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AS-i/CANopen Gateway

Subject to reasonable modifications due to technical advances

Bihl+Wiedemann GmbH · D-68199 Mannheim · Phone +49-621-339960 · Fax +49-621-3392239 · Internet http://www.bihl-wiedemann.de

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Declaration of Conformity

according to 89/336/EEC and 73/23/EEC

Bihl+Wiedemann GmbH, Mannheim, hereby declares under its sole responsibility
that the products mentioned below are according to the listed harmonized stan-
dards or normative documents and (where neccessary) a component body has
been released.

Specification:

AS-i/CANopen Gateway, AS-i Specification 2.1

Article-no.:

BW1448, BW1449

Applied harmonized Standards:

EN 50081-2

EN 61000-6-2

Applied national standards or normative documents:

AS-i Complete Specification (EN50295)

Prüfungsordnung für AS-i Master

Manufacturer: Bihl+Wiedemann GmbH

Date: 01.08.02

Bernhard Wiedemann

Содержание AS-i 2.1

Страница 1: ...AS i 2 1 AS i CANopen Gateway User Manual...

Страница 2: ......

Страница 3: ...the AS i CANopen Gateway 21 5 1 Peculiarities with Double Masters 21 5 2 Master Start Up 21 5 3 Configuration Mode 22 5 4 Protected Operating Mode 22 5 4 1 Switching to Protected Operating Mode 22 5...

Страница 4: ...Config Actual Configuration 38 6 4 3 LPF List of Periphery Faults 38 6 4 4 AS i Master Info 39 6 5 Adv Diagnosis Advanced AS i Diagnosis 39 6 5 1 Error Counters 39 6 5 2 LCS List of Slaves that produc...

Страница 5: ...uration READ_CDI 66 10 1 2 13 SET_LPS 66 10 1 2 14 GET_LPS 67 10 1 2 15 GET_LAS 68 10 1 2 16 GET_LDS 69 10 1 2 17 GET_FLAGS 69 10 1 2 18 SET_OP_MODE 70 10 1 2 19 SET_OFFLINE 71 10 1 2 20 SET_DATA_EX 7...

Страница 6: ...49 621 3392239 Internet http www bihl wiedemann de issue date 27 1 2003 4 10 1 3 1 Safety at Work List 1 88 10 1 3 2 Safety at Work Monitor Diagnosis 90 10 1 3 3 Integrated AS i Sensors Warnings 91 1...

Страница 7: ...mbH Mannheim hereby declares under its sole responsibility that the products mentioned below are according to the listed harmonized stan dards or normative documents and where neccessary a component b...

Страница 8: ...reasonable modifications due to technical advances Copyright Bihl Wiedemann Printed in Germany Bihl Wiedemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www bihl wiede...

Страница 9: ...39 Internet http www bihl wiedemann de issue date 27 1 2003 7 1 The Symbols Used This symbol warns the user of possible danger Failure to heed this warning can lead to personal injury or death and or...

Страница 10: ...ubject to reasonable modifications due to technical advances Copyright Bihl Wiedemann Printed in Germany Bihl Wiedemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www b...

Страница 11: ...qualified person nel in accordance with this operating manual Safety and correct functioning of the device cannot be guaranteed if any operation other than that described in this operation manual is p...

Страница 12: ...to reasonable modifications due to technical advances Copyright Bihl Wiedemann Printed in Germany Bihl Wiedemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www bihl wi...

Страница 13: ...further irritations to wards the AS i communication So in case of an error the down time of machines can be minimized or you can initiate preventive maintenance Commissioning and Monitoring The AS i C...

Страница 14: ...using the Gateway with Graphi cal Display On board Diagnostics Configuration Fault Periphery Fault At a glance the display shows the configuration faults missing slave additional slave detected wrong...

Страница 15: ...99 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www bihl wiedemann de issue date 27 1 2003 13 sily check the quality of AS i communications The user can then test the impact of any ac...

Страница 16: ...Subject to reasonable modifications due to technical advances Copyright Bihl Wiedemann Printed in Germany Bihl Wiedemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www...

Страница 17: ...sed for better EMC Should be connected with a short wire to machine GND Display Color Description power green Supply of the gateway MNS green red Module Network state config err red Configuration erro...

Страница 18: ...int a2 of jumper J AS i Actuator Sensor Interface 1 or 2 negative terminal These terminals are connected internally with point b2 of jumper J 24V Master power supply positive terminal 18 31 6 V DC 0V...

Страница 19: ...8 A PELV according to EN 60950 Protective extra low voltage max 100m AS i cable without repeater max 62 AS i Slaves with advanced address max 100m AS i cable without repeater max 62 AS i Slaves with a...

Страница 20: ...60950 Protective extra low voltage AS i power supply AS i Slave AS i Slave GND max 5 A PELV according to EN 60950 Protective extra low voltage AS i power supply AS i Slave AS i Slave AS i Master AS i...

Страница 21: ...ration al Mode Green LED CAN communication node in Operational Mode config err Configuration error At least one configured slave is missing or at least one detected slave is not projected or for at le...

Страница 22: ...ny Bihl Wiedemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www bihl wiedemann de issue date 27 1 2003 20 set Selection and assigning the address to a slave OK ESC Cha...

Страница 23: ...s there is no data communication on the AS i 41 Detection Phase Start of the start up phase where the system looks for slaves located on the AS i The master remains in the detection phase until it fin...

Страница 24: ...er regardless of whether the de tected AS i slaves were projected before 5 4 Protected Operating Mode 5 4 1 Switching to Protected Operating Mode The configuration mode can be left by pressing the mod...

Страница 25: ...address unequal zero you have to follow the instructions first in chapter 5 5 2 and then chapter 5 5 1 one after the other 5 5 1 Assigning a Slave Address assigning an available address to a slave wit...

Страница 26: ...AS i Control Tools 5 6 2 Manual Address Assignment In protected operating mode wrong assignments are displayed as errors see chapter 5 4 By pressing the set button you can display all faulty assignmen...

Страница 27: ...and Baud Rate 5 7 1 CANopen Node Address For the changing of the address both the set and the mode button have to be pushed simultaneously for at least five seconds until the current CANopen node add...

Страница 28: ...68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www bihl wiedemann de issue date 27 1 2003 26 5 8 Error Messages The system displays error codes for error messages that do not poi...

Страница 29: ...31 Analog Outputs 1 2 3 31 Analog In 1 0 123F 1 6FFC 2 7FFF 3 7FFF Analog Out 1 0 123F 1 6FFC 2 7FFF 3 7FFF Warning Outputs may be set and Host may loose control Mode ID old ID 03 new ID 03 Baudrate o...

Страница 30: ...t of Periph Faults 1A x 2A 3A 4A x 5A x 30A x 31A 1B x 2B x 3B x 4B x 5B x 30B x 31B x Version 20000919 Feature String ZefoD1 As er 30A 31A 7A28 d detected only 1 12A Traditioneller Modus Traditional...

Страница 31: ...be moved up or down with the arrow buttons Press OK to switch to the selected function or menue in the drawing one step to the right page 27 Press ESC to go back to previous me nue To edit data values...

Страница 32: ...setting and changing the CANopen baud rate The number behind old Rate shows the actual baud rate By selecting new Ra te you can change this baud rate Following baud rates are possible 10 kBaud 20 kBa...

Страница 33: ...Permanent Cfg projected configuration data Addr Assistant address assistent LOS list of offline slaves 6 2 1 AS i Circuit This function is only availbale in devices with 2 AS i masters It makes possib...

Страница 34: ...with new address detected Failed DE error with deletion of old address Failed SE error with settinng of new address Failed AT new address could only be stored temporarily Failed RE error with reading...

Страница 35: ...the connected slaves has a peripheral fault the LED config error blinks If the AS i Master is in protected mode the following error message appears Failed No Config Mode If an AS i slave with address...

Страница 36: ...on AS i address assistant is switched on Assistant off AS i address assistant is switched off Procedure 1 Store an AS i configuration to the device You can do this very comfortably with the Windows so...

Страница 37: ...Before you switch to this menu the following warning occurs Warning Outputs may be set and Host may loose control The menue IO Param Test enables you to choose one of the following subme nues Binary I...

Страница 38: ...nalog inputs for all AS i slaves The display is as follows AS i slave address hexadecimal 16 bit value bar display 6 3 4 Analog Outputs This function shows the state of the analog outputs for all AS i...

Страница 39: ...choose one of the following submenues EC Flags Execution control flags Actual Config actual configuration LPF list of periphery faults AS i Master Info 6 4 1 EC Flags Execution Control Flags This fun...

Страница 40: ...ly An AS i slave is projected at this address but not detected C Type Conflict The configuration data of the detected AS i slave does not match the projected configuration data The actual detected con...

Страница 41: ...is Advanced AS i Diagnosis See also Advanced Diagnostics for AS i Masters chapter 7 Under the menue Adv Diagnosis you find following submenues Error Counters LCS list of slaves that produced a configu...

Страница 42: ...afety function is released empty field X o k R released In this list are entered that slaves according to profile S 7 B or S 0 B by which are deleted all 4 bits in the IDI Therefore slaves with 2 cont...

Страница 43: ...edemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www bihl wiedemann de issue date 27 1 2003 41 6 6 2 Safety Monitor The AS i safety monitor is reading the diagnosis d...

Страница 44: ...isplay Subject to reasonable modifications due to technical advances Copyright Bihl Wiedemann Printed in Germany Bihl Wiedemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet ht...

Страница 45: ...nter of telegram repetitions for each AS i slave which is increased everytime there is a corrupted data tele gram This makes possible to judge the quality of the AS i network even if only a few corrup...

Страница 46: ...ation in protected mode releases the off line phase For each slave address can be chosen whether a configuration error on this ad dress will release the off line phase or not This information is store...

Страница 47: ...ing off important functions of the host interface offline phase on off enable disable automatic addressing and configuration mode on off The CANopen communication can be subdivided into process and se...

Страница 48: ...ly transmitted asynchronously cyclic and acyclic transmission typically acyclic transmission data content configurable via SDOs usage of data field determines by CMS CAN Message Specification multi pl...

Страница 49: ...rite 2001 0 mailbox read 2010 1 hi flags outputs single A slaves 1 15 circuit 1 2010 2 outputs single A slaves 16 31 circuit 1 2010 3 outputs B slaves 1 15 circuit 1 2010 4 outputs B slaves 16 31 circ...

Страница 50: ...puts 7 3 16 bit slave 1 circuit 2 2051 30 outputs 7 3 16 bit slave 31 circuit 2 PDO byte 27 26 25 24 23 22 21 20 X 1 0 flags slave 1 1A F3 F2 F1 F0 D3 D2 D1 D0 1 slave 2 2A slave 3 3A 2 slave 4 4A sla...

Страница 51: ...ne 1 Off Line LOS master bit 0 Off Line by ConfigError deactivated 1 Off Line by ConfigError activated X 4 0 slave 16B slave 17B 1 slave 18B slave 19B 2 slave 20B slave 21B 3 slave 22B slave 23B 4 sla...

Страница 52: ...rcuit 1 PDO 36 advanced hi flags outputs single A slaves 1 15 circuit 2 PDO 37 advanced outputs single A slaves 16 31 circuit 2 PDO 38 advanced outputs B slaves 1 15 circuit 2 PDO 39 advanced outputs...

Страница 53: ...wn below The clas sification corresponds to the sbitoftware interfaces of common stan dard CAN drivers 2 bytes CAN header 8 user data bytes byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 hex byt...

Страница 54: ...0011XXXXXXX 385 511 digital inputs A slaves 0x1800 0x1A00 event driven Rx_PDO1 0100XXXXXXX 513 639 digital inputs A slaves 0x1400 0x1600 asynchronous Tx_PDO2 0101XXXXXXX 641 767 digital inputs A slav...

Страница 55: ...up and the transitions are shown in the state diagram Figure State diagram node module NMT class 0 and DBT class 0 CANopen allows a very simple boot up of a distributed network After initialization t...

Страница 56: ...z 01h starts module open outputs starts transmission of PDOs 8 Enter_Pre Operational_ State indication 128dez 80h stops PDO transmission SDO transmission stays active 10 Reset_Node indication 129dez 8...

Страница 57: ...0 0 byte 4 byte 5 byte 6 byte 7 byte 8 byte 9 byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 hex byte 0 0 1 0 0 0 0 0 0 40 byte 1 0 1 0 0 1 0 0 0 48 byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit...

Страница 58: ...igurationActive 1 ConfigurationInactive Flags F0 Off line F1 LOS master bit F2 ConfigurationMode F3 ProtectedMode byte bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 hex byte 0 0 0 1 1 0 0 0 0 30 byt...

Страница 59: ...after the other with different parameters Circuit 0 If AS i gateway with one AS i master or the master 1 of an AS i gate way with 2 masters is choosen Circuit 1 If AS i gateway with 2 masters and the...

Страница 60: ...SET_PP 4316 Set_Permanent_Parameter 4 2 GET_PP 0116 Get_Permanent_Parameter 3 3 WRITE_P 0216 Write_Parameter 4 3 READ_PI 0316 Read_Parameter 3 3 STORE_PI 0416 Store_Actual_Parameter 2 2 SET_PCD 2516 S...

Страница 61: ...Read ODI 2 GET_DELTA 5716 Get list of config diff 2 10 WR_74_PARAM 5A16 Write S 7 4 slave parameter 6 2 RD_74_PARAM 5B16 Read S 7 4 slave parameter 4 3 RD_74_ID 5C16 Read S 7 4 slave ID string 4 3 RD...

Страница 62: ...nd READ_IDI transmits all Execution Control Flags byte 3 and byte 4 Values for result value place meaning OK 0016 execution without fault HI_NG 1116 HI general fault HI_OPCODE 1216 HI illegal value in...

Страница 63: ...ctive NA Normal_Operation_Active APF APF OR Offline_Ready Cok Config_Ok 10 1 2 3 WRITE_ODI With this call the output data values of all AS i slaves are written in additon to the cyclic data exchange R...

Страница 64: ...e power supply on the AS i CA Nopen Gateway 10 1 2 5 Get_Permanent_Parameter GET_PP With this call a slave specific parameter value stored on the EEPROM of the AS i CANopen Gateway is read 10 1 2 6 Wr...

Страница 65: ...e 10 1 2 7 Read Parameter READ_PI This call returns the current parameter value actual parameter of an AS i slave sent by the AS i CANopen Gateway This value must not be confused with the parameter ec...

Страница 66: ...slave I O configuration ID code Extended ID1 code Extended ID2 code The configuration data are stored permanently on the EEPROM of the AS i CANopen Gateway and are used as the expected configuration b...

Страница 67: ...er of the AS i slave Meaning of bit B B 0 Single AS i slave or A slave B 1 B slave 10 1 2 11 Store Actual Configuration STORE_CDI With this call the actual configuration data I O configuration ID code...

Страница 68: ...on data are specified by the manufacturer of the AS i slave Meaning of bit B B 0 Single AS i slave or A slave B 1 B slave 10 1 2 13 SET_LPS With this call the list of configured AS i slaves is transfe...

Страница 69: ...Nopen Gateway The list of projected AS i slaves LPS Request if O 0 byte 27 26 25 24 23 22 21 20 1 2916 2 T 0 circuit 3 0016 4 7A 6A 5A 4A 3A 2A 1A 11 31B 30B 29B 28B 27B 26B 25B 24B Request if O 1 byt...

Страница 70: ...wing entry is read out of the AS i CANopen Gateway The list of activated slaves LAS Response if O 1 byte 27 26 25 24 23 22 21 20 1 4416 2 T result 3 0A 1A 2A 3A 4A 5A 6A 7A 10 24B 25B 26B 27B 28B 29B...

Страница 71: ...17 GET_FLAGS With this call the following entry is read out of the AS i CANopen Gateway The flags according to the AS i slave specification Request byte 27 26 25 24 23 22 21 20 1 4616 2 T O circuit Re...

Страница 72: ...peration APF APF This flag is set when the voltage on the AS i cable is too low OR Offline_Ready The flag is set when the offline phase is active Cok Config_Ok This flag is set when the desired config...

Страница 73: ...e The online mode is the normal operating situation for the AS i master Here the following jobs are processed cyclically During the data exchange phase the fields of the output data are transferred to...

Страница 74: ...AS i address of an AS i slave can be modified This call is mainly used to add a new AS i slave with the default address 0 to the AS Interface In this case the address is changed from AS i slave addre...

Страница 75: ...atic address programming function The AUTO_ADDR_ENABLE bit is stored permanently in other words it is retai ned after a warm hot restart on the AS i master When the AS i slave address is changed the A...

Страница 76: ...in the description of the AS i slave 10 1 2 24 Write AS i Slave Extended ID1 WRITE_XID1 With this call the extended ID1 code of an AS i slave with address 0 can be writ ten directly over the AS i cabl...

Страница 77: ...slave profile 7 3 can be read 10 1 2 26 WR_7X_OUT With this command the four 16 bit channels of an AS i output slave according to the slave profile 7 3 can be written Response Byte 27 26 25 24 23 22...

Страница 78: ...file 7 3 can be read out of the AS i CANopen Gateway 10 1 2 28 RD_7X_IN_X With this command the four 16 bit channels of 4 AS i input slaves with succesive addresses according to the slave profile 7 3...

Страница 79: ...o the slave profile 7 3 can be written 10 1 2 30 RD_7X_OUT_X With this command the four 16 bit channels of 4 AS i output slaves with succesive addresses according to the slave profile 7 3 can be read...

Страница 80: ...open Gateway 10 1 2 32 GET_DELTA The Delta list contents the list of slave addresse with configuration errors Request byte 27 26 25 24 23 22 21 20 1 5616 2 T circuit Response byte 27 26 25 24 23 22 21...

Страница 81: ...t should be written into the buffer from index i If i 0 then the string is transfered to the slave 10 1 2 34 RD_74_PARAM With this function the parameter string according to profile S 7 4 is read Beca...

Страница 82: ...the length of the read string If i 0 then the string is read from the slave otherwise the function responses out of the memory trough which the data can be read consistently 10 1 2 36 RD_74_DIAG With...

Страница 83: ...trough which the data can be read consistently 10 1 2 37 Get_LPS Get_LAS Get_LDS Get_Flags GET_LISTS With this call the following entries are read out of the AS i CANopen Gateway The list of active A...

Страница 84: ...Response if O 0 byte 27 26 25 24 23 22 21 20 1 3016 2 T result 3 7A 6A 5A 4A 3A 2A 1A 0A LAS 10 31B 30B 29B 28B 27B 26B 25B 24B 11 7A 6As 5A 4A 3A 2A 1A 0A LDS 19 31B 30B 29B 28B 27B 26B 25B 24B 20 7A...

Страница 85: ...this call the List of Corrupted Slaves LCS is read out of the AS i CANopen Gateway 10 1 2 39 GET_LOS With this call the List of Offline Slaves LOS is read out of the AS i CANopen Ga teway see chapter...

Страница 86: ...see chapter 7 Response if O 0 byte 27 26 25 24 23 22 21 20 1 6116 2 T result 3 7A 6A 5A 4A 3A 2A 1A 0A 10 31B 30B 29B 28B 27B 26B 25B 24B Response if O 1 byte 27 26 25 24 23 22 21 20 1 6116 2 T result...

Страница 87: ...this call the counts of the error counters for B slaves are read out see chapter 7 With every read out of the counts the error counters are restarted The counts are read out via the correspondending h...

Страница 88: ...y read out of the counts the error counters are restarted The counts are read out via the correspondending host interface and will be dele ted with every read access The counter value is limited to 25...

Страница 89: ...itched to the selcted destination parameter 10 1 2 46 FP_PARAM This command is used for parametrization of functional profiles The content of the request and response bytes is depending of the called...

Страница 90: ...slaves AS i Safety at Work by which the dafety function is released In this list are entered that slaves according to profile S 7 B or S 0 B by which are deleted all 4 bits in the IDI Therefore slave...

Страница 91: ...slaves which are existing but sending a wrong code are entered therfore not here Cok Config_Ok S0 LDS 0 AAs Auto_Address_Assign AAv Auto_Address_Available CA Configuration_Active NA Normal_Operation_A...

Страница 92: ...tor can make more than 32 Byte diagnosis da ta these must be read with several mailbox calls The second request byte decla res the start index in the field of the daignosis data If the start index ist...

Страница 93: ...3 A 1 with advanced addressing by which the input data bit D1 Warning is deleted For building of this list CDI and IDI are utilized only Integrated AS i slaves which are projected but not existing are...

Страница 94: ...put data bit D2 Availability is deleted For building of this list CDI and IDI are utilized only Integrated AS i slaves which are projected but not existing are entered therfore not here Response if O...

Страница 95: ...agement Meaning of the bytes The mailbox call has not been anwsered with the valid values beause the toggle bit has not been set Set of Toggle bit Resonse if O 1 byte 27 26 25 24 23 22 21 20 1 7E16 2...

Страница 96: ...2003 94 To get the input data again the T bit has to be reset aso Response Byte 1 50hex Byte 2 80hex Toggle bit master1 Byte 3 analog channel 1 high bytehex Byte 4 analog channel 1 low bytehex Byte 5...

Страница 97: ...The AS i master is in off line phase 41 The AS i master is in detection phase 42 The AS i master is in activation phase 43 The AS i master starts the normal operating mode 70 Hardware error The AS i m...

Страница 98: ...ight Bihl Wiedemann Printed in Germany Bihl Wiedemann GmbH D 68199 Mannheim Phone 49 621 339960 Fax 49 621 3392239 Internet http www bihl wiedemann de issue date 27 1 2003 96 95 Error while changing s...

Страница 99: ...Using AS i master with power supply N Connect the 24 V DC standard power supply with the terminals 24 V and 0 V of the master connect the ground terminal Turn on the power supply After the self test t...

Страница 100: ...he AS i line and allocate the address 2 to it Connect the slave to the AS i line The addressing is the same as for the pre vious slave The addresses of all slaves detected are now displayed sequential...

Страница 101: ...003 99 13 We Are Interested in Your Opinion We would like to hear your comments and suggestions concerning this document We review and consider all comments for inclusion in future documentation Pleas...

Страница 102: ...partment Adress Job Function City Phone ZIP Code Fax Country eMail Document Designation Issue Date My Opinion on the Document Form Yes In part No Is the table of contents clearly arranged Are the figu...

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