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Product overview

CX1500-M510, CX1500-B510

13

Version: 1.0

Two connection modules (master or slave) can be used simultaneously. If more than two connec-
tions are needed call Beckhoff Automation GmbH for further information.

2.3

CANopen

2.3.1

CANopen Introduction

Fig. 1: CANopenLogo

CANopen is a widely used CAN application layer, developed by the CAN in Automation  association (CiA,

http://www.can-cia.org

), which has meanwhile been adopted for international standardization.

Device Model

CANopen consists of the protocol definitions (communication profile) and of the device profiles that
standardize the data contents for the various device classes. 

Process data objects (PDO) [

}

 15]

 are used for

fast communication of input and output data. The CANopen device parameters and process data are stored
in a structured object directory. Any data in this object directory is accessed via service data objects (SDO).
There are, additionally, a few special objects (such as telegram types) for network management (NMT),
synchronization, error messages and so on.

Communication Types

CANopen defines a number of communication classes for the input and output data (process data objects):

•

Event driven [

}

 15]

: Telegrams are sent as soon as their contents have changed. This means that the

process image as a whole is not continuously transmitted, only its changes.

•

Cyclic synchronous [

}

 15]

: A SYNC telegram causes the modules to accept the output data that was

previously received, and to send new input data.

•

Requested [

}

 15]

: A CAN data request telegram causes the modules to send their input data.

The desired communication type is set by the 

 Transmission Type [

}

 15]

 parameter.

Device Profile

The BECKHOFF CANopen devices support all types of I/O communication, and correspond to the device
profile for digital and analog input/output modules (DS401 Version 1). For reasons of backwards
compatibility, the default mapping was not adapted to the DS401 V2 profile version.

Transmission Rates

Transmission Rates [

}

 14]

Nine transmission rates from 10 kbaud up to 1 Mbaud are available for different bus lengths. The effective
utilization of the bus bandwidth allows CANopen to achieve short system reaction times at relatively low data
rates.

Содержание CX1500-B310

Страница 1: ...AS2000 Blindtext Blindtext Blindtext Documentation EN CX1500 M510 CX1500 B510 CANopen Bus interfaces for CX systems 2006 6 6 Version 1 0...

Страница 2: ......

Страница 3: ...s PDO 15 2 3 4 Objects and Data 22 2 3 5 Automatic PDO Mapping 63 2 3 6 CAN Identifier List 65 2 3 7 Emergency Object 88 2 3 8 Protocol description 92 2 3 9 Objekt directory 112 2 3 10 ADS Communicati...

Страница 4: ...Table of contents CX1500 M510 CX1500 B510 4 Version 1 0 7 2 Certifications 179 7 3 Support and Service 179...

Страница 5: ...iagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automatio...

Страница 6: ...g who are familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instruc...

Страница 7: ...Foreword CX1500 M510 CX1500 B510 7 Version 1 0 1 3 Documentation Issue Status Version Changes 1 0 revised version 0 1 preliminary version...

Страница 8: ...ing data from a fieldbus processing them via a program and then feeding them into another fieldbus The performance data of the CX fieldbus master modules are nearly identical to those of the Beckhoff...

Страница 9: ...sions 38 mm x 100 mm x 91 mm Weight 190 g Operating temperature 0 C 55 C Storage temperature 25 C 85 C Relative humidity 95 no condensation Vibration shock resistance confirms to EN 60068 2 6 EN 60068...

Страница 10: ...this modules must be ordered with other base addresses The same situation takes place if more than two or more master modules of same type are used for more see note below The order numbers for the m...

Страница 11: ...red via the PC104 bus Despite the ISA bus no address switch is required for the address setting since the modules are assigned an address via internal setup The address must be selected by ordering th...

Страница 12: ...1500 B510 CANopen Slave DPRAM available memory addresses for CX1020 D0000 DFFFF hex Base Address hex End Address hex Size Bytes hex Access Type Description D6000 D7FFF 2000 R W CX1500 B510 CANopen Mas...

Страница 13: ...synchronization error messages and so on Communication Types CANopen defines a number of communication classes for the input and output data process data objects Event driven 15 Telegrams are sent as...

Страница 14: ...wise bus arbitration is carried out at the start of the data transmission The bus arbitration assigns bus bandwidth to the messages in the sequence of their priority At the end of the arbitration phas...

Страница 15: ...wCost BK5110 and LC5100 Couplers and the Fieldbus Boxes is 5 PDOs each since these devices manage a lower quantity of process data The FC510x CANopen master card supports up to 192 transmit and 192 re...

Страница 16: ...on must be appropriately adapted so that the TxPDO identifier of the producer agrees with the RxPDO identifier of the consumer This procedure is known as PDO linking It permits for example easy constr...

Страница 17: ...g or diagnostic device brought into the network while it is running The time behavior of remote frame and answer telegrams depends on what CAN controller is in use Fig 8 Components with full integrate...

Страница 18: ...function synchronously but not cyclically An RxPDO is only evaluated after the next SYNC telegram has been received In this way for instance axis groups can be given new target positions one after ano...

Страница 19: ...ially supported Because furthermore the CAN controllers sometimes answer remote frames automatically without first requesting up to date input data there are circumstances in which it is questionable...

Страница 20: ...ping refers to mapping of the application objects real time data from the object directory to the process data objects The CANopen device profile provide a default mapping for every device type and th...

Страница 21: ...ely allocated to the PDOs The mapping tables must be configured for this as from Version 4 of CANopen only the following procedure is permitted and must be followed precisely 1 First delete the PDO se...

Страница 22: ...er inputs are not considered A Coupler that for example only has KL6001 serial interface terminals plugged in thus returns 0x00 00 01 91 The device type supplies only a rough classification of the dev...

Страница 23: ...s are always saved at sub index 1 all the other sub indices being appropriately incremented The whole error store is cleared by writing a 0 to sub index 0 If there has not been an error since power up...

Страница 24: ...0 or above CANopen Version 4 01 or higher All PDOs that have data are set to synchronous communication 0 240 The sync interval has been entered in object 0x1006 and sync interval x lowest PDO transmis...

Страница 25: ...patibility Guard time Guard time Index Sub index Name Type Attribute Mapping Default value Meaning 0x100C 0 Guard time ms Unsigned16 rw N 0 Interval between two guard telegrams Is set by the NMT maste...

Страница 26: ...3 0x61 0x76 0x65 The storage process takes about 3 seconds and is confirmed if successful by the corresponding TxSDO 0x60 in the first byte Since the Bus Coupler is unable to send or receive any CAN t...

Страница 27: ...the next boot reset The byte sequence on the bus including the SDO protocol 0x23 0x11 0x10 0x01 0x6C 0x6F 0x61 0x64 This makes the default identifiers for the PDOs active again Emergency identifier E...

Страница 28: ...as follows MSB LSB Bit 31 24 Bit 23 16 Bit 15 0 Reserved 0 Node ID unsigned8 Heartbeat time in ms unsigned16 The monitored identifier can be obtained from the node ID by means of the default identifie...

Страница 29: ...endor ID Unsigned32 ro N 0x0000000 2 Manufactur er identifier Beckhoff has vendor ID 2 2 Product Code Unsigned32 ro N Depends on the product Device identifier 3 Revision Number Unsigned32 ro N Version...

Страница 30: ...he server SDO Sub index 0 number of following parameters 1 COB ID Client Server Unsigned32 ro N 0x000006x y xy Node ID COB ID RxSDO Client Server 2 COB ID Server Client Unsigned32 ro N 0x0000058 0 Nod...

Страница 31: ...but not used in the RxPDO 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Timer Unsigned16 rw N 0 Event Timer Watchdog time defined for monito...

Страница 32: ...n Object Identifier RxPDO2 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the Rx...

Страница 33: ...n Object Identifier RxPDO3 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the Rx...

Страница 34: ...ect Identifier RxPDO4 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the RxPDO 4...

Страница 35: ...er RxPDO5 1 6 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the RxPDO 4 CMS Pri...

Страница 36: ...by default for digital output data Depending on the number of outputs inserted the necessary length of the PDO is automatically determined and the corresponding objects are mapped Since the digital o...

Страница 37: ...2 bytes index 1 byte sub index 1 byte bit width 8 8th mapped object Unsigned32 rw N 0x0000000 0 8th mapped application object 2 bytes index 1 byte sub index 1 byte bit width The second receive PDO RxP...

Страница 38: ...cation object 2 bytes index 1 byte sub index 1 byte bit width The 3rd to 16th receive PDOs RxPDO3ff are automatically given a default mapping by the bus node depending on the attached terminals or dep...

Страница 39: ...backwards compatibilit y but not used 5 Event Timer Unsigned16 rw N 0 Event Timer Sub index 1 COB ID The bottom 11 bits of the 32 bit value bits 0 10 contain the CAN identifier The MSB bit 31 indicate...

Страница 40: ...nsmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Repetition delay value x 100 s 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Time...

Страница 41: ...si on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Repetition delay value x 100 s 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Timer Uns...

Страница 42: ...type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Repetition delay value x 100 s 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Timer Unsigned1...

Страница 43: ...transmit PDOs Sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0x0000000 COB ID Communic ation Object Identifier TxPDO1 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of...

Страница 44: ...ed application object 2 bytes index 1 byte sub index 1 byte bit width 8 8th mapped object Unsigned32 rw N 0x6000080 8 8th mapped application object 2 bytes index 1 byte sub index 1 byte bit width The...

Страница 45: ...pped application object 2 bytes index 1 byte sub index 1 byte bit width 8 8th mapped object Unsigned32 rw N 8th mapped application object 2 bytes index 1 byte sub index 1 byte bit width The second tra...

Страница 46: ...ex 1 byte sub index 1 byte bit width The 3rd to 16th transmit PDOs TxPDO3ff are automatically given a default mapping by the bus node depending on the attached terminals or depending on the extension...

Страница 47: ...7 byte special terminals outputs at present no terminals corresponding to this type are included in the product range 3 byte special terminals input data 3 byte special terminals input data Index Sub...

Страница 48: ...s output data 4 byte special terminals output data Index Sub index Name Type Attribute Mapping Default value Meaning 0x2900 0 Number of elements Unsigned8 ro N Depending on type and fittings Number of...

Страница 49: ...x Name Type Attribute Mapping Default value Meaning 0x2C00 0 Number of elements Unsigned8 ro N Depending on type and fittings Number of available 6 byte special channels inputs 1 1st input block Unsig...

Страница 50: ...Mapping Default value Meaning 0x3100 0 Number of elements Unsigned8 ro N Depending on type and fittings Number of available 6 byte special channels outputs 1 1st output block Unsigned64 rww Y 0x000000...

Страница 51: ...g Network addresses and baud rates To do this the value in table 100 register 3 must be read This means that the following SDO telegrams must be sent Write access download request to index 4500 sub in...

Страница 52: ...tifier of the first terminal and register n the identification of the nth terminal Table number Register number Description Value range 9 0 Bus station identifier 0 65535 9 1 255 Identifier of the ext...

Страница 53: ...d input information being lost without that loss being noticed 0 No auto reset default 1 Auto reset active G Device diagnostics Reporting by means of emergency telegram that for example a current inpu...

Страница 54: ...re a RxPDO and a TxPDO Bus Terminal Extension Box register communication Bus Terminal Extension Box register communication Index Sub index Name Type Attribute Mapping Default value Meaning 0x4501 0 Ac...

Страница 55: ...ster 32 to be read The terminal is located in the fifth slot next to the Bus Coupler This means that the following SDO telegrams must be sent Write access download request to index 4501 sub index 5 wi...

Страница 56: ...he feature register It is assumed to that the default values are to be supplied for all the other bits in the feature register Once the write protection has been removed SDO write access download requ...

Страница 57: ...he network with PDO6 as the next node and proceeds according to the following scheme Object Function code Resulting COB ID hex Resulting COB ID dec TxPDO5 1101 0x681 0x6BF 1665 1727 RxPDO5 1111 0x781...

Страница 58: ...uarding Heartbeat Bootup 1110 0x701 0x73F 0x77F 1793 1855 1919 The identifiers that result from the DIP switch settings on the coupler are given as are the identifier regions for the node addresses 64...

Страница 59: ...data changes are evaluated for this purpose By clearing the appropriate ranges within the PDOs they are masked out for event driving purposes interrupt control The interrupt mask does not just govern...

Страница 60: ...ile the counter value is by default contained in bytes or 1 4 of the corresponding PDOs TxPDO3 in this example because 65 digital and 5 analog inputs are present This means that index 0x6126 sub index...

Страница 61: ...ro Y 0x0000 254th input channel The analog signals are displayed left aligned The representation in the process image is therefore independent of the actual resolution Detailed information on the dat...

Страница 62: ...the analog PDOs can be parameterized before activation by setting the inhibit time object 0x1800ff sub index 3 and or limit value monitoring objects 0x6424 0x6425 and or delta function object 0x6426...

Страница 63: ...e Meaning 0x6426 0 Number of elements Unsigned8 ro N Depending on type and fittings Number of analog input channels available 1 delta value 1st input Unsigned16 rw Y 0x0000 Delta value for the 1st inp...

Страница 64: ...r special functions Data types are not mixed For every new data type a new PDO is filled see example below Example Example A BK5120 CANopen Coupler has got 78 digital inputs und 48 digital outputs 6 a...

Страница 65: ...ve 1 15 0x3100 SI 2 TxPDO6 6 Byte encoder inputs 0x2C00 SI 1 RxPDO7 8 byte AS i master 1 process data block outputs AS i slave 16 31 0x3100 SI 3 TxPDO7 8 byte AS i master 1 parameter data block 0x3000...

Страница 66: ...1 0x6BF 1665 1727 RxPDO5 0x781 0x7BF 1921 1983 TxPDO6 0x1C1 0x1FF 449 511 RxPDO6 0x241 0x27F 577 639 TxDPO7 0x2C1 0x2FF 705 767 RxPDO7 0x341 0x37F 833 895 TxPDO8 0x3C1 0x3FF 961 1023 RxPDO8 0x441 0x47...

Страница 67: ...Nd 52 1440 5A0 SDO Tx Nd 32 138 8A EMCY Nd 10 885 375 RxPDO7 Nd 53 1441 5A1 SDO Tx Nd 33 139 8B EMCY Nd 11 886 376 RxPDO7 Nd 54 1442 5A2 SDO Tx Nd 34 140 8C EMCY Nd 12 887 377 RxPDO7 Nd 55 1443 5A3 S...

Страница 68: ...TxPDO3 Nd 15 1466 5BA SDO Tx Nd 58 164 A4 EMCY Nd 36 912 390 TxPDO3 Nd 16 1467 5BB SDO Tx Nd 59 165 A5 EMCY Nd 37 913 391 TxPDO3 Nd 17 1468 5BC SDO Tx Nd 60 166 A6 EMCY Nd 38 914 392 TxPDO3 Nd 18 146...

Страница 69: ...21 190 BE EMCY Nd 62 938 3AA TxPDO3 Nd 42 1494 5D6 TxPDO10 Nd 22 191 BF EMCY Nd 63 939 3AB TxPDO3 Nd 43 1495 5D7 TxPDO10 Nd 23 385 181 TxPDO1 DI Nd 1 940 3AC TxPDO3 Nd 44 1496 5D8 TxPDO10 Nd 24 386 18...

Страница 70: ...4 1519 5EF TxPDO10 Nd 47 409 199 TxPDO1 DI Nd 25 965 3C5 TxPDO8 Nd 5 1520 5F0 TxPDO10 Nd 48 410 19A TxPDO1 DI Nd 26 966 3C6 TxPDO8 Nd 6 1521 5F1 TxPDO10 Nd 49 411 19B TxPDO1 DI Nd 27 967 3C7 TxPDO8 N...

Страница 71: ...0 1546 60A SDO Rx Nd 10 435 1B3 TxPDO1 DI Nd 51 991 3DF TxPDO8 Nd 31 1547 60B SDO Rx Nd 11 436 1B4 TxPDO1 DI Nd 52 992 3E0 TxPDO8 Nd 32 1548 60C SDO Rx Nd 12 437 1B5 TxPDO1 DI Nd 53 993 3E1 TxPDO8 Nd...

Страница 72: ...DO8 Nd 56 1572 624 SDO Rx Nd 36 462 1CE TxPDO6 Nd 14 1017 3F9 TxPDO8 Nd 57 1573 625 SDO Rx Nd 37 463 1CF TxPDO6 Nd 15 1018 3FA TxPDO8 Nd 58 1574 626 SDO Rx Nd 38 464 1D0 TxPDO6 Nd 16 1019 3FB TxPDO8 N...

Страница 73: ...Nd 19 1598 63E SDO Rx Nd 62 488 1E8 TxPDO6 Nd 40 1044 414 RxPDO3 Nd 20 1599 63F SDO Rx Nd 63 489 1E9 TxPDO6 Nd 41 1045 415 RxPDO3 Nd 21 1601 641 RxPDO10 Nd 1 490 1EA TxPDO6 Nd 42 1046 416 RxPDO3 Nd 22...

Страница 74: ...PDO10 Nd 25 515 203 RxPDO1 DO Nd 3 1070 42E RxPDO3 Nd 46 1626 65A RxPDO10 Nd 26 516 204 RxPDO1 DO Nd 4 1071 42F RxPDO3 Nd 47 1627 65B RxPDO10 Nd 27 517 205 RxPDO1 DO Nd 5 1072 430 RxPDO3 Nd 48 1628 65...

Страница 75: ...1651 673 RxPDO10 Nd 51 541 21D RxPDO1 DO Nd 29 1097 449 RxPDO8 Nd 9 1652 674 RxPDO10 Nd 52 542 21E RxPDO1 DO Nd 30 1098 44A RxPDO8 Nd 10 1653 675 RxPDO10 Nd 53 543 21F RxPDO1 DO Nd 31 1099 44B RxPDO8...

Страница 76: ...xPDO8 Nd 34 1678 68E TxPDO5 Nd 14 567 237 RxPDO1 DO Nd 55 1123 463 RxPDO8 Nd 35 1679 68F TxPDO5 Nd 15 568 238 RxPDO1 DO Nd 56 1124 464 RxPDO8 Nd 36 1680 690 TxPDO5 Nd 16 569 239 RxPDO1 DO Nd 57 1125 4...

Страница 77: ...xPDO8 Nd 60 1704 6A8 TxPDO5 Nd 40 594 252 RxPDO6 Nd 18 1149 47D RxPDO8 Nd 61 1705 6A9 TxPDO5 Nd 41 595 253 RxPDO6 Nd 19 1150 47E RxPDO8 Nd 62 1706 6AA TxPDO5 Nd 42 596 254 RxPDO6 Nd 20 1151 47F RxPDO8...

Страница 78: ...d 23 1731 6C3 TxPDO11 Nd 3 620 26C RxPDO6 Nd 44 1176 498 TxPDO4 Nd 24 1732 6C4 TxPDO11 Nd 4 621 26D RxPDO6 Nd 45 1177 499 TxPDO4 Nd 25 1733 6C5 TxPDO11 Nd 5 622 26E RxPDO6 Nd 46 1178 49A TxPDO4 Nd 26...

Страница 79: ...TxPDO11 Nd 29 647 287 TxPDO2 AI Nd 7 1202 4B2 TxPDO4 Nd 50 1758 6DE TxPDO11 Nd 30 648 288 TxPDO2 AI Nd 8 1203 4B3 TxPDO4 Nd 51 1759 6DF TxPDO11 Nd 31 649 289 TxPDO2 AI Nd 9 1204 4B4 TxPDO4 Nd 52 1760...

Страница 80: ...6F7 TxPDO11 Nd 55 673 2A1 TxPDO2 AI Nd 33 1229 4CD TxPDO9 Nd 13 1784 6F8 TxPDO11 Nd 56 674 2A2 TxPDO2 AI Nd 34 1230 4CE TxPDO9 Nd 14 1785 6F9 TxPDO11 Nd 57 675 2A3 TxPDO2 AI Nd 35 1231 4CF TxPDO9 Nd...

Страница 81: ...E6 TxPDO9 Nd 38 1810 712 Guarding Nd 18 699 2BB TxPDO2 AI Nd 59 1255 4E7 TxPDO9 Nd 39 1811 713 Guarding Nd 19 700 2BC TxPDO2 AI Nd 60 1256 4E8 TxPDO9 Nd 40 1812 714 Guarding Nd 20 701 2BD TxPDO2 AI Nd...

Страница 82: ...4 Nd 1 1836 72C Guarding Nd 44 726 2D6 TxPDO7 Nd 22 1282 502 RxPDO4 Nd 2 1837 72D Guarding Nd 45 727 2D7 TxPDO7 Nd 23 1283 503 RxPDO4 Nd 3 1838 72E Guarding Nd 46 728 2D8 TxPDO7 Nd 24 1284 504 RxPDO4...

Страница 83: ...Nd 27 1863 747 RxPDO11 Nd 7 752 2F0 TxPDO7 Nd 48 1308 51C RxPDO4 Nd 28 1864 748 RxPDO11 Nd 8 753 2F1 TxPDO7 Nd 49 1309 51D RxPDO4 Nd 29 1865 749 RxPDO11 Nd 9 754 2F2 TxPDO7 Nd 50 1310 51E RxPDO4 Nd 3...

Страница 84: ...9 761 RxPDO11 Nd 33 779 30B RxPDO2 AO Nd 11 1334 536 RxPDO4 Nd 54 1890 762 RxPDO11 Nd 34 780 30C RxPDO2 AO Nd 12 1335 537 RxPDO4 Nd 55 1891 763 RxPDO11 Nd 35 781 30D RxPDO2 AO Nd 13 1336 538 RxPDO4 Nd...

Страница 85: ...9 Nd 16 1915 77B RxPDO11 Nd 59 805 325 RxPDO2 AO Nd 37 1361 551 RxPDO9 Nd 17 1916 77C RxPDO11 Nd 60 806 326 RxPDO2 AO Nd 38 1362 552 RxPDO9 Nd 18 1917 77D RxPDO11 Nd 61 807 327 RxPDO2 AO Nd 39 1363 55...

Страница 86: ...Nd 62 1386 56A RxPDO9 Nd 42 1942 796 RxPDO5 Nd 22 831 33F RxPDO2 AO Nd 63 1387 56B RxPDO9 Nd 43 1943 797 RxPDO5 Nd 23 833 341 RxPDO7 Nd 1 1388 56C RxPDO9 Nd 44 1944 798 RxPDO5 Nd 24 834 342 RxPDO7 Nd...

Страница 87: ...Tx Nd 5 1968 7B0 RxPDO5 Nd 48 858 35A RxPDO7 Nd 26 1414 586 SDO Tx Nd 6 1969 7B1 RxPDO5 Nd 49 859 35B RxPDO7 Nd 27 1415 587 SDO Tx Nd 7 1970 7B2 RxPDO5 Nd 50 860 35C RxPDO7 Nd 28 1416 588 SDO Tx Nd 8...

Страница 88: ...rovides valuable information about the state of the device and of the network NOTE Warning It is strongly recommended that emergency objects are evaluated they provide a valuable source of information...

Страница 89: ...Product overview CX1500 M510 CX1500 B510 89 Version 1 0 Table 1 Key...

Страница 90: ...mm Bit field communication error 0x01 Guarding delayed or failed 0x02 Sync delayed or failed 0x04 Incorrect PDO length parameterized 0x08 Event timer timeout RxPDO not received in time 0x10 Receive qu...

Страница 91: ...ncorrect PDO length parameterized check mapping Info 0 parameterized expected PDO length in bytes Info 1 current PDO length results from the added lengths of the mapped objects 0x07 Sync delayed time...

Страница 92: ...1 and bit 7 that channel 2 has an error 3 If the error counter now falls below the warning limit again the coupler sends the following emergency telegram 00 00 81 00 01 01 0A 82 The error code 00 00...

Страница 93: ...ate emergency message goes into the fault state and thus returns to the Pre Operational state In this way the NMT status machine in the network master can also immediately detect fatal errors Stopped...

Страница 94: ...bytes of user data 0x00 0x02 0x00 Example 2 The following telegram resets node 17 11 bit identifier 2 bytes of user data 0x00 0x81 0x11 Boot up message Boot up message After the initialization phase a...

Страница 95: ...at the nodes transmit their status on their own initiative Guarding Node Guarding and Life Guarding Guarding Node Guarding is used to monitor the non central peripheral modules while they themselves c...

Страница 96: ...f the slave fails to receive a message request from the master within the set Node Life Time a guarding error it assumes that the master has failed the watchdog function It then puts its outputs into...

Страница 97: ...mers The process data in CANopen is divided into segments with a maximum of 8 bytes These segments are known as process data objects PDOs The PDOs each correspond to a CAN telegram whose specific CAN...

Страница 98: ...ly be one sender node producer although all messages sent in the CAN broadcast procedure can be received as described by any number of nodes consumers Thus a node can make its input information availa...

Страница 99: ...simultaneously listen to the actual value in the master axis TxPDO PDO Communication Types Outline PDO Communication Types Outline CANopen offers a number of possible ways to transmit process data see...

Страница 100: ...ring FullCAN usually answer a data request telegram immediately transmitting data that is waiting in the appropriate transmit buffer it is the responsibility of the application to see that the data th...

Страница 101: ...types can be combined on a device as well as in the network it is possible for example for a fast cycle to be agreed for digital inputs n 1 whereas the data for analog inputs is transmitted in a slow...

Страница 102: ...s the minimum length of time that must be allowed to elapse between the transmission of two of the same telegrams If the inhibit time is used the maximum bus loading can be determined so that the wors...

Страница 103: ...e default PDOs for drives contain 2 bytes each of a control and status word and a set or actual value for the relevant axis The current mapping can be read by means of corresponding entries in the obj...

Страница 104: ...minimum of configuration effort it is wise at least to check whether the existing bus loading is reasonable 80 bus loading may be acceptable for a network operating purely in cyclic synchronous modes...

Страница 105: ...lues of an axis controller synchronously while limit switches or motor temperatures with limit values are monitored with event driven PDOs This combines the advantages of the two principles synchronic...

Страница 106: ...not obviate the need for a careful analysis if delays could have critical results for the plant The BECKHOFF FC510x PC cards indicate the bus loading via the System Manager This variable can also be...

Страница 107: ...de ID 0x40 Index0 Index1 SubIdx 0x00 0x00 0x00 0x00 Parameters Explanation Index0 Index low byte Unsigned16 LSB Index1 Index high byte Unsigned16 MSB SubIdx Sub index Unsigned8 Client Server Upload Re...

Страница 108: ...ss significant data bytes up to the length of the object directory entry that is to be written are evaluated A download of data up to 4 bytes in length can therefore always be achieved in Beckhoff bus...

Страница 109: ...00 10 Data type or parameter length do not agree or are unknown 0x06 07 00 12 Data type does not agree parameter length too great 0x06 07 00 13 Data type does not agree parameter length too short 0x06...

Страница 110: ...erived from the 7 bit node address the node ID and a 4 bit function code in accordance with the following scheme For broadcast objects the node ID is set to 0 This gives rise to the following default...

Страница 111: ...x100C 22 0x100D 22 0x100E 22 0x1016 22 0x1017 22 The Beckhoff Default Mapping 63 applies to PDO 3 4 In most configurations PDOs 3 and 4 contain data related to analog inputs and outputs but there can...

Страница 112: ...cription of the manufacturer specific entries 3 standardized device profile region 0x6000 0x9FFF Contains the objects for a device profile according to DS 401 Every entry in the object directory is id...

Страница 113: ...ro N 0x0000000 0 Statement of device type The 32 bit value is divided into two 16 bit fields MSB LSB Additional information Device profile number 0000 0000 0000 wxyz 0x191 401dez The additional inform...

Страница 114: ...sub index 0 has the number of error states stored 1 Actual error Unsigned32 ro N None Last error state to have occurred 10 Standard error field Unsigned32 ro N None A maximum of 10 error states are st...

Страница 115: ...tion no SYNC telegram is received within the watchdog time The watchdog time corresponds here to 1 5 times the communication cycle period that has been set the planned SYNC interval can therefore be e...

Страница 116: ...factur er software version Visible String ro N Software version number of the bus node Since the returned value is longer than 4 bytes the segmented SDO protocol is used for transmission Node number N...

Страница 117: ...0x1010 0 Store Parameter Unsigned8 ro N 1 Number of store options 1 store all parameters Unsigned32 rw N 1 Stores all storable parameters By writing the string save in ASCII code hexadecimal 0x6576617...

Страница 118: ...tring load in ASCII code hexadecimal 0x64616F6C into sub index 1 resets all parameters to default values as initially supplied at the next boot reset The byte sequence on the bus including the SDO pro...

Страница 119: ...as follows MSB LSB Bit 31 24 Bit 23 16 Bit 15 0 Reserved 0 Node ID unsigned8 Heartbeat time in ms unsigned16 The monitored identifier can be obtained from the node ID by means of the default identifi...

Страница 120: ...Vendor ID Unsigned32 ro N 0x0000000 2 Manufactur er identifier Beckhoff has vendor ID 2 2 Product Code Unsigned32 ro N Depends on the product Device identifier 3 Revision Number Unsigned32 ro N Versio...

Страница 121: ...the server SDO Sub index 0 number of following parameters 1 COB ID Client Server Unsigned32 ro N 0x000006x y xy Node ID COB ID RxSDO Client Server 2 COB ID Server Client Unsigned32 ro N 0x0000058 0 No...

Страница 122: ...but not used in the RxPDO 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Timer Unsigned16 rw N 0 Event Timer Watchdog time defined for monito...

Страница 123: ...on Object Identifier RxPDO2 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the R...

Страница 124: ...n Object Identifier RxPDO3 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the Rx...

Страница 125: ...ect Identifier RxPDO4 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the RxPDO 4...

Страница 126: ...ier RxPDO5 1 6 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Present for reasons of backwards compatibilit y but not used in the RxPDO 4 CMS Pr...

Страница 127: ...d by default for digital output data Depending on the number of outputs inserted the necessary length of the PDO is automatically determined and the corresponding objects are mapped Since the digital...

Страница 128: ...2 bytes index 1 byte sub index 1 byte bit width 8 8th mapped object Unsigned32 rw N 0x0000000 0 8th mapped application object 2 bytes index 1 byte sub index 1 byte bit width The second receive PDO Rx...

Страница 129: ...ication object 2 bytes index 1 byte sub index 1 byte bit width The 3rd to 16th receive PDOs RxPDO3ff are automatically given a default mapping by the bus node depending on the attached terminals or de...

Страница 130: ...backwards compatibilit y but not used 5 Event Timer Unsigned16 rw N 0 Event Timer Sub index 1 COB ID The bottom 11 bits of the 32 bit value bits 0 10 contain the CAN identifier The MSB bit 31 indicat...

Страница 131: ...ansmissi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Repetition delay value x 100 s 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Tim...

Страница 132: ...ssi on type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Repetition delay value x 100 s 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Timer Un...

Страница 133: ...type of the PDO 3 Inhibit Time Unsigned16 rw N 0 Repetition delay value x 100 s 4 CMS Priority Group Unsigned8 rw N Present for reasons of backwards compatibilit y but not used 5 Event Timer Unsigned...

Страница 134: ...transmit PDOs Sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0x0000000 COB ID Communic ation Object Identifier TxPDO1 2 Transmissi on Type Unsigned8 rw N 255 Transmissi on type o...

Страница 135: ...ed application object 2 bytes index 1 byte sub index 1 byte bit width 8 8th mapped object Unsigned32 rw N 0x6000080 8 8th mapped application object 2 bytes index 1 byte sub index 1 byte bit width The...

Страница 136: ...pped application object 2 bytes index 1 byte sub index 1 byte bit width 8 8th mapped object Unsigned32 rw N 8th mapped application object 2 bytes index 1 byte sub index 1 byte bit width The second tra...

Страница 137: ...ex 1 byte sub index 1 byte bit width The 3rd to 16th transmit PDOs TxPDO3ff are automatically given a default mapping by the bus node depending on the attached terminals or depending on the extension...

Страница 138: ...7 byte special terminals outputs at present no terminals corresponding to this type are included in the product range 3 byte special terminals input data 3 byte special terminals input data Index Sub...

Страница 139: ...s output data 4 byte special terminals output data Index Sub index Name Type Attribute Mapping Default value Meaning 0x2900 0 Number of elements Unsigned8 ro N Depending on type and fittings Number of...

Страница 140: ...ex Name Type Attribute Mapping Default value Meaning 0x2C00 0 Number of elements Unsigned8 ro N Depending on type and fittings Number of available 6 byte special channels inputs 1 1st input block Unsi...

Страница 141: ...Mapping Default value Meaning 0x3100 0 Number of elements Unsigned8 ro N Depending on type and fittings Number of available 6 byte special channels outputs 1 1st output block Unsigned64 rww Y 0x00000...

Страница 142: ...g Network addresses and baud rates To do this the value in table 100 register 3 must be read This means that the following SDO telegrams must be sent Write access download request to index 4500 sub in...

Страница 143: ...ntifier of the first terminal and register n the identification of the nth terminal Table number Register number Description Value range 9 0 Bus station identifier 0 65535 9 1 255 Identifier of the ex...

Страница 144: ...d input information being lost without that loss being noticed 0 No auto reset default 1 Auto reset active G Device diagnostics Reporting by means of emergency telegram that for example a current inpu...

Страница 145: ...ire a RxPDO and a TxPDO Bus Terminal Extension Box register communication Bus Terminal Extension Box register communication Index Sub index Name Type Attribute Mapping Default value Meaning 0x4501 0 A...

Страница 146: ...ster 32 to be read The terminal is located in the fifth slot next to the Bus Coupler This means that the following SDO telegrams must be sent Write access download request to index 4501 sub index 5 wi...

Страница 147: ...he feature register It is assumed to that the default values are to be supplied for all the other bits in the feature register Once the write protection has been removed SDO write access download requ...

Страница 148: ...the network with PDO6 as the next node and proceeds according to the following scheme Object Function code Resulting COB ID hex Resulting COB ID dec TxPDO5 1101 0x681 0x6BF 1665 1727 RxPDO5 1111 0x781...

Страница 149: ...Guarding Heartbeat Bootup 1110 0x701 0x73F 0x77F 1793 1855 1919 The identifiers that result from the DIP switch settings on the coupler are given as are the identifier regions for the node addresses 6...

Страница 150: ...h data changes are evaluated for this purpose By clearing the appropriate ranges within the PDOs they are masked out for event driving purposes interrupt control The interrupt mask does not just gover...

Страница 151: ...ile the counter value is by default contained in bytes or 1 4 of the corresponding PDOs TxPDO3 in this example because 65 digital and 5 analog inputs are present This means that index 0x6126 sub index...

Страница 152: ...ro Y 0x0000 254th input channel The analog signals are displayed left aligned The representation in the process image is therefore independent of the actual resolution Detailed information on the dat...

Страница 153: ...the analog PDOs can be parameterized before activation by setting the inhibit time object 0x1800ff sub index 3 and or limit value monitoring objects 0x6424 0x6425 and or delta function object 0x6426...

Страница 154: ...log inputs Delta function for analog inputs Delta function for analog inputs Index Sub index Name Type Attribute Mapping Default value Meaning 0x6426 0 Number of elements Unsigned8 ro N Depending on t...

Страница 155: ...signed32 rw N none Flag MBz z 14 AMS NetId NetId Index sub index Name Type Attrb Map Default Value Meaning 0x5FFE 0 NetId String rw N 1 1 1 1 1 1 AMS Net Id 2 3 10 ADS Communication 2 3 10 1 ADS Servi...

Страница 156: ...er in the Bus Terminal Controller for register communication is fixed being set at 100 Index group Index offset value range Meaning Hi Word Low Word 0 READ ONLY 0 127 0 255 Registers in the Bus Couple...

Страница 157: ...notice any shipping damage or inconsistencies between the contents and your order you should notify Beckhoff Service NOTE Danger of damage to the unit During transport in cold conditions or if the un...

Страница 158: ...Beckhoff Bus Terminals Together with the lowered connector surfaces this means that it can be used in a standard terminal box with a height of 120 mm CX1500 M510 und CX1500 B510 Fieldbus connections...

Страница 159: ...was previously removed should be pressed over the connections until it audibly engages Note If the CX1000 CX1020 configuration is not positioned on the top hat rail it is possible to connect the asse...

Страница 160: ...00 kbit s 100 m 250 kbit s 250 m 125 kbit s 500 m 50 kbit s 1000 m 20 kbit s 2500 m 10 kbit s 5000 m A figure of 40m at 1 Mbit s is often found in the CAN literature This does not however apply to net...

Страница 161: ...twisted pair cables 2x2 with a characteristic impedance of between 108 and 132 Ohm is recommended for the CAN wiring If the CAN transceiver s reference potential CAN ground is not to be connected the...

Страница 162: ...rrespond to the DeviceNet specification UL recognized AWM Type 2476 rating CSA AWM I II A B 80 C 300V FT1 corresponds to the DeviceNet Thin Cable specification Screening Screening The screen is to be...

Страница 163: ...ply potential Since the CANopen BK51X0 Bus Couplers provide full electrical isolation of the bus connection it may in appropriate cases be possible to omit wiring up the CAN ground ZS1052 3000 Bus Int...

Страница 164: ...for the baud rate The transfer speed depends on the net topology Details are described in the chapter wires and installation In some cases not all boxes can be found Restart scan to find the missing b...

Страница 165: ...e bus address In Free Run Mode of TwinCAT the bus function can be checked easily Just force a signal by write online and see if the control LED ion the terminal lights up If the PLC project is loaded...

Страница 166: ...ng with yes opens the following dialog Before the CANopen bus can be scanned for other devices the baud rate must be selected The transfer speed depends on the net topology Details are described in th...

Страница 167: ...an read the NodeState of the slave box There are also four Process Data Objects PDO instanced two for data output TxPDO n and two for data input RxPDO n Here the process variables can be inserted To d...

Страница 168: ...ess in the I O area In this way wanted overlays can be realized The type of the variable will be set under Variable Type The sorting help make easier to find the desired variable Click OK to accept se...

Страница 169: ...10 169 Version 1 0 The mapped signals variables are shown by a little arrow on the signal icon If all signals and variables are mapped the configuration can be uploaded to the CX System The program wi...

Страница 170: ...running Box State 0 an blinks at 2 Hz at least one Box State is not zero e g unit not found wrong configuration unit in error state TwinCAT Task is running off blinks at 2 Hz at least one Box State is...

Страница 171: ...t least one Box State is not zero e g unit not found wrong configuration unit in error state TwinCAT Task is not running off on TwinCAT runs CAN Controller is Bus OFF Physical CAN bus problem Probable...

Страница 172: ...exceeded passive error or bus off state are indicated first of all at those nodes that have de tected the most errors These nodes are not necessarily the cause for the occurrence of error frames If fo...

Страница 173: ...nal leads The nodes should be switched off or the CAN cable unplugged for this test because the results of the measurements can otherwise be distorted by the active CAN transceiver Test 3 Determine th...

Страница 174: ...med at both ends When appropriate this test can also be carried out at the ends of the drop lines Test 8 Interrupt the screen at a number of locations and measure the connection current If current is...

Страница 175: ...necessary trace software available on the internet Alternatively it is of course possible to use a normal commercial CAN analysis tool Protocol problems can be avoided if devices that have not been co...

Страница 176: ...advisable to make a note of the connections Then pull the orange terminal release see arrow to release the terminal and pull it out 1 2 Releasing the CX10x0 system In order to release the CX10x0 block...

Страница 177: ...cannot be separated only feature a marking point with or without red paint seal Applying force to these elements will destroy them NOTE Forcibly opening the module housing e g removing the cover will...

Страница 178: ...t rail On the bottom of the modules there is a white tension strap which is connected with a latching mechanism These tension straps must be pulled down before attaching to the top hat rail This can b...

Страница 179: ...stem must not be operated vertically on the top hat rail A vertical position would lead to insufficient CPU ventilation since the ventilation openings are located on the top and bottom of the housing...

Страница 180: ...individual Beckhoff products but also with other wide ranging services support design programming and commissioning of complex automation systems and extensive training program for Beckhoff system com...

Страница 181: ......

Страница 182: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com...

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