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Implemented CANopen Objects

CAN-CBX-REL4  

       

Manual • Doc.-No.: C.3012.21 / Rev. 1.1

Page 77 of 99

7.9.25 Receive PDO Mapping Parameter (1600

h

 - 1603

h

)

This objects define the assignment of the receive data to RPDOs.

INDEX

1600

h

-1603

h

Name

receive PDO mapping

Data Type

PDO Mapping

The following table shows the assignment of the Receive PDO Mapping parameters for the default-
configuration: 

Index

Sub-

index

Description

Value range

Default

Data type

Access

1600

h

0

no_of_mapped_application_
objects_in_PDO1

1...20

h

1

unsigned 8

rw

1

1

st

_application_object_PDO1

see below,

objects, that

can be

mapped 

6200 0108

h

unsigned 32

rw

2

2

nd

_application_object_PDO1

0000 0000

h

unsigned 32

rw

:
:

:
:

:
:

:
:

:
:

1F

h

31

th

_application_object_PDO1

0000 0000

h

unsigned 32

rw

20

h

32

th

_application_object_PDO1

0000 0000

h

unsigned 32

rw

1601

h

-

1603

h

0

no_of_mapped_application_
objects_in_PDOx

1...20

h

0

unsigned 8

rw

1

1

st

_application_object_PDOx

see below,

objects, that

can be

mapped

0000 0000

h

unsigned 32

rw

2

2

nd

_application_object_PDOx

0000 0000

h

unsigned 32

rw

:
:

:
:

:
:

:
:

:
:

1F

h

31

th

_application_object_PDOx

0000 0000

h

unsigned 32

rw

20

h

32

th

_application_object_PDOx

0000 0000

h

unsigned 32

rw

Objects, that can be mapped:
0001 00 01

h

,

0018 00 28

h

,

6220 01 01

h

,

0005 00 08

h

,

0019 00 30

h

,

6220 02 01

h

,

0006 00 10

h

,

001A 00 38

h

,

6220 03 01

h

,

0007 00 20

h

,

001B 00 40

h

,

6220 04 01

h

0016 00 18

h

,

6200 01 08

h

,

Содержание C.3012.02

Страница 1: ...Page 1 of 99 esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany http www esd eu Phone 49 0 511 3 72 98 0 Fax 49 0 511 3 72 98 68 CAN CBX REL4 CANopen Module with 4 Relay Outputs with InRailBus Manual to Product C 3012 02 ...

Страница 2: ...ges without notice to this or any of its products to improve reliability performance or design All rights to this documentation are reserved by esd Distribution to third parties and reproduction of this document in any form whole or in part are subject to esd s written approval 2014 esd electronics system design gmbh Hannover esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Ge...

Страница 3: ... the Units moved to sub section of chapter Connector Assignment Connector Assignments revised note to Conductor Connection Conductor Cross Section inserted 5 Chapter moved and updated 6 Chapter moved and updated 7 Chapter Software renamed to CANopen Firmware general part chapter 7 1 7 4 updated and restructured 7 8 Chapter to Definition of Terms inserted 7 9 1 Product specific Properties CAN CBX R...

Страница 4: ...rding to EN 60950 1 complies with this conditions Qualified Personal This documentation is directed exclusively towards qualified personal in control and automation engineering The installation and commissioning of the product may only be carried out by qualified personal which is authorized to put devices systems and electric circuits into operation according to the applicable national standards ...

Страница 5: ... Coding Switch 18 3 3 2 Setting the Baud Rate 19 3 3 3 Assignment of Coding Switch Labelling to Name in Schematic Diagram 19 3 4 1 Connecting Power Supply and CAN Signals to CBX InRailBus 21 3 4 2 Connection of the Power Supply Voltage 22 3 4 3 Connection of CAN 23 3 5 Remove the CAN CBX Module from the InRailBus 23 4 Connector Assignments 24 4 1 Power Supply Voltage 24 V X100 24 4 2 CAN 25 4 2 1 ...

Страница 6: ...file Area 47 7 8 1 Used Names and Abbreviations 47 7 9 Implemented CANopen Objects 48 7 9 1 Overview of Communication Profile Objects with Product Specific Values 48 7 9 2 Device Type 1000h 50 7 9 3 Error Register 1001h 51 7 9 4 Pre defined Error Field 1003h 52 7 9 5 COB ID of SYNC Message 1005h 54 7 9 6 Communication Cycle Period 1006h 55 7 9 7 Manufacturer Device Name 1008h 56 7 9 8 Manufacturer...

Страница 7: ... Write Output 8 Bit 6200h 83 7 10 3 Change Polarity Output 8 bit 6202h 84 7 10 4 Error Mode Output 8 bit 6206h 85 7 10 5 Error Value Output 8 bit 6207h 86 7 10 6 Filter Mask Output 8 bit 6208h 87 7 10 7 Write Output Bit 1 to 4 6220h 88 7 10 8 Change Polarity Bit 1 to 4 6240h 89 7 10 9 Error Mode Output Bit 1 to 4 6250h 90 7 10 10 Error Value Output Bit 1 to 4 6260h 91 7 10 11 Filter Mask Output Bi...

Страница 8: ...constants NULL Programming data types uint32_t Variable names Count The following indicators are used to highlight noticeable descriptions Attention Warnings or cautions to tell you about operations which might have unwanted side effects Note Notes to point out something important or useful Number Representation All numbers in this document are base 10 unless designated otherwise For hexadecimal n...

Страница 9: ...y isolated and therefore various voltages can be applied to the CAN CBX REL4 module simultaneously The CAN CBX REL4 module is equipped with a MB90F497 microcontroller which buffers the CAN data into a local SRAM The firmware is stored in the Flash Parameters are stored in a serial EEPROM The power supply voltage and the CAN bus connection can either be fed via the InRailBus connector integrated in...

Страница 10: ...on X300 Relay outputs 2 monostable change over contacts 2 monostable normally open contacts CAN 5 pin line connector with spring cage connection X600 CAN interface Only for test and programming purposes X200 6 pin connector the connector is placed inside the case Temperature range 20 mC 70 mC ambient temperature Humidity max 90 non condensing Protection class IP20 Pollution degree maximum permissi...

Страница 11: ...ANopen software supports only 11 bit CAN identifier Electrical isolation of CAN interfaces against other units via dual digital isolator ADUM120BR and DC DC converters Physical layer CAN physical layer according to ISO 11898 2 transfer rate programmable from 10 Kbit s up to 1 Mbit s Bustermination has to be set externally if required Connection 5 pin connector with spring cage connection or via CA...

Страница 12: ...ltage 250 VAC 125 VDC Max switching current 8 A AC and DC Max switching power resistive load 2000 VA 240 W inductive load 875 VA 170 W Max switching frequency 30 operations per minute Endurance mechanical load 100 000 cycles Table 4 Relay 2 5 Software Support The firmware of the module supports CANopen according to CiA CANopen profile CiA 301 1 and CiA DS 401 2 The CAN CBX REL4 EDS file can be dow...

Страница 13: ...2 21 Rev 1 1 Page 13 of 99 3 Hardware Installation 3 1 Connecting Diagram Fig 2 Connections of the CAN CBX REL4 module Note The connector pin assignment can be found on page 24 and following For conductor connection and conductor cross section see page 29 ...

Страница 14: ...n in accordance with the terms recommended by the CiA 3 The indicator states of the LEDs are described in the following chapters 3 2 1 Relay LEDs 1 4 The four lower green LEDs show the states of the relays Label Component No Indication LED on LED off 1 LED300A Relay 1 energized Relay 1 de energized 2 LED300B Relay 2 energized Relay 2 de energized 3 LED300C Relay 3 energized Relay 3 de energized 4 ...

Страница 15: ...ictlyswitched in phaseopposition accordingto theCANopen Specification 3 For certain indicator states viewing all LEDs together might lead to a misinterpretation of the indicator states of adjacent LEDs It is therefore recommended to look at the indicator state of an LED individually in covering the adjacent LEDs 3 2 3 Operation of the CAN Error LED LED indication Display function Label Name Colour...

Страница 16: ... Status LED 3 2 5 Operation of the Error LED LED indication Display function Label Name Colour Indicator state Description M Error red off no error on error on an error controlled output if the module has switched to the state stopped due to an error the LED remains on even if the error is no longer existing errors that occur after changing to stopped state are not indicated 2 flashes Internal sof...

Страница 17: ... 3 2 7 Special Indicator States The special indicator state described in the following table is indicated by the CANopen Status LED and the CAN Error LED together LED indication Description CANopen Status LED 3 flashes and CAN Error LED on The coding switches for the node ID are set to an invalid ID value when switching on The firmware application will be stopped Table 11 Special Indicator States ...

Страница 18: ...er a reset e g NMT reset the settings are read again 3 3 1 Setting the Node ID via Coding Switch The address range of the CAN CBX module can be set decimal from 1 to 127 or hexadecimal from 01h to 7Fh The three higher order bits higher order nibble can be set with coding switch HIGH the four lower order bits can be set with coding switch LOW Note Avoid the following settings Setting the address ra...

Страница 19: ...ken from the following table Setting Bit rate Kbit s 0 1000 1 666 6 2 500 3 333 3 4 250 5 166 6 125 7 100 8 66 6 9 50 Ah 33 3 Bh 20 Ch 12 5 Dh 10 Eh 800 Fh 2 83 3 2 implemented since firmware version 2 02 Table 12 Index of the baud rate 3 3 3 Assignment of Coding Switch Labelling to Name in Schematic Diagram Labelling on the CAN CBX AI420 Name in the Schematic Diagram 1 Baud SW501 Low SW500 High S...

Страница 20: ...snap it onto the mounting rail using slight pressure Plug the bus connectors together to contact the communication and power signals in parallel with one The bus connectors can be plugged together before or after mounting the CAN CBX modules 2 Place the CAN CBX module with the DIN rail guideway on the top edge of the mounting rail Figure 6 Mounting CAN CBX modules 3 Swivel theCAN CBXmoduleontothem...

Страница 21: ...7 Mounted CAN CBX module 3 4 1 Connecting Power Supply and CAN Signals to CBX InRailBus To connect the power supply and the CAN signals via the InRailBus a terminal plug is needed The terminal plugis not included in deliveryand must be ordered separately order no C 3000 02 see order information Fig 8 Mounting rail with InRailBus and terminal plug Plug the terminal plug into the socket on the right...

Страница 22: ...nnected and must not be supplied by two independent power sources at the same time Fig 9 Connecting the power supply voltage to the CAN CBX station Earthing of the Mounting Rail Note The module is connected with the mounting rail via its functional earth contact This improves the stability against electromagnetic disturbances Thus the mounting rail shall be connected to an appropriate functional e...

Страница 23: ...nds of the CAN CBX station must not be connected to the CAN bus because this would cause incorrect branching A bus termination must be connected to the CAN connector of the CAN CBX module at the end of the CBX InRailBus see Fig 10 if the CAN bus ends there 3 5 Remove the CAN CBX Module from the InRailBus If the CAN CBX module is connected to the InRailBus please proceed as follows Release the modu...

Страница 24: ...ntact order no 19 21 90 0 included in the scope of delivery For conductor connection and conductor cross section see page 29 Pin Position Pin Assignment Labelling on Housing 24V M P Labelling on connector free free Pin No 1 2 3 4 Signal P24 24 V M24 GND M24 GND P24 24 V Please refer also to the connecting diagram on page 13 Note The pins 1 and 4 are connected internally The pins 2 and 3 are connec...

Страница 25: ... The physical layer is designed according to ISO 11898 2 The CAN bus signals are electrically isolated from the other signals via a digital isolator and a DC DC converter Fig 11 CAN Interface The CAN interface can be connected via the CAN connector or optionally via the InRailBus Use the mounting rail bus connector of the CBX InRailBus CAN CBX TBUS see order information page 98 ...

Страница 26: ...Pin Position Pin Assignment line connector with labelling Labelling Signal Pin G CAN_GND 1 L CAN_L 2 Sh Shield 3 H CAN_H 4 5 Signal description CAN_L CAN_H CAN signals CAN_GND reference potential of the local CAN physical layer Shield pin for line shield connection using hat rail mounting direct contact to the mounting rail potential not connected Recommendation of an adaptercable from5 pin Phoeni...

Страница 27: ...CAN CBX TBUS Phoenix Contact ME 22 5 TBUS 1 5 5 ST 3 81 KMGY Pin Position Pin Assignment Pin Signal 5 M24 GND 4 P24 24 V 3 CAN_GND 2 CAN_L 1 CAN_H S FE PE_GND Signal Description CAN_L CAN_H CAN signals CAN_GND reference potential of the local CAN Physical layers P24 power supply voltage 24 V M24 reference potential FE functional earth contact EMC connected to mounting rail potential ...

Страница 28: ...Contact order no 1836150 included in the scope of delivery For conductor connection and conductor cross section see page 29 Pin Assignment Pin Position Pin Name Signal 1 14 NO Relay 1 2 11 COM 3 12 NC 4 24 NO Relay 2 5 23 COM 6 34 NO Relay 3 7 31 COM 8 32 NC 9 44 NO Relay 4 10 43 COM Signal description NO Normally opened contact also Make COM Change over contact also Break Make B M NC Normally clo...

Страница 29: ... plastic sleeve max 2 5 mm 1 5 mm 1 5 mm Conductor cross section stranded with ferrule with plastic sleeve min 0 25 mm 0 25 mm 0 25 mm Conductor cross section stranded with ferrule with plastic sleeve max 2 5 mm 0 5 mm 0 5 mm Conductor cross section AWG kcmil min 24 26 28 Conductor cross section AWG kcmil max 12 16 16 2 conductors with same cross section solid min n a n a 0 08 mm 2 conductors with...

Страница 30: ...hielded single twisted pair cable must be followed 1 A cable type with a wave impedance of about 120 10 with an adequate wire cross section 0 22 mm has to be used The voltage drop over the wire has to be considered 2 For light industrial environment use at least a two wire CAN cable Connect º the two twisted wires to the data signals CAN_H CAN_L and º the cable shield to the reference potential CA...

Страница 31: ... ijek elbamn Emopqrmqos Eabb cdhbt EFGHJGK da uead cdhv Eabkwcdae uN g e hb_dae xhdy uN Eabb cdae M _ g e hb_dae ijek elbamn Emopqomqos z z z ª z qmp qmp qmp qmp Figure 12 CAN wiring for light industrial environment 5 1 2 Cabling for devices which have only one CAN connector per net use T connectors and cable stubs shorter than 0 3 m available as accessory Figure 13 Example for proper wiring with ...

Страница 32: ...tage drop over the wire has to be considered 2 For heavy industrial environment use a four wire CAN cable Connect C the two twisted wires to the data signals CAN_H CAN_L and C the cable shield to the reference potential CAN_GND C the cable shield to functional earth FE at least at one point 3 The reference potential CAN_GND has to be connected to the functional earth FE at exactly one point 4 A CA...

Страница 33: ...upport connection of two CAN cables at one connector where the cable s shield is looped through e g DSUB9 connector from ERNI ERBIC CAN BUS MAX order no 154039 The usage of esd s T connector type C 1311 03 is not recommended for single shielded double twisted pair cables because the shield potential of the conductive DSUB housing is not looped through this T connector type Furthermore mixed use of...

Страница 34: ...he CAN signals By using fast digital isolators and testing each board at 1 Mbit s esd modules typically reach a wire length of 37 m at 1 Mbit s within a closed net without impedance disturbances like e g longer stub Bit Rate kBit s Typical values of reachable wire length with esd interface lmax m CiA recommendations 07 95 for reachable wire lengths lmin m 1000 37 25 800 59 50 666 6 80 500 130 100 ...

Страница 35: ...e e g BUS PVC C 1x 2x 0 22 mm Part No 93 022 016 UL appr BUS Schleppflex PUR C 1x 2x 0 25 mm Part No 94 025 016 UL appr 5 5 2 Cable for Heavy Industrial Environment Applications Four Wire Manufacturer Cable Type U I LAPP GmbH Schulze Delitzsch Straße 25 70565 Stuttgart Germany www lappkabel de e g UNITRONIC BUS CAN UL CSA 2x 2x 0 22 UL CSA approved Part No 2170261 UNITRONIC BUS FD P CAN UL CSA 2x ...

Страница 36: ... This test measures the series resistance of the CAN data pair conductors and the attached terminating resistors To test it please 1 Turn off all power supplies of the attached CAN nodes 2 Measure the DC resistance between CAN_H and CAN_L at the ends of the network see figure above and the middle if the network cable consists of more than one line section The measured value should be between 50 Á ...

Страница 37: ...tional grounding of the CAN GND wires 6 3 Short Circuit in CAN Wiring A CAN bus might possibly still be able to transmit data if there is a short circuit between CAN_GND and CAN_L but the error rate will increase strongly Make sure that there is no short circuit between CAN_GND and CAN_L 6 4 CAN_H CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals When the network...

Страница 38: ...ave one circuit that controls CAN_H and another circuit that controls CAN_L Experience has shown that electrical damage to one or both of the circuits may increase the leakage current in these circuits To measure the current leakage through the CAN circuits please use an resistance measuring device and 1 Switch off the node and disconnect it from the network see figure below 2 Measure the DC resis...

Страница 39: ...nication Object Emergency Id Emergency Data Object NMT Network Management Master SDO Service Data Object Sync Sync frame Telegram PDOs Process Data Objects PDOs are used to transmit process data In the Transmit PDO TPDO the CAN CBX module transmits data to the CANopen network In the Receive PDO RPDO the CAN CBX module receives data from the CANopen network SDOs Service Data Objects SDOs are used t...

Страница 40: ... directory is basically a sorted group of objects which can be accessed via the CAN network Each object in this directory is addressed with a 16 bit index The index in the object directories is represented in hexadecimal format The index can be a 16 bit parameter in accordance with the CANopen specification 1 or a manufacturer specific code By means of the MSBs of the index the object class of the...

Страница 41: ...vice Access via this channel is possible in operational and pre operational status The SDOs Service Data Objects are transmitted on ID 600h Node ID request The server acknowledges the parameters on ID 580h Node ID response An SDO is structured as follows Identifier Command code Index Sub index LSB Data field MSB low high Example 600h Node ID 23h 00h 14h 01h 7Fh 04h 00h 00h write Index 1400h Receiv...

Страница 42: ...s on the syntax and further command codes can be found in 1 Command Number of data bytes Command code Write Request Initiate Domain Download 1 2 3 4 2Fh 2Bh 27h 23h Write Response Initiate Domain Download 60h Read Request Initiate Domain Upload 40h Read Response Initiate Domain Upload 1 2 3 4 4Fh 4Bh 47h 43h Error Response Abort Domain Transfer 80h Index Sub Index Index and sub index will bedescri...

Страница 43: ... mapped to PDO 06060000h access failed due to an hardware error 06070010h wrong number of data bytes 06070012h service parameter too long 06070013h service parameter too small 06090011h wrong sub index 06090030h transmitted parameter is outside the accepted value range 08000000h undefined cause of error 08000020h data cannot be transferred or stored in the application 08000022h data cannot be tran...

Страница 44: ...402h RPDO4 500h NodeID PDO4 to CAN CBX REL4 Rx object 1403h Client SDO 580h Node ID SDO to CAN CBX REL4 Tx Server SDO 600h Node ID SDO to CAN CBX REL4 Rx Node Guarding 700h NodeID configurable via object 100Eh NodeID CANopen address 1h 7Fh 7 5 1 Setting the COB ID The COB IDs which can be set except the one of SYNC are deduced initially from the setting of the Node ID via the coding switches see p...

Страница 45: ...gnment RPDO1 200h Node ID 1 byte to CAN CBX REL4 Receive PDO1 Setting of the relay RPDO2 300h Node ID 1 byte to CAN CBX REL4 Receive PDO2 For PDOs 2 4 there are no objects mapped in default setting RPDO3 400h Node ID 1 byte to CAN CBX REL4 Receive PDO3 RPDO4 500h Node ID 1 byte to CAN CBX REL4 Receive PDO4 RPDO1 CAN CBX REL4 CAN Identifier 200h Node ID Byte 0 1 2 3 4 5 6 7 Parameter Write_ Output_...

Страница 46: ...t is received by the CAN CBX REL4 e g object 6200h via RPDO 7 7 1 Supported Transmission Types Based on CiA 301 Transmission type Synchronous means that the CANopen device shall update the received data with the reception of the next SYNC Transmission type Event driven means that thePDOmaybereceived at anytime The CANopen device will update the data immediately ...

Страница 47: ... the local EEPROM if the command save is called see page 60 Data type data type e g unsigned 8 unsigned 32 Access mode allowed access modes to this parameter ro read_only This parameter can only be read Write accesses will cause an error message const constant This parameter can not be set by the user It is readable Write accesses will cause an error message rw read write This parameter can be rea...

Страница 48: ...rer Hardware Version visible string ro x yy depending on version 100Ah Manufacturer Software Version visible string ro x yy depending on version 100Ch Guard Time unsigned 16 rw 0000h 100Dh Life Time Factor unsigned 8 rw 00h 100Eh Node Guarding Identifier unsigned 32 rw Node ID 700h 1010h 4 Store Parameter unsigned 32 rw Parameters which can be saved or restored 1005h 1029h Objects of the Device Pr...

Страница 49: ...Par 20h 1403h 3 4 Receive PDO Parameter PDO CommPar 20h 1600h 1 1 Receive PDO Mapping PDO Mappping 21h 1601h 0 2 Receive PDO Mapping PDO Mappping 21h 1602h 0 3 Receive PDO Mapping PDO Mappping 21h 1603h 0 4 Receive PDO Mapping PDO Mappping 21h Index Sub index Description Data type Access mode Product specific properties 1F80h NMT startup unsigned 32 rw default 2 autostart disabled 1F91h 1 Self sta...

Страница 50: ... 6 7 8 603h 0h 8h 40h 00h 10h 00h 00h 00h 00h 00h Read Request Index 1000h Sub Index The CAN CBX module no 3 responds to the client by means of read response with identifier 583h 580h Node ID with the value of the device type ID RTR LEN DATA 1 2 3 4 5 6 7 8 583h 0h 8h 43h 00h 10h 00h 94h 01h 02h 00h Read Response Index 1000h Sub Index Example here Device Profile Nr 0191h Example here Input value o...

Страница 51: ... Access type ro Default value 0 The following bits of the error register are being supported at present Bit Meaning 0 generic 1 current 2 voltage 3 temperature 4 communication error overrun error state 5 device profile 6 reserved 7 manufacturer For a list of the error bits supported by this CAN CBX module see chapter 7 9 1 page 48 Bits which are not supported are always returned as 0 If an error i...

Страница 52: ... full the oldest entry is deleted for the latest entry This module supports a maximum of 10 error entries When the 11th error occurs the oldest error entry is deleted In order to delete the entire error list sub index 0 has to be set to 0 This is the only permissible write access to the object With every new entry to the list the module transmits an Emergency Frame to report the error Index Sub in...

Страница 53: ...d error heartbeat error 8140h Recovered from Bus Off 8240h Unexpected SYNC data length 6000h Software error EEPROM checksum error no transmission of this error message as emergency message 6110h Internal Software error e g saved data had invalid checksum and default data is loaded FF10h Data loss A D data overflow 5000h Hardware error e g A D converter defective 5030h Sensor error Emergency Messag...

Страница 54: ...e unsigned 32 Access mode rw Default value see chapter 7 9 1 page 48 Structure of the parameter Bit No Value Meaning 31 MSB do not care 30 0 1 0 Device does not generate SYNC message 1 Device generates SYNC message 29 0 always 0 11 bit ID 28 11 0 always 0 29 bit IDs are not supported 10 0 LSB x Bit 0 10 of the SYNC COB ID The identifier can take values between 0 7FFh ...

Страница 55: ... 1 Page 55 of 99 7 9 6 Communication Cycle Period 1006h INDEX 1006h Name Communication Cylcle Period Data type unsigned 32 Access mode rw Default value 0 s Value range of the parameter Value Meaning 0 No transmission of SYNC messages 1 FFFFFFFFh Cycle time in microseconds ...

Страница 56: ...012 21 Rev 1 1 CAN CBX REL4 Page 56 of 99 7 9 7 Manufacturer Device Name 1008h INDEX 1008h Name manufacturer device name Data type visible string Default value see chapter 7 9 1 page 48 For detailed description of the SDO Uploads please refer to 1 ...

Страница 57: ...ad similarly to reading the manufacturer s device name via the domain upload protocol Please refer to 1 for a detailed description of the upload 7 9 9 Manufacturer Software Version 100Ah INDEX 100Ah Name manufacturer software version Data type visible string Default value string e g 1 2 depending on version Reading the software version is similar to reading the manufacturer s device name via the d...

Страница 58: ...sed preferentially Use the node guarding only for existing systems and not for new developments Guard time and life time factors are evaluated together Multiplying both values will give you the life time The guard time is represented in milliseconds INDEX 100Ch Name guard time Data type unsigned 16 Access mode rw Default value 0 ms Minimum value 0 Maximum value FFFFh 65 535 s INDEX 100Dh Name life...

Страница 59: ...bit identifiers INDEX 100Eh Name node guarding identifier Data type unsigned 32 Access mode rw Default value 700h Node ID Structure of the parameter node guarding identifier Bit No Meaning 31 MSB 30 reserved 29 11 always 0 because 29 bit IDs are not supported 10 0 LSB bit 0 10 of the node guarding identifier The identifier can take values between 1 7FFh ...

Страница 60: ...ex Sub index Description Value range Data type Access mode 1010h 0 number_of_entries 4 unsigned 8 ro 1 save_all_parameters objects 1000h 9FFFh no default write 65 76 61 73h ASCII e v a s unsigned 32 rw 2 save_communication_parameter objects 1000h 1FFFh unsigned 32 rw 3 save_application_parameter objects 6000h 9FFFh unsigned 32 rw 4 save_manufacturer_parameter objects 2000h 5FFFh unsigned 32 rw Ass...

Страница 61: ...index 1 4 On read access to the appropriate sub index the CAN CBX module provides information about its storage functionality with the format described in the following Bit 31 2 1 0 Inhalt reserved auto cmd 0 0 1 MSB LSB Bit Value Description auto 0 CAN CBX module does not save the parameters autonomously 1 CAN CBX module saves the parameters autonomously cmd 0 CAN CBX module does not save the par...

Страница 62: ...ue range Data type Access mode 1011h 0 number_of_entries 4 unsigned 8 ro 1 restore_all_default_parameters objects 1000h 9FFFh no default write 64 61 6F 6Ch ASCII d a o l unsigned 32 rw 2 restore_communication_parameter objects 1000h 1FFFh unsigned 32 rw 3 restore_application_parameter objects 6000h 9FFFh unsigned 32 rw 4 restore_manufacturer_parameter objects 2000h 5FFFh unsigned 32 rw Assignment ...

Страница 63: ...ure load 64h 61h 6Fh 6Ch sequence in CAN telegram in object 1011h sub index 1 4 On readaccesstotheappropriatesub index theCANopen deviceprovides information about its default parameter restoring capability with the following format Bit 31 1 0 Content reserved cmd 0 1 MSB LSB Bit Value Description cmd 0 the CAN CBX module does not restore default parameters 1 the CAN CBX module restores the default...

Страница 64: ...ue 80h Node ID This object defines the COB ID of the emergency object EMCY The structure of this object is shown in the following table Bit No Value Meaning 31 MSB 0 1 0 EMCY exists is valid 1 EMCY does not exist EMCY is not valid 30 0 reserved always 0 29 0 always 0 11 bit ID 28 11 0 always 0 29 bit IDs are not supported 10 0 LSB x bits 0 10 of COB ID The identifier can take values between 0 7FFh...

Страница 65: ... Page 65 of 99 7 9 15 Inhibit Time EMCY 1015h INDEX 1015h Name inhibit_time_emergency Data type unsigned 16 Access mode rw Value range 0 FFFFh Default value 0 The Inhibit Time for the EMCY message can be defined with this entry The time is determined as a multiple of 100 s ...

Страница 66: ...smits a heartbeat message on the CAN bus on the node guarding identifier see object 100Eh One or more heartbeat consumers receive the message It has to be received within the heartbeat time stored on the heartbeat consumer otherwise a heartbeat event is triggered on the heartbeat consumer module A heartbeat event generates a heartbeat error on the CAN CBX module Each module can act as a heartbeat ...

Страница 67: ...d 16 Node ID Node Id of the heartbeat producer to be monitored heartbeat_time Within this time ms the heartbeat producer has to transmit the heartbeat on the node guarding ID to avoid the transmission of a heartbeat event The consumer heartbeat time of the monitoring module must always be higher than the producer heartbeat time of the heartbeat transmitting module Example consumer heartbeat_time 0...

Страница 68: ... is higher than 0 it is active and stops the node life guarding see page 58 If the value of the producer heartbeat time is set to 0 transmitting heartbeats by this module is stopped Index Sub index Description Value range Default Data type Access mode 1017h 0 producer heartbeat_time 0 FFFFh 0 ms unsigned 16 rw producer heartbeat_time Cycle time ms of heartbeat producer to transmit the heartbeat on...

Страница 69: ...h 0 unsigned 32 ro 4 serial_number 0 FFFFFFFFh unsigned 32 ro Description of the variables vendor_id This variable contains the esd vendor ID This is always 0000 0017h product_code Here the esd article number of the product is stored The nibbles of the long words have the following meaning product_code h 1 article number beginning with character K 2 article number beginning with character C 4 digi...

Страница 70: ... first two characters of the serial number are letters which designate the manufacturing lot The following characters represent the actual serial number In the two MSB of serial_no the letters of the manufacturing lot are coded They each contain the ASCII code of the letter with the MSB set 1 in order to be able to differentiate between letters and numbers ASCII Code 80h read_byte The two last sig...

Страница 71: ...ject defines whether a counter is mapped into the SYNC message or not and further the highest value the counter can reach The value range of the object is described in the following table Value Description 0 The SYNC message shall be transmitted as a CAN message of data length 0 1 reserved 2 240 The SYNC message shall be transmitted as a CAN message of data length 1 The first data byte contains th...

Страница 72: ...he expected configuration or not The content of the parameters is not evaluated by the firmware Index Sub index Description Value range Default Data type Access mode 1020h 0 no_of_entries 2 2 unsigned 8 ro 1 configuration_date 0 FFFFFFFFh 0 unsigned 32 rw 2 configuration_time 0 FFFFFFFFh 0 unsigned 32 rw Parameter Description configuration_date Date of the last configuration of the module The valu...

Страница 73: ...communication_error or output_error Index Sub index Description Value range Default Data type Access mode 1029h 0 no_of_error_classes 1 1 unsigned 8 ro 1 communication_error 0 2 0 unsigned 8 rw Meaning of the variables Variable Meaning no_of_error_classes number of error classes here always 1 communication_error heartbeat lifeguard error and Bus off The module can enter the following states if an ...

Страница 74: ...ented to be able to start CANopen nodes in environments without NMT master Via NMT startup the auto startup of a CANopen node can be switched on or off Further features of the parameters NMT startup are currently not supported The value range of the object is described in the following table Value Meaning 0000 0002h Auto startup disabled default 0000 0008h Auto startup enabled all other values res...

Страница 75: ...ameters Data type unsigned 16 Index Sub index Description Value range Default Data type Access mode 1F91h 0 number_of_entries 1 1 unsigned 8 ro 1 NMT master detection timeout 0 FFFFh 64h unsigned 16 rw Sub index 1 of this object contains the timeout in ms between the change from preoperational operational In default it is 100 ms The sub indices 2 and 3 of this object are not supported ...

Страница 76: ...igned 8 rw 3 inhibit time 0 FFFFh 0h unsigned16 rw 1401h 0 no_of_entries 3 3 unsigned 8 ro 1 COB_ID used by RPDO2 0000 0001h 8000 07FFh 300h Node ID unsigned 32 rw 2 transmission type 0 FFh FFh unsigned 8 rw 3 inhibit time 0 FFFFh 0h unsigned16 rw 1402h 0 no_of_entries 3 3 unsigned 8 ro 1 COB_ID used by RPDO3 0000 0001h 8000 07FFh 400h Node ID unsigned 32 rw 2 transmission type 0 FFh FFh unsigned ...

Страница 77: ...at can be mapped 6200 0108h unsigned 32 rw 2 2nd _application_object_PDO1 0000 0000h unsigned 32 rw 1Fh 31th _application_object_PDO1 0000 0000h unsigned 32 rw 20h 32th _application_object_PDO1 0000 0000h unsigned 32 rw 1601h 1603h 0 no_of_mapped_application_ objects_in_PDOx 1 20h 0 unsigned 8 rw 1 1st _application_object_PDOx see below objects that can be mapped 0000 0000h unsigned 32 rw 2 2nd _a...

Страница 78: ...ndex from 01h 08h valid Sub indices from 01h to 08h contain the information of the mapped application objects The entry describes the content of the PDO by their index sub index and length For the CAN CBX REL4 module the value 6200 0108h index 6200h sub index 01h and length 08h may only be contained once The other sub indices contain the value 0005 0008h as placeholder for the so called dummy mapp...

Страница 79: ...forthedummy mapping Sub index 0h contains thenumberofsub indices according to the number of the valid objects Entry in object 1600h for module 3 Index Sub index Description Value 1600h 0 no_of_mapped_application_ objects_in_PDO 03h 1 1st _application_object 0005 0008h 2 2nd _application_object 0005 0008h 3 3rd _application_object 6200 0108h Figure 19 Example for the RPDO mapping with three CAN CBX...

Страница 80: ...Module with Mapping of Bit Objects Via the objects 1600h to 1603h the four relays of the CAN CBX REL4 can be switched by mapping of bit objects with one PDO In the example below the relays are switched with the bits 4 7 of the first data byte of the RPDO Sub index 05h to 08h of object 1600h contain the object 6220h and the sub index which contains the number of the relay that shall be switched The...

Страница 81: ... 0001 00 01 0001 00 01 0001 00 01 COB ID 300 Node ID COB ID 400 Node ID COB ID 500 Node ID 1 3 2 4 5 6 7 0 Relx Relay Data byte Data byte Data byte 1 of RPDO1 4 Module 1 Relay 1 Module 1 Relay 2 Module 1 Relay 3 Module 1 Relay 4 Data byte Data byte Relay Relay Relay 7 9 25 3 Switching the four relays of a module with different PDOs With the objects from 1600h to 1603h the four relays of the CAN CB...

Страница 82: ...ned 8 6207h Error Value Output 8 bit unsigned 8 6208h Filter Mask Output 8 bit unsigned 8 6220h Write Output Bit 1 to 4 Boolean 6240h Change Polarity Output Bit 1 to 4 Boolean 6250h Error Mode Output Bit 1 to 4 Boolean 6260h Error Value Output Bit 1 to 4 Boolean 6270h Filter Mask Output Bit 1 to 4 Boolean Fig 22 Relationship between the output objects for an 8 bit access The objects 6200h to 6208h...

Страница 83: ...Value range Default Data type Access 6200h 0 number_of_output 8 bit 1 1 unsigned 8 const 1 Write_output_8 bit 00 0Fh 0 unsigned 8 rw Assignment of the variable Write_output_8 bit Index 6200h Sub index 1 Bit 7 6 5 4 3 2 1 0 Relay Rel_4 Rel_3 Rel_2 Rel_1 Bit value Rel_x Meaning 0 Relay coil x is de energized 1 Rely coil x is energized x 1 4 ...

Страница 84: ... 8 const 1 change polarity output_8 bit 00 0Fh 0 unsigned 8 rw Assignment of the variable change_polarity_output_DO8 DO1 This variable determines whether a relay is inverted Bit 7 6 5 4 3 2 1 0 Relay Rel_4 Rel_3 Rel_2 Rel_1 Bit value Rel_x Meaning 0 Digital output of rely x is not inverted Relay coil x is energized by setting the output bit of object 6200h to 1 1 Digital output of rely x is invert...

Страница 85: ...ect 6207h Index Sub index Description Value range Default Data type Access 6206h 0 number_of_output_8 bit 1 1 unsigned 8 const 1 error_mode_output_8 bit 00 0Fh 0Fh unsigned 8 rw Assignment of the variable error_mode_output_8 bit This object determines whether the relays are set to an error value defined in object 6207h in case of an internal device failure Bit 7 6 5 4 3 2 1 0 Relay Rel_4 Rel_3 Rel...

Страница 86: ...tion Value range Default Data type Access 6207h 0 number_of_output 8 bit 1 1 unsigned 8 const 1 error_value_output_8 bit 00 0Fh 0 unsigned 8 rw Assignment of the variable error_value_output_8 bit Bit 7 6 5 4 3 2 1 0 Relay Rel_4 Rel_3 Rel_2 Rel_1 This variable contains the value a relay is set to if an error occurs Bit value Rel_x Meaning 0 If object 6206h is enabled relay x will be de energized in...

Страница 87: ...b index Description Value range Default Data type Access 6208h 0 number_of_output 8 bit 1 1 unsigned 8 const 1 filter_mask_output_8 bit 00 FFh FFh unsigned 8 rw Assignment of the variable filter_mask_output_8 bit Bit 7 6 5 4 3 2 1 0 Relay Rel_4 Rel_3 Rel_2 Rel_1 Bit value Relx Meaning 1 Relay x is set to the received output value default 0 Relay x is not set to the new output value The current val...

Страница 88: ...Value range Default Data type Access 6220h 0 number_of_entries 4 4 unsigned 8 ro 1 write_output_Rel1 0 1 0 Boolean rw 2 write_output_Rel2 0 1 0 Boolean rw 3 write_output_Rel3 0 1 0 Boolean rw 4 write_output_Rel4 0 1 0 Boolean rw Assignment of the variable write_output_Relx x 1 4 write_output_Relx Value Meaning false 0 Output of relay x is not switched true 1 Output of relay x is switched x 1 4 ...

Страница 89: ...ccess 6240h 0 number_of_entries 4 4 unsigned 8 ro 1 change_polarity_Rel1 0 1 0 Boolean rw 2 change_polarity_Rel2 0 1 0 Boolean rw 3 change_polarity_Rel3 0 1 0 Boolean rw 4 change_polarity_Rel4 0 1 0 Boolean rw Assignment of the variable change_polarity_Relx x 1 4 change_polarity_Relx Value Meaning false 0 The relay coil control voltage of relay x is not inverted true 1 The relay coil control volta...

Страница 90: ...alue range Default Data type Access 6250 0 number_of_entries 4 4 unsigned 8 ro 1 error_mode_Rel1 0 1 1 Boolean rw 2 error_mode_Rel2 0 1 1 Boolean rw 3 error_mode_Rel3 0 1 1 Boolean rw 4 error_mode_Rel4 0 1 1 Boolean rw Assignment of the variable error_mode_Relx x 1 4 error_mode_Relx Value Meaning true 1 Set the output of relay x to the error value predefined in object 6260h in case of an error def...

Страница 91: ... Value range Default Data type Access 6260h 0 number_of_entries 4 4 unsigned 8 ro 1 error_value_Rel1 0 1 1 Boolean rw 2 error_value_Rel2 0 1 1 Boolean rw 3 error_value_Rel3 0 1 1 Boolean rw 4 error_value_Rel4 0 1 1 Boolean rw Assignment of the variable error_value_Relx x 1 4 This variable contains the error value error_value_Relx Value Meaning true 1 If object 6250h is enabled relay x is energized...

Страница 92: ... Data type Access 6270h 0 number_of_entries 4 4 unsigned 8 ro 1 filter_mask_Rel1 0 1 1 Boolean rw 2 filter_mask_Rel2 0 1 1 Boolean rw 3 filter_mask_Rel3 0 1 1 Boolean rw 4 filter_mask_Rel4 0 1 1 Boolean rw Assignment of the variable filter_mask_Relx x 1 4 filter_mask_Relx Value Meaning true 1 Set the output of relay x to the received output value false 0 The output of relay x is not set to the rec...

Страница 93: ...pecific Profile Area CAN CBX REL4 Manual Doc No C 3012 21 Rev 1 1 Page 93 of 99 7 11 Manufacturer Specific Profile Area Attention The objects of the Manufacturer Specific Profile Area must not be changed by the user ...

Страница 94: ...oss of the firmware The module then can not be operated further Note esd offers the program CANfirmdown for a firmware update Please contact our support for this In normal CiA 301 mode the object 1F50h can not be accessed The objects 1F51h and 1F52h are also available in normal CiA 301mode For further information about the objects and the firmware update please refer to 5 Index Sub index Descripti...

Страница 95: ... about object 1F51h and the firmware update please refer to 5 7 12 2 Verify Application Software 1F52h Index Sub index Description Value range Default Data type Access mode 1F52h 0 Number of entries 2 2 unsigned 8 ro 1 Application_Software_Date 0 FFFF FFFFh unsigned 32 rw 2 Application_Software_Time 0 0526 5C00h unsigned 32 rw Description of the variable Application_Software_Date Date of the gener...

Страница 96: ...roposal 302 V4 1 04 2010 Additional Application Layer functions Part 3 Configuration and program download 6 Phoenix Contact GmbH Co KG Blomberg Technical data is taken from the Phoenix Contact website https www phoenixcontact com online portal de PCB plug connector FKCT 2 5 4 ST KMGY 1921900 downloaded 2013 10 09 7 Phoenix Contact GmbH Co KG Blomberg Technical data is taken from the Phoenix Contac...

Страница 97: ...CAN CBX REL4 Manual Doc No C 3012 21 Rev 1 1 Page 97 of 99 9 EU Declaration of Conformity ...

Страница 98: ...d in delivery of the CAN CBX module C 3000 01 CAN CBX TBUS Connector Terminal plug of the CBX InRailBus for the connection of the 24 V power supply voltage and the CAN interface Female type C 3000 02 CAN CBX TBUS Connection adapter Terminal plug of the CBX InRailBus for the connection of the 24 V power supply voltage and the CAN interface Male type C 3000 03 Table 14 Order information PDF Manuals ...

Страница 99: ...rder No CAN CBX REL4 ME Manual in English C 3012 21 CAN CBX REL4 MD Manual in German C 3012 20 Table 15 Available manuals Printed Manuals If you need a printout of the manual additionally please contact our sales team sales esd eu for a quotation Printed manuals may be ordered for a fee ...

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