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Description of Option Module CANopen slave

Instruction handbook

CANopen slave

BM4-O-CAN-03

Document no. 5.02014.06

23

4

4.2

Hazard areas

There are bigger hazards coming from the basic device b maXX 4400 than from the plug-
in module. Please follow all the security advices of the basic device b maXX 4400.

on page 23 gives a view of the existing hazard areas at the plug-in module.

Figure 3: Hazard areas

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Содержание b maXX BM4-O-CAN-03

Страница 1: ...ion Handbook before starting any work Language English Translation Document No 5 02014 06 Part No 368693 Status 16 Mar 2020 E 5 02014 06 b maXX BM4 O CAN 03 Option module CANopen slave for BM4400 BM4400 ES BM4600 BM4600 ES BM4700 BM4700 ES ...

Страница 2: ... comments so that we can take them into account and include them when transitioning from the preliminary information to the final information as reviewed by Baumüller The conditions stipulated in the following section under Obligatory are invalid in case of pre liminary information Obligatory This Instruction handbook is a part of the equipment machine This Instruction handbook must be available t...

Страница 3: ...onnel 15 2 8 Obligatory and liability 16 2 8 1 Follow the hazard notes and the safety instructions 16 2 8 2 Hazards when handling this module 16 2 8 3 Warranty and liability 16 3 Packing and Transportation 17 3 1 Transportation 17 3 2 Unpacking 17 3 3 Dispose packing 18 3 4 To be considered by transportation 18 4 Description of Option Module CANopen slave 19 4 1 Construction 19 4 1 1 DIP switches ...

Страница 4: ...7 2 Commissioning CANopen slave for b maXX controller 37 8 Error detection and trouble shooting 39 8 1 Safety instructions 39 8 2 Requirements to the executing personnel 39 8 3 Error messages Error reactions 40 8 3 1 Error messages CANopen slave for b maXX PLC 40 8 3 1 1 Bootup for b maXX PLC 41 8 3 1 2 Establish a communication for b maXX PLC 42 8 3 1 3 Continue communication for b maXX PLC 43 8 ...

Страница 5: ...ix C Technical data 61 D 1 Option module CANopen slave BM4 O CAN 03 61 D 2 Pin assignment 62 D 3 DIP switch 62 D 3 1 Adjusting of baud rate 63 D 3 1 1 Option module CANopen slave for b maXX PLC 63 D 3 1 2 Option module CANopen slave for b maXX controller 63 D 3 2 Adjusting of address 63 D 4 LEDs 64 D 5 Cable connector 64 D 6 Terminating resistor connector 64 Table of figures 65 Index 67 ...

Страница 6: ...Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 Baumüller Nürnberg GmbH 6 of 68 Table of contents ...

Страница 7: ...urther information you will find in the documentations Manual b maXX 4400 and in the Application manual 1 1 First steps 1 prove the delivery see ZPacking and Transportation from page 17 2 forward all data which was delivered with the plug in module to the responsible places in your company 3 provide capable personnel for the installation and startup 4 hand over this manual to the personnel and ass...

Страница 8: ...ller Nürnberg GmbH 8 of 68 1 3 1 3 Used terms For the Baumüller product CANopen slave we will also use in this documentation the terms Module Plug in module or CANopen Slave Option module A list of the abbreviations which are used are to be found in ZAppendix A Abbrevia tions from page 57 ...

Страница 9: ...the concrete case we will not explain in this chapter In this chapter we will only give general safety precautions The concrete safety precautions we will always give directly after the note to the hazard 2 1 Hazard information and commandments Hazard information will show you the dangers that can lead to injuries or even to death Always follow the hazard information given in this documentation We...

Страница 10: ...er is The icon in the circle demonstrates a command This command must be followed by the op erator the circle is dashed because not by every hazard information a command is existent as icon The circle demonstrates that a danger for damage to property exists The icon in the square describes the hazard The color of the border shows how great the hazard is the darker the color the greater the danger ...

Страница 11: ... in this documentation DANGER The following will arise if you ignore this warning note m severe injury m death The hazard is Electricity If necessary here the hazard is described more exact Here we describe what you can do to avoid the hazard DANGER The following will occur if you disregard this hazard information m severe injury m death The hazard is mechanical influence If necessary here the haz...

Страница 12: ...UTION The following can occur if you disregard this warning instruction m Environmental pollution The hazard is improper disposal If necessary here the hazard is described more exact Here we describe what you can do to avoid the hazard 2 1 2 2 Hazardous instructions against damage to property If there is a round hazard sign in front of a signal word then the safety instruction re fers to damage to...

Страница 13: ...ons You must always use this appliance in applications for which it was made Listed below you will find some important information The information given are intended to give you some impression on how operating this appliance in applications for which it was made The information below is not a complete list you must always observe the information giv en throughout this documentation m project this...

Страница 14: ...n module has been m installed inappropriate m connected inappropriate m put inappropriate into operation m operated inappropriate m mounted connected put into operation operated and or maintained from not qual ified or inadequately qualified personnel m overloaded n operated with m with defect safety devices m not in proper form installed or without safety devices m with not operative safety and p...

Страница 15: ...nel Qualified personnel professionals is defined below Qualified personnel Authorized electronic engineers and skilled persons of the customer or third persons who have learned the installation and commissioning of Baumüller drive systems and who are authorized to put circuits and devices into operation according to the standards of the safety technology to ground and to label Qualified personnel ...

Страница 16: ... reg ulations and instructions that are valid at the location 2 8 2 Hazards when handling this module The CANopen slave option module was developed and manufactured according to the state of the art technology and in compliance with the valid regulations and standards Nevertheless hazards can arise when using it An overview of possible hazards are to be found in chapter ZBasic Safety Instructions ...

Страница 17: ...to mount it 3 2 Unpacking After receipt of the plug in module which is still packed h check if transportation damages are visible on the packing if yes h immediately complain at the deliverer Let the claim be confirmed in writing and imme diately contact the substitution of Baumüller Nürnberg GmbH which is in charge for your company CAUTION The following may occur if you do not observe this cautio...

Страница 18: ...tution which is in charge in case there is a recognizable transportation damage or if the delivery is not complete 3 3 Dispose packing The packing consists of cardboard and plastics h regard the local disposal instructions in case you dispose the packing 3 4 To be considered by transportation For the first transportation of the module the module was packed in the manufacturer s company In case you...

Страница 19: ...or A on the back side which is used for the con nection of the plug in module with the controller unit A connector back side B connector front C handle D module identification E serial number F DIP switch Figure 1 option module CANopen slave The option module CANopen slave has two RJ45 connections for CAN bus cables on the front In case the option module CANopen slave is the last user in the line ...

Страница 20: ...alue is increased by 1 internally That means e g that the Node ID in delivery state DIP switch 4 to 10 is OFF corresponds with the Node ID 1 The DIP switch setting 127 is set to Node ID 1 additionally n The Node ID can be changed with the application program on the b maXX PLC by software setting 1 2 3 4 5 6 7 8 9 10 ON DIP switch 3 2 1 Value 1 1 1 7 Option module CANopen slave for b maXX PLC Optio...

Страница 21: ...slave BM4 O CAN 03 Document no 5 02014 06 21 of 68 4 Example 1 DIP switch setting for b maXX PLC NOTE The Node ID set by DIP switches can be changed via the application program on the b maXX PLC 1 2 3 4 5 6 7 8 9 10 ON DIP switch 3 2 1 Value 0 1 1 3 Option module CANopen slave for b maXX controller Baud rate 500 kBit s DIP switch 10 9 8 7 6 5 4 Value Node ID 0 0 0 0 1 0 0 4 5 Example 2 DIP switch ...

Страница 22: ... slot H as far as this is not already assigned by other plug in modules In case there is another module in slot H mount the module into another free and suitable slot see ZFig ure 6 on page 27 or manual of the accordant module Figure 2 Controller unit slot H NOTE In case you insert a Baumüller plug in module into an unsuitable slot it will not operate We have assured that the plug in module is not...

Страница 23: ...014 06 23 of 68 4 4 2 Hazard areas There are bigger hazards coming from the basic device b maXX 4400 than from the plug in module Please follow all the security advices of the basic device b maXX 4400 ZFig ure 3 on page 23 gives a view of the existing hazard areas at the plug in module Figure 3 Hazard areas ...

Страница 24: ...n type key Type key of the accessories see ZAccesso ries from page 59 BM4 O CAN xx yy zz Device generation in which the plug in module can be build in BM4 O CAN xx yy zz Module type option module BM4 O CAN xx yy zz Plug in module identification CAN BM4 O CAN xx yy zz Plug in module version 03 CANopen slave BM4 O CAN xx yy zz Hardware version 00 Standard BM4 O CAN xx yy zz Software version 00 Stand...

Страница 25: ...st at the plug in module address and baud rate transfer rate 2 mount plug in module 3 connect plug in module with CANopen bus cables and possibly with terminated plug 5 1 General safety instructions h please regard to the information in chapter ZBasic Safety Instructions from page 9 h pay attention to all areas at the b maXX device which could be dangerous for you while mounting The following figu...

Страница 26: ...es Assure that only qualified personnel mount and install this plug in module Qualified personnel are from the company Baumüller Nürnberg GmbH authorized elec tronic engineers and skilled persons of the customer or of third persons who have learned the installation and commissioning of Baumüller drive systems and who are au thorized to put circuits and devices into operation according to the stand...

Страница 27: ...M4 O ECT 01 EtherCAT slave for PLC BM4 O ECT 02 Ethernet EtherCAT master BM4 O ECT 03 Ethernet EtherCAT cluster A X o o o o o B X o o o X o C o o o V o D o X X X E X X o o F Controller unit G o o o o o o o X X X X X X X H X X X X X X X o o o o o o J P P o o o o K P P o o o o o o o L P P o o o o o o o M P P o o o o o o o Steckkarten_Rev20_e X o P V preferred slot Baumüller Nürnberg GmbH recommends ...

Страница 28: ...ff circuit Pay attention to the relevant safety instructions when using mains voltage leading devices 2 Pull the dust cover forwardly off of the controller unit the slots now are visible 3 Look at the controller unit for the provided slot H Figure 7 Mounting 4 Turn the twist lock over and under this slot by 90 The twist locks now are standing horizontally 5 Take the front panel cover forwardly off...

Страница 29: ...urn the twist lock beyond and beneath by 90 into the vertical position locking posi tion 11 Put the dust cover again on the device NOTE If you within the scope of a repair of the option module CANopen slave simply displace it by a similar plug in module you can shorten the further operation installation commissioning and so on Then you simply must put on the connector to the plug in module put on ...

Страница 30: ...t decrease otherwise the following dangers can arise short circuits interference voltages a s o h regard to EMC compatible laying of the CANopen connection cables 5 5 3 Requirements to the connection cables The following cables are released for usage from Baumüller m CANopen connection cable further information is to be found in ZD 5 Cable connec tor from page 64 5 5 4 Operating sequence of instal...

Страница 31: ...lines are correctly cabled 3 The switching cabinet is properly closed and all safety devices are put into operation 4 The b maXX device is ready for use 6 1 General safety instructions h refer to ZBasic Safety Instructions from page 9 DANGER The following will arise if you ignore this warning note m severe injury m death The hazard is mechanical influence During commissioning the drive can rotate ...

Страница 32: ...itches from page 20 LEDs After turning on the b maXX 4400 the module is initialized the LEDs are blinking in se quences NOTE Should the plug in module due to external conditions be pulled out of the device turn off the device Then try to insert the plug in module again as we describe in chapter ZMounting and Installation from page 25 6 4 Description check of safety and monitoring elements Before s...

Страница 33: ...ration example Figure 9 b maXX with CANopen slave for b maXX PLC on slot G and b maXX PLC on slot H 6 5 2 LEDs The RJ45 connectors X1 and X2 are equipped with 2 LEDs green and red each The LEDs are named H1 to H4 The LEDs display the operation state of the option module CANopen slave LED green LED red LED green LED red Figure 10 LEDs on option module CANopen slave ...

Страница 34: ...ing After initialization of the option module CANopen slave an application program on the b maXX PLC can configure it The option module CANopen slave displays with LED H1 to H4 off that it is waiting for PLC configuration In the manual to the b maXX PLC this configuration is called Initialization CANopen slave on the option module CANopen slave for b maXX PLC also Further information see Applicati...

Страница 35: ...ation Commissioning After initialization of the option module CANopen slave the parameters are set via the operation software See also Programming handbook CANopen slave After configuration of the option module the LEDs H1 and H2 correspond with the CiA specification DR303 3 LEDs H3 and H4 are reserved H1 single flash CANopen slave is in state STOPPED H1 blinking CANopen slave is in state PRE OPER...

Страница 36: ...H1 shows the internal state of the CANopen slave according DR303 3 See b maXX PLC ZCommissioning on page 34 6 6 2 Commissioning CANopen slave for b maXX controller The commissioning of the option module CANopen slave is divided into the following sections 1 Recognizing the option module CANopen slave 2 Testing of the CANopen Slave module Recognizing the CANopen slave m Read and observe the ZGenera...

Страница 37: ...slave for b maXX PLC Information regarding the operation of the option module CANopen slave for b maXX PLC can be found in application handbook CANopen slave for PLC application handbook b maXX PLC and programming handbook PROPRO wt II 7 2 Commissioning CANopen slave for b maXX controller Information regarding the operation of the option module CANopen slave for b maXX controller can be found in p...

Страница 38: ...Commissioning CANopen slave for b maXX controller Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 Baumüller Nürnberg GmbH 38 of 68 7 2 ...

Страница 39: ...nstructions h refer to ZBasic Safety Instructions from page 9 8 2 Requirements to the executing personnel The personnel who works with the b maXX device must be introduced in the safety instructions and in the operation of the device and must be familiar with the accurate operating of the device Especially the reaction to failure indications and conditions requires special knowledge which the oper...

Страница 40: ...ceed the warning level H2 double flash 2 Guard NMT master or NMT slave or Heartbeat occurred H2 triple flash 2 The SYNC messages misses withing the configured communication cycle H2 on Option module CANopen slave does not communicate with the CANopen network H2 and H4 flash syn chronously See ZBootup for b maXX PLC on page 41 1 Following light pattern active ON 200 ms OFF 1000 ms 2 Following light...

Страница 41: ...ing Figure 11 Errors while booting b maXX PLC Flashing pattern of both LEDs Error recovery m blinking once then pause 1 h Send module to company Baumüller Nürnberg GmbH m blinking twice then pause 2 m blinking three times 3 m blinking four times then pause 4 h Send device b maXX 4400 to company Baumüller Nürnberg GmbH 1 Hardware is faulty or no CANopen hardware on the option module 2 no CANopen so...

Страница 42: ...ommunication but if the communication is faulty you can only recognize the errors by using a bus monitor of the master In the following you will find the most common errors Error Trouble shooting m CANopen slave doesn t report to the CAN network h Remove connector and plug in again h Remove module check address at the DIP switch and plug in module again h Check whether there is a boot project on t...

Страница 43: ...work is established the option module CANopen slave tries to continue the communication with the CANopen network If the communication cancels the red LED H2 flashes up Figure 13 Error no communication b maXX PLC Further information is to be found in ZD 4 LEDs from page 64 NOTE Further details are to be found in the Operation manual b maXX 4400 and in the Applica tion handbook CANopen slave for b m...

Страница 44: ... configured communication cycle H2 on Option module CANopen slave does not communicate with the CANopen network H2 and H4 flash syn chronously See ZBootup for b maXX controller on page 44 1 Following light pattern active ON 200 ms OFF 1000 ms 2 Following light pattern active ON 200 ms OFF 200 ms ON 200 ms OFF 1000 ms 3 Following light pattern active ON 200 ms OFF 200 ms ON 200 ms OFF 200 ms ON 200...

Страница 45: ...CANopen hardware on the option module 2 no CANopen software on the option module 3 a newer CANopen software version is necessary 4 Hardware error of the device b maXX 4400 8 3 2 2 Establish a communication for b maXX controller After booting the option module CANopen slave tries to establish the communication with the CANopen network If the module cannot establish the communication the red LED H2 ...

Страница 46: ...rror frames h Remove terminating resistor connector on both ends and plug them in again h Remove connector and plug in again h Check baud rate all devices at the same CAN Bus must have an identical transfer rate m No cyclic com munication h Release communication source P1001 h Check PDO Mapping 8 3 2 3 Continue communication for b maXX controller If the communication with the CANopen network is es...

Страница 47: ...14 06 9MAINTENANCE If you comply with the prescribed environmental conditions see ZTechnical data from page 61 the option module CANopen slave maintenance free In case you find or as sume a fault of the option module CANopen slave contact the company Baumüller Nürn berg GmbH ...

Страница 48: ...Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 Baumüller Nürnberg GmbH 48 of 68 ...

Страница 49: ...9 of 68 Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 10REPAIR A faulty option module CANopen slave cannot be repaired contact the company Baumüller Nürnberg GmbH for replacement ...

Страница 50: ...Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 Baumüller Nürnberg GmbH 50 of 68 ...

Страница 51: ...orks The capacitors which are used in the device are 10 min after interruption of the supply voltage automatically discharge so far that the terminals can be demounted without danger If you have additional capacitors connected to the DC link the DC link decharging also can last much longer In this case you must determine the necessary waiting time yourself Before working check at the electrical co...

Страница 52: ... following may occur if you do not observe this caution information m minor to medium personnel injury The hazard is sharp edges The handle of the module maybe is sharp edged Do not pull too strong on the handle of the module In case the module is very tight your fin gers can be injured Use a pincer if the module is very tight CAUTION The following may occur if you do not observe this caution info...

Страница 53: ...rther information in ZDisposal from page 55 11 4 Storage conditions Store the option module CANopen slave in a suitable packing and at the in the ZTech nical data from page 61 specified storage conditions 11 5 Recommissioning In case you would like to take the option module CANopen slave in operation again refer to the specifications under Storage conditions Then again run a commissioning see ZCom...

Страница 54: ...Recommissioning Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 Baumüller Nürnberg GmbH 54 of 68 11 5 ...

Страница 55: ...pen slave on the handle you can cut your fingers and palms Only touch the option module CANopen slave on the handle of the front panel or wear suit able safety gloves CAUTION The following may occur if you do not observe this danger information m environmental pollution The hazard is improper disposal You may only dispose under consideration of the safety instructions If necessary also refer to th...

Страница 56: ...option module CANopen slave has already properly been demounted m All technical appliances are prepared and are in a faultlessly condition Sheet steel The front panel is made of galvanized sheet steel Sheet steel must be given to the iron metal recycling Electronic scrap The electronic scrap from PCBs which no further can be demounted must be recycled as special waste Thereby refer to the relevant...

Страница 57: ...s institute DR Draft Recommendation DS Draft Standard DSP Draft Standard Proposal EMC Electromagnetic compatibility EN European standard ESD Electrostatic discharge IEC International Electrotechnical Commission ISO International Organization for Standardization LED Light Emitting Diode OSI Open System Interconnect PLC Process loop control PROPROG wt II Tool for programming of b maXX PLC R Reserved...

Страница 58: ...Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 Baumüller Nürnberg GmbH 58 of 68 A ...

Страница 59: ...questions and suggestions according the accessories do not hesitate to contact our product management B 1 List of all accessories Available CANopen connection cables m Cable type BM4 CAN K 33 xx RJ connector RJ connector Type Form of con struction Length m Article number BM4 CAN K 33 05 RJ45 RJ45 0 5 353315 BM4 CAN K 33 01 1 346577 BM4 CAN K 33 02 2 353317 BM4 CAN K 33 03 3 353321 BM4 CAN K 33 04 ...

Страница 60: ...4 4 353337 BM4 CAN K 31 05 5 351764 BM4 CAN K 31 10 10 353339 m Cable type BM4 CAN K 32 xx RJ connector D Sub female connector Type Form of con struction Length m Article number BM4 CAN K 32 05 RJ45 D Sub female connector 0 5 353330 BM4 CAN K 32 01 1 346572 BM4 CAN K 32 02 2 353331 BM4 CAN K 32 03 3 346573 BM4 CAN K 32 04 4 353332 BM4 CAN K 32 05 5 351765 BM4 CAN K 32 10 10 353333 m Terminating re...

Страница 61: ...ve BM4 O CAN 03 The plug in module has the following specifications Baud rates 20 125 250 500 1000 kBit s Physical Layer ISO 11898 Electrical isolation Optocoupler DC DC converter Connectors 2 x RJ45 female connector Power supply 5 V from controller supply Current power 460 mA Storage 4 kByte DP RAM 256 kByte RAM 1 MByte Flash Eprom Environmental condition According b maXX 4000 Storing condition A...

Страница 62: ...switch Figure 17 DIP switch S500 Pin no Pin assignment 1 Baud rate Settings Bit 0 above 0 beneath ON 1 2 Baud rate Settings Bit 1 above 0 beneath ON 1 3 Baud rate settings Bit 2 above 0 beneath ON 1 4 Bus Address Bit 0 above 0 beneath ON 20 5 Bus Address Bit 1 above 0 beneath ON 21 6 Bus Address Bit 2 above 0 beneath ON 22 7 Bus Address Bit 3 above 0 beneath ON 23 8 Bus Address Bit 4 above 0 benea...

Страница 63: ... maXX PLC while initialization The DIP switches 1 2 and 3 must be ON D 3 1 2 Option module CANopen slave for b maXX controller 20 kBit s 125 kBit s 250 kBit s 500 kBit s 1 MBit s The baud rate is adjusted by using the DIP switch 1 to 3 on the module D 3 2 Adjusting of address Module ID 1 DIP 0 Module ID 99 DIP 98 Module ID 1 DIP 127 The address is adjusted by using the DIP switch 4 to 10 on the mo...

Страница 64: ...0 ms 2 This means that the following Flashing cycle is active ON 200 ms OFF 200 ms H2 red Doesn t flash up The CANopen module operates error free Short flash ing up 1 At least one of the error counters of the module has exceeded the warning level Double short flashing up 2 A Guard event NMT master or NMT slave or a heartbeat event has appeared Triple short flashing up 3 The SYNC message is not rec...

Страница 65: ...inations 27 Mounting 28 Connector pins option module CANopen slave 29 b maXX with CANopen slave for b maXX PLC on slot G and b maXX PLC on slot H 33 LEDs on option module CANopen slave 33 Errors while booting b maXX PLC 41 Error no communication b maXX PLC 42 Error no communication b maXX PLC 43 Errors while booting b maXX controller 44 Error no communication b maXX controller 45 Error no communic...

Страница 66: ...Instruction handbook CANopen slave BM4 O CAN 03 Document no 5 02014 06 Baumüller Nürnberg GmbH 66 of 68 Table of figures ...

Страница 67: ... Disposal instructions 56 Dust cover 28 52 E Electrostatic discharge 17 28 52 EN 60 204 1 30 Error detection 39 Error messages 40 Error parameters 40 Error reactions 40 F Failure indications 39 Faulty usage 14 Field bus 19 First steps 7 Front panel cover 28 Front sheet 24 G Guide supports 29 H Handle 28 52 Hazard areas 23 25 Hazard notes 16 I Icons 9 Installation 25 29 Introduction 7 K Knowledges ...

Страница 68: ... 24 Settings 32 Shock 18 Slot 28 Slot combinations 27 Slots 22 Specifications 61 Statical discharges 17 Storage 51 Storage conditions 53 Switching cabinet 30 52 Symbols 9 T Technical data 61 Temperature range 18 Terminated 19 Terminating resistor connector 60 64 Terms definition 8 Transfer rate 19 25 Transportation 17 18 Trouble shooting 39 Twist lock 28 52 Type key 24 plug in module 24 U Unpackin...

Страница 69: ......

Страница 70: ... our permanent revision service Please notice that specifications data information are current values according to the printing date These statements are not legally binding according to the measurement computation and calculations Before you make any information given in this manual to the basis of your own calculations and or applications please make sure that you have the latest edition of the ...

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