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Short Description of CANopen

Hans Turck GmbH & Co. KG | T +49 208 4952-0 | F +49 208 4952-264 | [email protected] | www.turck.com

14

4.3

BL20 and CANopen

BL20 supports the following CANopen-functions:



SDO transfer, any length of information



Emergency object



Sync frame evaluation



Event-driven PDOs



Synchronous PDOs (clock-synchronous)



Remote-requested PDO/polling

4.3.1

EDS-file – electronic data sheet

CANopen nodes are embedded in the CANopen structure by the help of a standardized EDS file

(Electronic Data Sheet).
The EDS file lists all necessary Objects with their corresponding Sub-indices and the matching

entries.
The latest version of a particular EDS file can be downloaded directly from the Turck homepage

www.turck.com.

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Содержание BL20-E-GW-CO

Страница 1: ...Your Global Automation Partner BL20 E GW CO ECO Gateway for CANopen Instructions for Use ...

Страница 2: ...2 Hans Turck GmbH Co KG T 49 208 4952 0 F 49 208 4952 264 more turck com www turck com ...

Страница 3: ...fety 3 1 Intended use 9 3 2 General safety instructions 9 4 Short Description of CANopen 4 1 CANopen 11 4 2 Communication 11 4 2 1 Network Management Messages 11 4 2 2 Service Data Objects SDOs 12 4 2 3 Process Data Objects PDOs 12 4 3 BL20 and CANopen 14 4 3 1 EDS file electronic data sheet 14 5 Eco Gateway for CANopen 5 1 Introduction 15 5 1 1 Function 15 5 2 Technical data 16 5 2 1 General tech...

Страница 4: ... 31 7 1 1 Complete planning 31 7 1 2 Maximum system extension 32 7 2 Power supply 34 7 2 1 Power supply to the gateway 34 7 2 2 Module bus refreshing 34 7 2 3 Creating potential groups 34 7 2 4 C rail cross connection 35 7 2 5 Direct wiring of relay modules 37 7 3 Protecting the service interface on the gateway 37 7 4 Plugging and pulling electronics modules 38 7 5 Extending an existing station 38...

Страница 5: ...5 Protection against high frequency interference signals 43 8 3 6 Mounting rails 43 8 3 7 EMC compliant cabinet installation 44 8 4 Shielding of cables 45 8 4 1 Potential compensation 46 8 4 2 Switching inductive loads 47 8 4 3 Protection against Electrostatic Discharge ESD 47 9 BL20 Approvals for Zone 2 Division 2 ...

Страница 6: ...Hans Turck GmbH Co KG T 49 208 4952 0 F 49 208 4952 264 more turck com www turck com 4 ...

Страница 7: ...ce 1 2 Documentation concept This manual contains all information about the CANopen Gateway of the product line BL20 ECO BL20 E GW CO The following chapter contain a short BL20 description a description of the used field bus system exact information about function and structure of the field bus specific CANopen gateway as well as all bus specific information concerning the connection to automation...

Страница 8: ...are as informative and as clear as possible If you have any suggestions for improving the design or if some information is missing in the docu ment please send your suggestions to techdoc turck com DANGER DANGER indicates a dangerous situation with high risk of death or severe injury if not avoided WARNING WARNING indicates adangerous situation withmediumrisk ofdeathor severeinjury if not avoided ...

Страница 9: ... Germany Turck supports you with your projects from initial analysis to the commissioning of your applica tion The Turck product database contains software tools for programming configuration or com missioning data sheets and CADfiles in numerous export formats You can access the product data base at the following address www turck de produkte Should youhaveany further questions please contact the...

Страница 10: ...Notes on the Product Hans Turck GmbH Co KG T 49 208 4952 0 F 49 208 4952 264 more turck com www turck com 8 ...

Страница 11: ... a CANopen network and forwards the data collected from the field by the BL20 I O modules within the BL20 sta tion to the higher level CANopen master The devices may only be used as described in these instructions Any other usage shall be consid ered improper and Turck shall not be held liable for any resulting damage 3 2 General safety instructions The device may only be assembled installed opera...

Страница 12: ...For Your Safety Hans Turck GmbH Co KG T 49 208 4952 0 F 49 208 4952 264 more turck com www turck com 10 ...

Страница 13: ... connectors and bit rates on the basis of ISO 11898 4 2 Communication The lower layers of CANopen are defined according to the ISO OSI model in the ISO 11898 standard Communication between the individual nodes is made by transmitting Telegrams 4 different types of telegram message are defined for CANopen Network management messages Service data objects SDO Process data objects PDO Predefined messa...

Страница 14: ...s the Boot up message to indicate to the NMT master that it has reached the state pre operational This occurs whenever the device initially boots up but also after a power out during operation The Boot up message has the same identifier as the Heartbeat object however its data content is zero 4 2 2 Service Data Objects SDOs A Service Data Object SDO reads from entries or writes to entries of the O...

Страница 15: ...er The time period between Sync messages is defined by the Communication Cycle Period which may be reset by a configuration tool to the application devices during the boot up process There can be a time jitter in transmission by the Sync Pro ducer due to some other objects with higher prior identifiers or by one frame being transmitted just before the Sync message The Sync message is mapped to a s...

Страница 16: ...valuation Event driven PDOs Synchronous PDOs clock synchronous Remote requested PDO polling 4 3 1 EDS file electronic data sheet CANopen nodes are embedded in the CANopen structure by the help of a standardized EDS file Electronic Data Sheet The EDS file lists all necessary Objects with their corresponding Sub indices and the matching entries The latest version of a particular EDS file can be down...

Страница 17: ...chnical data a description of addressing and status displays 5 1 1 Function The BL20 gateways enable BL20 modules to operate on CANopen The gateway is the connection between the BL20 modules and a CANopen host system It regulates the process data between the I O level and the fieldbus and generates diagnostic data for the higher level host system Information is made available to the software tool ...

Страница 18: ...for the bit rate F DIP switch for terminating resistor G LEDs for CANopen H Push In for field supply I Push In terminals for system supply J CANopen Push In terminals Fig 1 Gateway BL20 E GW CO Unlock end bracket before dismounting Pull barrier for configuration and service UL GNDL USYS GNDSYS CAN_H CAN_L CAN_H CAN_L CANGND CANGND GW IOs BL20 E GW CO SERVICE 1 0 ADDRESS 20 21 22 23 24 25 RT ERR Bu...

Страница 19: ...t max system extension Approx 0 5 A Permissible range According to EN 61 131 2 18 30 V DC Max field current IL 8 A Residual ripple According to EN 61 131 2 Isolation voltage UL to USYS 500 Veff Voltage anomalies According to EN 61 131 2 IMB supply of module bus nodes 700 mA Connection technology Push in tension clamps LSF from Weidmueller Physical interfaces Fieldbus Protocol CANopen Transmission ...

Страница 20: ...f vibration Frequency sweeps with a change in speed of 1 Octave min Period of oscillation 20 frequency sweeps per axis of coordinate Shock resistant according to IEC 68 2 27 18 shocks sinusoidal half wave 15 g peak value 11 ms in each case in direction per space coordinate Resistance to repetitive shock according to IEC 68 2 29 1000 shocks sinusoidal half wave 25 g peak value 6 ms in each case in ...

Страница 21: ...ntial business and trading In this case the operator can be required to take appro priate measures to suppress the disturbance at his own cost Designation Approvals CE cULus Tests EN 61131 2 Cold DIN IEC 68 2 1 temperature 25 C 13 F duration 96 h not in use Dry heat DIN IEC 68 2 2 Temperature 85 C 185 F duration 96 h device not in use Damp heat cyclic DIN IEC 68 2 30 temperature 55 C 131 F duratio...

Страница 22: ... class IP20 not evaluated by UL Insulation stripping length 8 mm 1 0 32 inch 0 039 Max wire range 0 14 1 5 mm2 0 0002 0 0023 inch2 26 16 AWG Crimpable wire e solid core H 07V U 0 14 1 5 mm2 0 0002 0 0023 inch2 26 16 AWG f flexible core H 07V K 0 5 1 5 mm2 0 0008 0 0023 inch2 25 16 AWG f with ferrules according to DIN 46228 1 ferrules crimped gas tight 0 25 1 5 mm2 0 0004 0 0023 inch2 30 16 AWG ...

Страница 23: ...O has push in tension clamps for Field supply voltage UL GNDL and System supply USYS GNDSYS Fig 3 Push in tension clamp terminals at the gateway NOTE The minimum temperature rating of the cable to be connected to the field wiring termi nals must be min 75 C Unlock end bracket before dismounting Pull barrier for configuration and service UL GNDL USYS GNDSYS CAN_H CAN_L CAN_H CAN_L CANGND CANGND ...

Страница 24: ...assignment has to be used Standard commercial cables will have to be rewired I O ASSISTANT KABEL BL20 BL67 5 3 3 Connection through an I O ASSISTANT cable The I O ASSISTANT cables have a PS 2 male connector connection for female connector on gate way and a SUB D female connector connection for male connector on PC The service interface can be found under the upper label of the gateway Pull the lab...

Страница 25: ...23 2020 09 Pin BL20 gateway PS 2 female connector SUB D interface at the PC Pin 1 CLK DTR DSR 4 6 2 GND GND 5 3 DATA 4 n c DATA2 RxD 2 5 5 V RTS 7 6 n c CLK2 TxD 3 ...

Страница 26: ...Nopen bus can use Node IDs up to 127 Each Node ID can only be assigned once in the entire CANopen bus structure The gateway s field bus address results from the addition of the valences 20 to 25 of the active DIP switches position 1 Default setting 0 3FH ADR 63 Example Bus address 38 0 26 100110 The internal module bus does not require any addressing Fig 6 DIP switches at the gateway NOTE Pull the...

Страница 27: ... valid bitrate has been detected it will not be changed The autobaud phase is signaled by alternating fast flashing 10 Hz of the ERR LED red of the BUS LED green Fig 8 DIP switches for setting the bit rate DIP switch no Bit rate autobaud 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1 Mbps 20 1 0 1 0 1 0 1 0 21 1 1 0 0 1 1 0 0 22 1 1 1 1 0 0 0 0 1 0 ADDRESS 20 21 22 23 24 25 RT off on BR 20 ...

Страница 28: ... the system supply Usys and the field supply UL 3 Set the Node ID to 0 The device stores the station s configuration This is indicated by the flashing of the IOs LED After the storage procedure the IOs LED shortly flashes orange and than stops flashing The LEDs Err and Bus flash alternately red with 4 Hz due to the invalid Node ID 0 which is still set at the gateway 4 De energize the gateway and s...

Страница 29: ...supplied Check the wiring at the gateway or at the Bus refreshing module Green 5 V DC operating voltage is present firmware is active gateway is ready for operation and transfer Green flashing 1 Hz Undervoltage at Usys or UL Check if the Power supply is within the per missible range Green flashing 1 Hz IOs red Firmware not active Reload the firmware Green flashing 4 Hz Firmware active gateway hard...

Страница 30: ... nodes Red Faulty or interrupted communi cation between BL20 CANopen gateway and other CANopen nodes CAN BusOff Heartbeat error Guarding error Transmit timeout Check that the fieldbus ends with a termi nation resistor if the BL20 CANopen gate way is the last node in the bus topology Check the CANopen cable for possible damage and for correct connections Check that the correct bit rate has been set...

Страница 31: ...29 2020 09 6 BL20 Communication in CANopen NOTE The CANopen description for BL20 can be found in a separate manual BL CANopen object register D301230 under www turck de ...

Страница 32: ...BL20 Communication in CANopen Hans Turck GmbH Co KG T 49 208 4952 0 F 49 208 4952 264 more turck com www turck com 30 ...

Страница 33: ...ionis provided by acommon externalvoltagesource independent of the number of bus refreshing modules used in the station This prevents the occurrence of poten tial equalization currents within the BL20 station NOTE A mixed usage of gateways of the BL20 ECO and the BL20 standard product line and I O modules of both product lines base modules with tension clamp terminals is possible without any probl...

Страница 34: ...r Feeding modules BL20 PF 24VDC D BL20 PF 120 230VACD They are used to build up potential groups or in case of insufficient power supply Ensure that a sufficient number of Bus Refreshing and Power Feeding modules are used if the system is extended to its maximum For the calculation of the maximum system extension the following table contains an overview about the modules communication bytes and no...

Страница 35: ...A BL20 E 16DO 24VDC 0 5A P 2 25 mA BL20 16DO 24VDC 0 5A P 3 120 mA BL20 32DO 24VDC 0 5A P 5 30 mA BL20 1AO I 0 4 20MA 4 39 mA BL20 2AO I 0 4 20MA 7 40 mA BL20 2AO U 10 0 10VDC 7 43 mA BL20 2DO R NC 1 28 mA BL20 2DO R NO 1 28 mA BL20 2DO R CO 1 28 mA BL20 1CNT 24VDC 9 40 mA BL20 1RS232 9 140 mA BL20 1RS485 422 9 60 mA BL20 1SSI 9 50 mA BL20 2RFID 9 30 mA BL20 E 1SWIRE 9 60 mA BL20 E 4IOL 9 40 mA BL...

Страница 36: ...n the base module If the power supply from the module bus is not guaranteed the software I O ASSISTANT 3 FDT DTM generates an error message if the user activates the DTM Additional functions Verify sta tion 7 2 3 Creating potential groups Bus Refreshing and Power Feeding modules can be used to create potential groups The potential isolation of potential groups to the left of the respective power d...

Страница 37: ...m ple BL20 S4T SBCS The corresponding connection level is indicated on these modules by a thick black line The black line is continuous on all I O modules On power distribution modules the black line is only above the connection 24 This makes clear that the C rail is separated from the adjoining potential group to its left NOTICE Common potential of 24 VDC and 230 VAC field supply Destruction of e...

Страница 38: ... into a ground reference system please read chapter 8 Guidelines for Electrical Installation NOTICE Missing potential isolation Destruction of module electronic Ensure that after using the C rail for the common voltage supply of relay modules an additional supply module is used for the potential separation to the following modules Only then can the C rail serve as PE again 23 22 21 13 12 11 23 23 ...

Страница 39: ...erface and the rotary coding switches must remain in place due to EMC and ESD requirements Abb 5 Using the C rail as protective earth and for the power supply with relay modules 23 22 21 13 12 11 23 23 22 22 21 21 13 13 12 12 11 11 24 23 22 21 14 13 12 11 TS SBBC 2 DO SBC 8 DI ECO 2 DO SBC 2 DI SBB C rail PE PE terminal PF 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 24 23 22 21 14 13 12 11 24 23 22 21 ...

Страница 40: ...ad Firmware can be downloaded via the service interface on the gateway using the software tool I OASSISTANT More information is available in the program s online help NOTICE Pulling or plugging of modules under load Interruption of module bus communication undefined states of I Os Disconnect the station from the voltage supply Pull or plug I O module NOTICE Station expansion under load Risk of inj...

Страница 41: ...mpatible cable routing the cables should be grouped as follows Various types of cables within the groups can be routed together in bundles or in cable ducts Group 1 shielded bus and data cables shielded analog cables unshielded cables for DC voltage 60 V unshielded cables for AC voltage 25 V Group 2 unshielded cables for DC voltage 60 V and 400 V unshielded cables for DC voltage 25 V and 400 V Gro...

Страница 42: ...int where the cables enter the building 8 1 4 Transmission cable The slaves on the bus are connected to one another with fieldbus lines that correspond to the Devi ceNet specification ODVA Spec Rel V2 0 The bus cables must be terminated at the beginning and end with a bus terminating resistor This can be connected via the number DIP switch RT on the gateway Cable types Turck offers a variety of ca...

Страница 43: ...installation The block diagram shows the arrangement of a typical BL20 with the ECO gateway BL20 E GW CO 8 2 2 Potential free installation In a potential free installation the reference potentials of control and load circuitry are galvanically isolated from each other A potential free installation is necessary with All AC load circuits for example when using the Power Feeding module BL20 PF 120 23...

Страница 44: ...ts All inactive metal components for example switchgear cabinets switchgear cabinet doors sup porting bars mounting plates top hat rails etc must be connected to oneanother over a largesur face area and with a low impedance grounding This guarantees a standardized reference poten tial area for all control elements and reduces the influence of coupled disturbances In the areas of screw connections ...

Страница 45: ...rails All mounting rails must be mounted onto the mounting plate with a low impedance over a large surface area and must be correctly earthed Use corrosion resistant mounting rails Mountthe mounting rails over a large surface area and with a low impedanceto thesupportsystem using screws or rivets Remove the isolating layer from all painted anodized or isolated metal components at the connec tion p...

Страница 46: ...contact with the cabinet hous ing C Protective conductor rail The protective conductor rail must also be connected over a large surface area to the mounting plates and addi tionally with an external cable cross section at least 10 mm2 0 015 inch2 to the protective conductor system to avoid interference currents D Protective conductor terminal block The protective conductor terminal block must be c...

Страница 47: ... area The shield rail must have a low impedance for example fixing points of 10 to 20 cm apart and be connected to a reference potential area The cable shield should not be severed but routed further within the system for example to the switchgear cabinet right up to the interface connection NOTE When installing please pay attention to the following the shield should be connected immediately when ...

Страница 48: ...ation cables that are routed on both sides the compen sationlineimpedancemustbeconsiderably smaller thanthatoftheshield connection max 10 of shield connection impedance Should the length of the compensation cable be less than 200 m then its cross section must be at least 16 mm2 0 025 inch2 If the cable length is greater than 200 m then a cross section of at least 25 mm2 0 039 inch2 is required The...

Страница 49: ...2 Switching inductive loads In the case of inductive loads a protective circuit on the load is recommended 8 4 3 Protection against Electrostatic Discharge ESD Abb 5 Potential compensation Between switch cabinets NOTICE Exposed metal contacts Material damage due to electrostatic discharge Avoid to touch the metallic contacts with bare hands Potenzialausgleich ...

Страница 50: ...Guidelines for Electrical Installation Hans Turck GmbH Co KG T 49 208 4952 0 F 49 208 4952 264 more turck com www turck com 48 ...

Страница 51: ...49 2020 09 9 BL20 Approvals for Zone 2 Division 2 NOTE The Zone 2 approval certificates for BL20 can be found in a separate manual for approv als D301255 under www turck de ...

Страница 52: ...BL20 Approvals for Zone 2 Division 2 Hans Turck GmbH Co KG T 49 208 4952 0 F 49 208 4952 264 more turck com www turck com 50 ...

Страница 53: ...Over 30 subsidiaries and over 60 representations worldwide www turck com D301108 2020 09 D301108 ...

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