolt the fixing screw of the front connector Now the front co...

Page 24: ...ut interferencing the environment All System 300V components are developed for the deployment in hard industrial environments and fulfill high demands on the EMC Nevertheless you should project an EMC...

Page 25: ...log lines must be laid isolated When transmitting signals with small amplitudes the one sided laying of the isolation may be favorable Lay the line isolation extensively on a isolation protected earth...

Page 26: ...lation one sided Then you only achieve the absorption of the lower frequencies A one sided isolation connection may be convenient if the conduction of a potential compensating line is not possible ana...

Page 27: ...fibus DP V0 DP V1 Structure and project engineering of the Profibus DP slaves Technical data Topic Page Chapter 3 Profibus DP 3 1 System overview 3 2 Basics 3 3 IM 353 1DP00 DP V0 slave Structure 3 12...

Page 28: ...V0 DP V1 SF S F1 S F2 S F3 S F4 S F5 S F6 S F7 S F8 VIPA 331 7KF00 AI 8x12Bit X 2 3 4 SM331 VIPA 353 1DP00 IM 353DP X 2 3 4 PW ER RD DE 9 9 SF S F1 S F2 S F3 S F4 S F5 S F6 S F7 S F8 VIPA 331 7KF00 AI...

Page 29: ...s a special protocol intended mainly for automation tasks in a manufacturing environment DP is very fast offers Plug n Play facilities and provides a cost effective alternative to parallel cabling bet...

Page 30: ...hery and the high level master In accordance with the Profibus standards these devices have no bus access rights They are only allowed to acknowledge messages or return messages to a master when this...

Page 31: ...luded in the data transfer phase the master checks whether the defined configuration corresponds with the actual configuration This check is performed during the definition and configuration phase The...

Page 32: ...device specific diagnostic of the DP V1 have been enhanced and divided into the categories interrupts and status messages DP V0 provides the basic functionality of DP including cycle data exchange as...

Page 33: ...fer and the data in the send buffer is transferred into the Profibus output area The exchange of data between DP master and DP slave is completed cyclically and it is independent from the bus cycle To...

Page 34: ...Slave 3 The DPM 1 Master Class 1 has the token and is able to send messages to or retrieve them from slave 1 then slave 2 etc in a fixed sequence until it reaches the last slave of the current list MS...

Page 35: ...s coupler Slot_Number 0 addresses the data of the function modules AI 2x12Bit SM 331 IM 353 DP X 2 3 4 VIPA 353 1DP01 DO 16xDC24V SM 322 Module 1 DO 16xDC24V SM 322 Module 2 DI 16xDC24V SM 321 Module...

Page 36: ...edges receipt of an interrupt to the slave Status A status message is transmitted from the slave to the master There is no acknowledgment Data transmission is connection oriented over a MS1 connection...

Page 37: ...address This address must be an unique number in the bus system between 1 and 99 The address of the VIPA Profibus coupler is set by the addressing switch located on the front of the module Every VIPA...

Page 38: ...2Byte input and 152Byte output data LED for bus diagnostic Internal diagnostic protocol with time stamp Integrated DC 24V power supply for providing the peripheral modules max 3 5A Properties Front vi...

Page 39: ...ive self test READY and successful initialization Blinks alternately with ER at wrong configuration of the master project engineering error Blinks simultaneously with ER at wrong parameterization DE Y...

Page 40: ...power supply can deliver to the backplane bus is 3 5A The power supply is protected against reverse polarity Profibus and backplane bus are galvanically isolated from each other Attention Please ensu...

Page 41: ...r configuration tool Mount your Profibus system Start your project engineering tool with a new project Configure a master system and create a new Profibus subnet For the project engineering of the IM...

Page 42: ...tware Please call the VIPA hotline for this With the short setting of 00 at the address lever you may save the diagnostic data in the Flash ROM during DataExchange The system also stores diagnostic me...

Page 43: ...ion state 3 Byte 3 Master address Byte 4 Ident number low Byte 5 Ident number high Identifier related diagnostic data Byte 6 Length and code identifier related diagnostic Byte 7 Byte 10 Identifier rel...

Page 44: ...data Bit 4 slave does not support the requested function Bit 5 0 fix Bit 6 bad configuration Bit 7 0 fix 1 Bit 0 slave requires re configuration Bit 1 statistical diagnostic Bit 2 1 fix Bit 3 Watchdog...

Page 45: ...t 3 Module at plug in location 4 Bit 4 Module at plug in location 5 Bit 5 Module at plug in location 6 Bit 6 Module at plug in location 7 Bit 7 Module at plug in location 8 8 Bit 0 Module at plug in l...

Page 46: ...at plug in location 3 Bit 7 6 Module at plug in location 4 16 Bit 1 0 Module at plug in location 5 Bit 7 6 Module at plug in location 8 17 Bit 1 0 Module at plug in location 9 Bit 7 6 Module at plug i...

Page 47: ...0 Identifier number of the module with diagnostic 000000 011111 Identifier number Example plug in location 1 has the identifier number 0 etc Bit 7 6 Code for channel related diagnostic 10 Code 10 fix...

Page 48: ...les 3 5A max Supports all Profibus data transfer rates 1 MSAC_C1 connection Read Write with 244Byte data 4Byte DP V1 Header 240Byte user data 3 MSAC_C2 connections Initiale Read Write DataTransport In...

Page 49: ...ive self test READY and successful initialization Blinks alternately with ER at wrong configuration of the master project engineering error Blinks simultaneously with ER at wrong parameterization DE G...

Page 50: ...power supply can deliver to the backplane bus is 3 5A The power supply is protected against reverse polarity Profibus and backplane bus are galvanically isolated from each other Attention Please ensu...

Page 51: ...e VIPA Profibus modules Depending on the installed GSD file the following modules are listed at the hardware catalog Module GSD file VIPA 353 1DP01 DP V0 VI0009AF gsd VIPA 353 1DP01 DP V1 VI0109AF gsd...

Page 52: ...le 1 Publisher Mode available 00h 1 1 00h fix 00h 2 08h fix 08h 3 0Ah fix 0Ah 4 81h fix 81h 5 00h fix 00h 6 00h fix 00h 7 Bit 0 0 Identifier related diagnostic enable 1 Identifier related diagnostic d...

Page 53: ...x Bit 4 0 V1 Vendor specific interrupt not available 1 V1 Vendor specific interrupt available Bit 5 0 V1 Diagnostic interrupt not available 1 V1 Diagnostic interrupt available Bit 6 0 V1 Hardware inte...

Page 54: ...diagnostic address which can be set by properties is used as ID Using the following record set no as Index you get access for reading R res writing W to the listed DP slave elements Index Access Desc...

Page 55: ...2 AFD8h 4 DIO 8 BFC9h 1 1 DIO 16 BFD2h 2 2 AI2 15C3h 4 AI4 15C4h 8 AI4 fast 11C4h 8 AI8 15C5h 16 AO2 25D8h 4 AO4 25E0h 8 AO8 25E8h 16 AI2 AO2 45DBh 4 4 AI4 AO2 45DCh 8 4 To access the function modules...

Page 56: ...nsists of the fact that with employment in a system 300 with a hardware interrupt at DP V0 the OB 82 and with DP V1 the OB 40 is called The system also stores diagnostic messages like the states Ready...

Page 57: ...cture of the slave standard diagnostic data is to find in the standard papers of the Profibus User Organization The slave standard diagnostic data have the following structure Standard diagnostic Byte...

Page 58: ...dule on slot 3 Bit 3 Entry for module on slot 4 Bit 4 Entry for module on slot 5 Bit 5 Entry for module on slot 6 Bit 6 Entry for module on slot 7 Bit 7 Entry for module on slot 8 X 2 Bit 0 Entry for...

Page 59: ...dule status module slot 6 Bit 5 4 Module status module slot 7 Bit 7 6 Module status module slot 8 X 6 Bit 1 0 Module status module slot 9 Bit 3 2 Module status module slot 10 Bit 5 4 Module status mod...

Page 60: ...rror messages to Profibus standard 00001 Short circuit 00010 Undervoltage Supply voltage 00011 Overvoltage Supply voltage 00100 Output Module is overloaded 00101 Temperature rise output Module 00110 O...

Page 61: ...module specific and are described with the according module If there is a diagnostic event for channel group 0 of a module there may be a module error as well as a channel error The entry is made in t...

Page 62: ...t 6 Module is not parameterized Bit 7 Parameter assignment error x 5 Bit 3 0 Module class 1111 Digital module 0101 Analog module 1000 FM 1100 CP Bit 4 Channel information available Bit 5 User informat...

Page 63: ...puts 76h Counter x 9 Length of the channel related diagnostic x 10 Number of channels per module x 11 Position channel with diagnostic event x 12 Diagnostic event on the channel channel group 0 Assign...

Page 64: ...d 100m The network may have a maximum of 10 segments Segments are connected by means of repeaters Every repeater is also seen as participant on the network All devices communicate at the same baud rat...

Page 65: ...to activate a terminating resistor Attention The terminating resistor is only effective if the connector is installed at a slave and the slave is connected to a power supply Note A complete descripti...

Page 66: ...asyConn plug please use the standard Profibus cable type A EN50170 Starting with release 5 also highly flexible bus cable may be used Lapp Kabel order no 2170222 2170822 2170322 Under the order no 905...

Page 67: ...ould therefore not connect modules that are able to issue interrupts IM 353 1 In Output periphery IM 353 2 In Output periphery IM 353 4 In Output periphery IM 353 5 In Output periphery IM 353 3 In Out...

Page 68: ...s are at the bus together with several slaves 4 Input output periphery CPU 31x 6 Input output periphery CPU 21x DP CPU IM 353 2 2 Input output periphery IM 353 3 Input output periphery CPU IM 208 2 5...

Page 69: ...ibus and backplane bus are galvanically separated from each other Configure your Profibus master in your master system You can use the WinNCS of VIPA for this purpose ore the Siemens hardware configur...

Page 70: ...nication errors at the backplane bus the Profibus slave switches into STOP and boots again after app 2 seconds As soon as the test has been completed positive the RD LED blinks Power On Project data c...

Page 71: ...t types of network interruption A B Slave 1 Slave 2 Master LED Slave 1 Position of interruption LED A B RD Blinks Off ER Off On DE Off Off LED Slave 2 Position of interruption LED A B RD blinks On ER...

Page 72: ...s tap lines possible Medium Screened and drilled Twisted Pair cable screen may be left depending on environment conditions Transfer rate 9 6kBaud up to 12MBaud automatic adjustment Total length Withou...

Page 73: ...ription of CAN Bus basics The VIPA CANopen master slaves The baud rate and module ID settings Deployment of the CANopen slave on the CAN Bus with a message description Description of the CAN specific...

Page 74: ...ing CANopen bus couplers are available from VIPA SF S F1 S F2 S F3 S F4 S F5 S F6 S F7 S F8 VIPA 331 7KF00 AI 8x12Bit X 2 3 4 SM331 VIPA 353 1CA00 IM 353CAN X 2 3 4 PW ER RD BA 9 9 Type Order number D...

Page 75: ...ading of DS 301 by the CAN in Automation association CIA The communication specifications DS 301 define standards for CAN devices These specifications mean that the equipment supplied by different man...

Page 76: ...sible to connect or disconnect any station without interruption to the system It is therefore also possible to commission a system in various stages Extensions to the system do not affect the operatio...

Page 77: ...Rx and 10 Tx PDOs 2 SDOs Support of all baud rates PDO linking PDO mapping VIPA 353 1CA00 IM 353CAN X 2 3 4 X1 PW ER RD BA DC24V CAN X2 1 2 9 9 3 4 Properties Front 353 1CA00 1 LED status indicators...

Page 78: ...n data is being communicated via the V Bus BA yellow Off the self test was positive and the initialization was OK Blinks at 1Hz when the status is Pre operational Is turned on when the status is Opera...

Page 79: ...mmunication medium bus is a screened three core cable Master Slave CAN high CAN Ground Shield CAN Ground CAN low CAN Ground CAN high Do not connect 120 7 2 3 120 2 All stations on systems having more...

Page 80: ...ply This power supply requires DC 24V In addition to the internal circuitry of the bus coupler the supply voltage is also used to power any modules connected to the backplane bus Please note that the...

Page 81: ...refer to the section under the heading IM 353CAN CANopen slave Baud rate and module ID in this chapter The CAN identifier for the in output data of the System 300V are generated from the node addresse...

Page 82: ...d AI 2 1Word AI 3 1Word For the System 300V works per default in event controlled mode no cyclic DataExchange a node failure is not always immediately detected Remedy is the control of the nodes per c...

Page 83: ...The emergency telegram has always a length of 8Byte It consists of Identifier 0x80 Node address 8Byte user data Identifier 11Bit EC0 EC1 Ereg Inf0 Inf1 Inf2 Inf3 Inf4 Error Code Meaning Info 0 Info 1...

Page 84: ...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 LifeTim...

Page 85: ...cted CAN baud rate is saved in the EEPROM LEDs ER and BA are turned off and the red RD LED continues to blink At this point you have 5s to enter the required module ID Define the module ID in a range...

Page 86: ...0 3 10 Data An 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 ob...

Page 87: ...ce Profile for I O Modules DS 401 Version 1 4 A CANopen device can be structured as follows Communication Status machine SDO PDO PDO SYNC NMT Heartbeat or Node Guarding SDO Status machine Application...

Page 88: ...s for output data The PDOs are named seen from the bus coupler Receive PDOs RxPDOs are received by the bus coupler and contain output data Transmit PDOs TxPDOs are send by the bus coupler and contain...

Page 89: ...Below follows a list of the COB identifiers for the receive and the transmit PDO transfer that are pre set after boot up The transmission type in the object directory indices 0x1400 0x1409 and 0x1800...

Page 90: ...e process image is send but only the changed values At the same time a short reaction time is achieved because there is no need to wait for a master request PDOs may also be polled via data request te...

Page 91: ...The transmission types 254 255 are asynchronous or also event triggered The transmission type 254 provides an event defined by the manufacturer at 255 it is fixed by the device profile When choosing t...

Page 92: ...ing The first CAN message of the SDO contain process information in 4 of the 8 bytes For access to object directory entries with up to 4Byte length one single CAN message is sufficient The following s...

Page 93: ...ce 0x06060000 Access failed due to an 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...

Page 94: ...n 0x1000 0x1029 General communication specific parameters e g device name 0x1400 0x1409 Communication parameters e g identifier of the receive PDOs 0x1600 0x1609 Mapping parameters of the receive PDOs...

Page 95: ...DOs master to slave 0x1600 0x1609 X Mapping parameter RxPDOs 0x1800 0x1809 X Communication parameter TxPDOs slave to master 0x1A00 0x1A09 X Mapping parameter TxPDOs 0x2001 CAN baud rate 0x2100 Kill EE...

Page 96: ...401 0x6327 Fault state digital output 32 bit see DS 401 0x6401 Analog input see DS 401 0x6411 Analog output see DS 401 0x6421 X Analog input interrupt trigger see DS 401 0x6422 Analog input interrupt...

Page 97: ...formation contains data related to the signal types of the I O device z 1 digital inputs y 1 digital outputs x 1 analog inputs w 1 analog outputs Index Sub index Name Type Attr Map Default value Meani...

Page 98: ...escription New errors are always saved at sub index 1 all the other sub indices being appropriately incremented By writing a 0 to sub index 0 the whole error memory is cleared If there has not been an...

Page 99: ...iod Unsigned32 rw N 0x00000000 Maximum length of the SYNC interval in s If a value other than zero is entered here the coupler goes into error state if no SYNC telegram is received within the set time...

Page 100: ...rer Software version Visible string ro N Software version number CANopen software VIPA IM 353 1CA00 3 xx Since the returned value is longer than 4Byte the segmented SDO protocol is used for transmissi...

Page 101: ...ault 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 string save in ASCII...

Page 102: ...the default identifiers for the PDOs 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 S...

Page 103: ...1 Vendor ID Unsigned32 ro N 0xAFFEAFFE Vendor ID 2 Product Code Unsigned32 ro N Product Code 3 Revision Number Unsigned32 ro N Revision Number 4 Serial Number Unsigned32 ro N Serial Number Default va...

Page 104: ...ub 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 speci...

Page 105: ...not 1 The sub index 2 contains the transmission type Index Sub index Name Type Attr Map Default value Meaning 0x1401 0 Number of Elements Unsigned8 ro N 0x02 Communication parameter for the first rec...

Page 106: ...Elements Unsigned8 ro N 0x02 Communication parameter for the first receive PDOs sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0xC0000780 NODE_ID COB ID RxPDO5 2 Transmission type...

Page 107: ...Elements Unsigned8 ro N 0x02 Communication parameter for the first receive PDOs sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0xC0000440 NODE_ID COB ID RxPDO8 2 Transmission type...

Page 108: ...0 number of mapped objects 1 1st mapped object Unsigned32 rw N 0x62000108 2 byte index 1 byte sub index 1 byte bit width 2 2nd mapped object Unsigned32 rw N 0x62000208 2 byte index 1 byte sub index 1...

Page 109: ...objects are mapped For the digital outputs are organized in words the length of the PDO can be directly seen in sub index 0 If the mapping is changed the entry in sub index 0 has to be adjusted accord...

Page 110: ...1 or not 0 Bit 30 shows if a RTR access to this PDO is permitted 0 or not 1 The sub index 2 contains the transmission type sub index 3 the repetition delay time between two equal PDOs If an event time...

Page 111: ...parameter for the 4th transmit PDO 1 COB ID Unsigned32 rw N 0x80000480 NODE_ID COB ID TxPDO4 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x0000...

Page 112: ...parameter for the 7th transmit PDO 1 COB ID Unsigned32 rw N 0x800002C0 NODE_ID COB ID TxPDO7 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x0000...

Page 113: ...nsigned32 rw N 0x800006C0 NODE_ID COB ID TxPDO10 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x0000 Repetition delay value x 100 s 5 Event time...

Page 114: ...meter of the second transmit PDO sub index 0 number of mapped objects 1 1st mapped object Unsigned32 rw N 0x64010110 2 byte index 1 byte sub index 1 byte bit width 2 2nd mapped object Unsigned32 rw N...

Page 115: ...dth 8 8th mapped object Unsigned32 rw N 0x000000000 2 byte index 1 byte sub index 1 byte bit width The send PDOs 3 to 10 RxPDO3 get an automatic default mapping via the coupler depending from the conn...

Page 116: ...received messages to the RXFIFO only when the identifier bits of the received message are equal to the predefined ones within the acceptance filter The acceptance filter is defined via the acceptance...

Page 117: ...usively suitable for master where heartbeat or rather node guarding is not supported Index Sub index Name Type Attr Map Default value Meaning 0x3001 0x3010 0 Number of Elements Unsigned8 ro N 0x04 or...

Page 118: ...x01 0x30 0x02 0x00 0x00 0x00 0x00 S2M 0x43 0x01 0x30 0x02 0x28 0x28 0x00 0x00 Read SubIndex 3 M2S 0x40 0x01 0x30 0x03 0x00 0x00 0x00 0x00 S2M 0x43 0x01 0x30 0x03 0x00 0x00 0x00 0x00 Read SubIndex 4 M2...

Page 119: ...0x00 0x00 0x00 S2M 0x43 0x02 0x30 0x01 0x00 0x00 0x00 0x00 Write SubIndex 1 M2S 0x23 0x02 0x30 0x01 0x08 0x0B 0x00 0x00 S2M 0x60 0x02 0x30 0x01 0x00 0x00 0x00 0x00 Read SubIndex 0 M2S 0x40 0x02 0x30 0...

Page 120: ...number of sub indices Sub index 1 parameter byte 0 3 Sub index 0x20 parameter byte 124 127 Every sub index consists of 2 data words Enter your parameter bytes here Every analog input or output module...

Page 121: ...input block Unsigned8 rw N 0x00 72nd polarity digital input block Individual inverting of input polarity 1 input inverted 0 input not inverted Index Sub Index Name Type Attr Map Default value Meaning...

Page 122: ...block 0x24 36th input block Unsigned16 rw N 0x0000 36th polarity digital input block Individual inverting of input polarity 1 input inverted 0 input not inverted Index Sub Index Name Type Attr Map De...

Page 123: ...digital input block 0x12 18th input block Unsigned32 rw N 0x00000000 18th polarity digital input block Individual inverting of input polarity 1 input inverted 0 input not inverted Index Sub Index Name...

Page 124: ...t channels 1 input inverted 0 input not inverted Index Sub Index Name Type Attr Map Default value Meaning 0x6206 0x00 8bit digital output block Unsigned8 ro N 0x01 Number of available digital 8bit out...

Page 125: ...t block Unsigned8 rw N 0x00 72nd error value digital output block Presupposed that the error mode is active device failures set the output to the value configured by this object Index Sub Index Name T...

Page 126: ...nverted 0 output not inverted Index Sub Index Name Type Attr Map Default value Meaning 0x6306 0x00 16bit digital input block Unsigned8 ro N Depending on the compo nents fitted Number of available digi...

Page 127: ...t block Unsigned16 rw N 0x0000 36th error value digital output block Presupposed that the error mode is active device failures set the output to the value configured by this object Index Sub Index Nam...

Page 128: ...nverted 0 output not inverted Index Sub Index Name Type Attr Map Default value Meaning 0x6326 0x00 32bit digital input block Unsigned8 ro N Depending on the compo nents fitted Number of available digi...

Page 129: ...configured by this object Index Sub Index Name Type Attr Map Default value Meaning 0x6401 0x00 2byte input block Unsigned8 ro N depending on the compo nents fitted Number of available analog inputs 0...

Page 130: ...he list below refer to the interrupt trigger Bit no Interrupt trigger 0 Upper limit exceeded 6424 1 Input below lower limit 6425 2 Input changed by more than negative delta 6426 3 to 7 Reserved Index...

Page 131: ...hibit time object 0x1800ff sub index 3 limit value monitoring objects 0x6424 0x6425 delta function object 0x6426 Index Sub Index Name Type Attr Map Default value Meaning 0x6424 0x00 Number of Inputs U...

Page 132: ...The data format corresponds to that of the analog inputs Index Sub Index Name Type Attr Map Default value Meaning 0x6426 0x00 Number of Inputs Unsigned8 ro N depending on the compo nents fitted Number...

Page 133: ...put is set to a pre defined error value set in object 0x6444 in case of an internal device failure 0 current value 1 set to error value 0x6444 Index Sub Index Name Type Attr Map Default value Meaning...

Page 134: ...060000 Access failed due to an 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 0x...

Page 135: ...Byte error register and closes with 5Byte additional code 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...

Page 136: ...all CANopen status changes and the corresponding NMT command specifiers 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...

Page 137: ...he time determined by the product of guard time 0x100C and life time factor 0x100D has expired the module will automatically assume the status pre operational When either the guard time object 0x100C...

Page 138: ...onnection 9pin D type plug Network topology Linear bus active bus termination at one end tap lines permitted Medium Screened three core cable unscreened cable permitted depending on environment Data t...

Page 139: ...s 3 13 Power supply 3 14 Project engineering 3 15 RS485 interface 3 14 Structure 3 12 Technical data 3 46 353 1DP01 3 22 Address selector 3 23 Components 3 23 Diagnostics 3 30 DP V1 services 3 28 Inte...

Page 140: ...3 39 Token passing procedure 3 5 S SDO 4 20 System 300V Assembly 2 1 2 5 Bus connector 2 2 Cabling 2 6 Front connectors 2 8 Central system 1 4 Components 1 4 Core cross section 1 5 Decentral system 1...

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