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Short description of CANopen

D301087 1211 - BL20 CANopen

3-2

3.1

CANopen 

3.1.1

General

CANopen is an open, non-proprietary network protocol. It consists of a profile family, based on a 
communication profile and several device profiles. The CANopen communication profile is 
standardized as CiA DS-301 (Application Layer and Communication Profile). 

The CANopen device profile for I/O-modules has been published as CiA DS-401 (Device Profile for I/O-
Modules). 

CANopen is based on the following standards: 

„

ISO 11 898 (Physical and Data Link Layer)

„

Layers 1 and 2 of the ISO/OSI communication model

„

CiA DS-301 (Application Layer and Communication Profile)  C ANopen communication profile 

„

CiA DS-302 (Framework for Programmable CANopen Devices) CANopen Network Management 
NMT

„

CiA DS-401 (Device Profile for I/O-modules)

„

CiA DS-406 (Device Profile for Encoders)  CANopen device profile for counter modules

„

CiA DS-102 (CAN Physical Layer for Industrial Applications) General application in the field sector 
(connectors and bit rates) on the basis of ISO 11898

Note

The following description of CANopen is an excerpt from the homepage of CiA (CAN in 
Automation), the international users’ and manufacturers’ organization for CAN.

Содержание BL20-GW-CANOPEN

Страница 1: ...BL20 USER MANUAL FOR CANopen...

Страница 2: ...uhr All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed duplicated or distributed...

Страница 3: ...100 Part 410 or HD 384 4 41 S2 Deviations of the mains voltage from the rated value must not exceed the tolerance limits given in the specifications otherwise this may cause malfunction and dangerous...

Страница 4: ......

Страница 5: ...onnection 2 Pole for Analog Modules 2 9 3 Short description of CANopen 3 1 CANopen 3 2 3 1 1 General 3 2 3 1 2 Communication 3 3 3 2 BL20 and CANopen 3 5 3 3 Electronic data sheet EDS file 3 6 4 BL20...

Страница 6: ...nnection 6 9 6 2 6 Direct Wiring of Relay Modules 6 10 6 3 Plugging and Pulling Electronics Modules 6 11 6 4 Extending an Existing Station 6 12 6 5 Firmware Download 6 13 7 Guidelines for Electrical I...

Страница 7: ...pen iii 7 5 1 Switching Inductive Loads 7 10 7 5 2 Protection against Electrostatic Discharge ESD 7 10 7 6 Bus Connection 7 11 7 7 Two Pole Shield Connection 7 12 8 BL20 Approvals for Zone 2 Division...

Страница 8: ...D301087 1211 BL20 CANopen iv...

Страница 9: ...CANopen 1 1 1 About this Manual 1 1 Documentation Concept 2 1 2 Description of Symbols Used 3 1 3 Overview 4 1 3 1 Prescribed Use 4 1 3 2 Notes Concerning Planning Installation of this Product 4 1 4 L...

Страница 10: ...d structure of the BL20 CANopen gateway as well as all bus specific information concerning the connection to automation devices the maximum system extension etc The bus independent I O modules for BL2...

Страница 11: ...n means for the operator work with extreme caution Attention This sign can be found next to all notes that indicate a potential hazard This can refer to possible danger to personnel and damages to the...

Страница 12: ...e free and safe operation of these devices 1 3 2 Notes Concerning Planning Installation of this Product Attention Please read this section carefully Safety aspects cannot be left to chance when dealin...

Страница 13: ...nges revisions have been made Table 1 1 List of revisions Chapter Subject Description new changed deleted 5 6 BL20 CommunicationinCANopen Diagnostics Emergency Frames seperate manual D301230 X 8 BL20...

Страница 14: ...About this Manual D301087 1211 BL20 CANopen 1 6...

Страница 15: ...Gateways 3 Gateways with integrated power supply 3 Gateways without power supply 3 2 2 2 Power Distribution Modules 3 2 2 3 Electronics Modules 4 2 2 4 Base Modules 5 2 2 5 End Plate 7 2 2 6 End Brac...

Страница 16: ...te the exact number of channels to suit your needs because the modules are available in block and slice design A BL20 station can contain modules in any combination which means it is possible to adapt...

Страница 17: ...ess data and generates diagnostic information for the higher level master and the software tool I Oassistant Gateways with integrated power supply The BL20 gateway BL20 GWBR CANOPEN offers an integrat...

Страница 18: ...l and analog input output modules and technology modules Electronics modules are plugged onto the base modules and are not directly connected to the wiring The assignment table in the Section Ordering...

Страница 19: ...available in the following variations with either tension clamp or screw connections 2 3 wire 2 channel 4 wire 2 channel and 4x 2 3 wire 4 channel The assignment table in the Section Ordering Informa...

Страница 20: ...BL20 Philosophy D301087 1211 BL20 CANopen 2 6 Figure 2 6 Base module with screw connection Figure 2 7 Base module in block design...

Страница 21: ...late ensures that the BL20 station remains secure on the mounting rail even when subjected to vibration 2 2 6 End Bracket A second end bracket to the left of the gateway is necessary as well as the on...

Страница 22: ...ials in relay modules bridging the relay roots thus considerably reducing the amount of wiring 2 2 8 Marking Material Labels for labeling BL20 electronics modules Markers for colored identification of...

Страница 23: ...og Modules The 2 pole shield connection can be used to connect signal cable shielding to the base modules of analog input and output modules A special tension clamp operating tool BL20 ZBW5 2 is requi...

Страница 24: ...BL20 Philosophy D301087 1211 BL20 CANopen 2 10...

Страница 25: ...iption of CANopen 3 1 CANopen 2 3 1 1 General 2 3 1 2 Communication 3 Network Management Messages 3 Service Data Objects SDOs 3 Process Data Objects PDOs 4 Special Function Objects 4 3 2 BL20 and CANo...

Страница 26: ...11 898 Physical and Data Link Layer Layers 1 and 2 of the ISO OSI communication model CiA DS 301 Application Layer and Communication Profile C ANopen communication profile CiA DS 302 Framework for Pr...

Страница 27: ...tate Initialization is divided into three sub states in order to enable a complete or partial reset of a node In the sub state Reset Application the parameters of the manufacturer specific profile are...

Страница 28: ...stamp transmission Synchronization object Sync The Sync Object is broadcast periodically by the Sync Producer The time period between Sync messages is defined by the Communication Cycle Period which m...

Страница 29: ...d CANopen 3 2 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 sync...

Страница 30: ...re 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...

Страница 31: ...r data cables to BL20 GW CANOPEN 10 4 5 1 Fieldbus connection via SUB D socket 10 4 5 2 Fieldbus connection through direct wiring 10 4 6 Connections of the data cables to BL20 GWBR CANopen 12 4 6 1 Fi...

Страница 32: ...of addressing and status displays Attention Please note SWIRE modules can only be used with the gateways BL20 GW CANOPEN with firmware version 4 02 and BL20 GWBR CANOPEN with firmware version 2 02 Da...

Страница 33: ...pen 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 l...

Страница 34: ...EDs for CANopen J CANopen SUB D socket Figure 4 2 BL20 GWBR CANOPEN A Service interface B Type designation C LEDs for module bus D DIP switch for transfer rate E Rotary encod ing switch for Node ID F...

Страница 35: ...IEC 61 131 2 EN 50 178 Climatic tests according to IEC 61131 2 Noxious gas SO2 10 ppm rel humidity 75 non condensing H2S 1 0 ppm rel humidity 75 non condensing Resistance to vibration according to IEC...

Страница 36: ...A unrestricted operation normal operating behavior 1 kV Interference criteria B temporary interference normal operation possible 2 kV Emitted interference according to EN 50 081 2 Industry according t...

Страница 37: ...Protection class IP 20 Measurement data according to VDE 0611 Part 1 8 92 IEC 947 7 1 1989 Insulation stripping length 8 mm 0 32 inch Max wire range 0 5 to 2 5 mm2 0 0008 to 0 0039 inch2 20 to 12 AWG...

Страница 38: ...priate power supply unit Current drawn from the module bus Without service without fieldbus 280 mA Without service with fieldbus 1 Mbps 410 mA With service without fieldbus 300 mA Maximum 350 mA Dimen...

Страница 39: ...o fieldbus USYS to FE 500Veff Connections 2 pole screw terminal Physical interfaces Fieldbus Transfer rate 10 kbps to 1 Mbps Isolation voltage fieldbus to USYS fieldbus to UL fieldbus to FE 500Veff Fi...

Страница 40: ...ket is shown as an example 4 5 2 Fieldbus connection through direct wiring For making connections to the fieldbus you can choose between a SUB D connection and direct wiring Direct wiring of the BL20...

Страница 41: ...dominant low GND Ground optional SHLD Shielding see below CAN_H Non inverted data signal dominant high Attention If the gateway is wired up directly then the bus connection must be shielded e g with...

Страница 42: ...rmination must be applied externally if the BL20 gateway is the last station in the bus structure Table 4 8 Pin assignment for the socket 1 2 red 3 4 white CAN_H Non inverted data signal dominant high...

Страница 43: ...of the data cables to BL20 GWBR CANopen Figure 4 9 Shielding connec tion for an BL20 GWBR CANOPEN Attention No compensating current should flow through the shielding To achieve this a reliable system...

Страница 44: ...ve a PS 2 male connector connection for female connector on gateway and a SUB D female connector connection for male connector on PC Figure 4 10 BL20 gateway connected to PC via special cable A SUB D...

Страница 45: ...transfer rate is 125 kbps The transfer rate can be set through the DIP switches under the cover of the BL20 gateway To set a bit transfer rate that is supported by CANopen proceed as follows Switch o...

Страница 46: ...h on the supply voltage for the gateway again Table 4 10 Setting the transfer rate Bit transfer rate kbps DIP switches setting 1 2 3 4 1 000 0 0 0 0 800 1 0 0 0 500 0 1 0 0 250 1 1 0 0 125 0 0 1 0 50...

Страница 47: ...BL20 GW CANOPEN The L switch is used to set L 160 L 0 to F The H switch is used to set L 161 H 0 to F BL20 GWBR CANOPEN The L switch is used to set L 100 L 0 to 9 The H switch is used to set L 101 H 0...

Страница 48: ...1 BL20 CANopen 4 18 See chapter 6 Maximum System Extension page 6 2 Note After setting the Node ID the protective cover over the switches must be closed again Note BL20 does not support the assignment...

Страница 49: ...With this reset all the CANopen parameters will be restored to their default values if the newly saved configuration is different to the old one The actuation of the button is indicated by a rapid 4 H...

Страница 50: ...odule bus LEDs GW and IOs 2 LEDs for CANopen communication fieldbus LEDs ERR and Bus The LED diagnoses shown below apply to both gateway versions BL20 GW CANOPEN BL20 GWBR CANOPEN An additional diagno...

Страница 51: ...oltage supply Dismount modules Replace the gateway Red flashing 1 Hz Non adaptable modification of the physically connected station ComparetheplannedBL20station with the physical station Check the phy...

Страница 52: ...be correct and properly seated Check the CANopen cable for possible damage and for correct connections Check that the correct bit rate has been set Check that the NMT master is still functioning prop...

Страница 53: ...D301087 1211 BL20 CANopen 5 1 5 BL20 Communication in CANopen Note The CANopen description for BL20 can be found in a separate manual BL CANopen object register D301230 unter www turck de...

Страница 54: ...BL20 Communication in CANopen D301087 1211 BL20 CANopen 5 2...

Страница 55: ...ion 2 6 2 Power Supply 4 6 2 1 Gateway Supply 4 6 2 2 Module Bus Refreshing 4 6 2 3 Creating Potential Groups 8 6 2 4 Protecting the Service Interface on the Gateway 8 6 2 5 C Rail Cross Connection 9...

Страница 56: ...m of 74 modules in slice design equivalent to 1 m in length of mounting rail including the end bracket and end plate The maximum number of modules is less when using block modules 1 block module is eq...

Страница 57: ...8 BL20 4DI 24VDC P 72B Digital outputs 288 BL20 4DO 24VDC 0 5A P 72 B Analog inputs current 126 BL20 2AI I 0 4 20MA 63 C Analog inputs voltage 126 BL20 2AI U 10 0 10VDC 63C Analog inputs voltage curre...

Страница 58: ...ists of 20 BL20 1AI I 0 4 20MA modules The number of additional Bus Refreshing modules required is calculated as follows The calculation shows that no further Bus Refreshing module is required Note On...

Страница 59: ...vidual BL20 modules on the module bus Gateway 430 mA 15 BL20 1AI U 10 0 10VDC 15 x 41 mA 615 mA 10 BL20 2AO U 10 0 10VDC 10 x 43 mA 430 mA 10 BL20 2DI 24VDC P 10 x 28 mA 280 mA 5 BL20 2DO 24VDC 0 5A P...

Страница 60: ...2 mA BL20 2DO 24VDC 2A P 33 mA BL20 4DO 24VDC 0 5A P 30 mA BL20 E 8DO 24VDC P 15 mA BL20 16DO 24VDC 0 5A P 120 mA BL20 E 16DO 24VDC P 25 mA BL20 32DO 24VDC 0 5A P 30 mA BL20 1AO I 0 4 20MA 39 mA BL20...

Страница 61: ...ombined with either a BL20 P3T SBB B or a BL20 P4T SBBC B tension clamp connection base module or with the base modules BL20 P3S SBB B or BL20 P4S SBBC B screw connection Figure 6 1 Power supply at BL...

Страница 62: ...itches must remain closed due to EMC and ESD Attention Ensure that the correct base modules are planned for when using Bus Refreshing modules Figure 6 3 Example for creating potential groups with BL20...

Страница 63: ...s 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 The C rai...

Страница 64: ...es are planned and the C rail is used for a common voltage supply a further power distribution module must be used for the potential isolation to the following modules The C rail can only again be use...

Страница 65: ...tion remains in operation ifanelectronics module is pulled The voltage and current supplies as well as the protective earth connections are not interrupted Attention If the field and system supplies r...

Страница 66: ...n must be saved to the actual configuration memory of the BL20 gateway This is done by either pressing the SET button between the two decimal rotary coding switches see chapter 2 or by making the appr...

Страница 67: ...he service interface on the gateway using the software tool I O ASSISTANT More information is available in the program s online help Attention The station should be disconnected from the fieldbus when...

Страница 68: ...Guidelines for Station Planning D301087 1211 BL20 CANopen 6 14...

Страница 69: ...Installation 4 7 2 3 Non isolated Installation 4 7 3 Electromagnetic Compatibility EMC 5 7 3 1 Ensuring Electromagnetic Compatibility 5 7 3 2 Grounding of Inactive Metal Components 5 7 3 3 PE Connecti...

Страница 70: ...a 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 AC voltage 25...

Страница 71: ...g 7 1 5 Transmission Cables The slaves on the bus are connected to one another with fieldbus lines that correspond to the DeviceNet specification ODVA Spec Rel V2 0 The bus cables must be terminated a...

Страница 72: ...om each other A potential free installation is necessary with All AC load circuits for example when using the Power Feeding module BL20 PF 120 230VAC D Floating DC load circuits The potential free ins...

Страница 73: ...witchgear cabinets switchgearcabinet doors supporting bars mounting plates tophat rails etc must be connected to one another over a large surface area and with a low impedance grounding This guarantee...

Страница 74: ...inted anodized or isolated metal components at the connection point Protect the connection point against corrosion for example with grease caution use only suitable grease Attention In order to comply...

Страница 75: ...C Protective conductor rail The protective conductor rail must also be connected over a large surface area to the mounting plates and additionallywith an external cable cross section atleast10mm2 0 0...

Страница 76: ...e a large surface contact 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 se...

Страница 77: ...t be considerably smaller than that of the shield 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 leas...

Страница 78: ...ing Inductive Loads In the case of inductive loads a protective circuit on the load is recommended 7 5 2 Protection against Electrostatic Discharge ESD Figure 7 6 Potential compensation between switch...

Страница 79: ...is available for connecting the BL20 GWBR CANopen to the CANopen fieldbus The shield connection is made via the shielding braid of the cable For detailed information about the bus connection of the ga...

Страница 80: ...modules of analog input and output modules A special tension clamp operating tool BL20 ZBW5 2 is required to mount the shield connection onto the base module The following cable diameters are permissi...

Страница 81: ...D301087 1211 BL20 CANopen 8 1 8 BL20 Approvals for Zone 2 Division 2 Note The Zone 2 approval certificates for BL20 can be found in a separate manual for approvals D301255 on www turck de...

Страница 82: ...BL20 Approvals for Zone 2 Division 2 D301087 1211 BL20 CANopen 8 2...

Страница 83: ...D301087 1211 BL20 CANopen 8 3...

Страница 84: ...BL20 Approvals for Zone 2 Division 2 D301087 1211 BL20 CANopen 8 4...

Страница 85: ...D301087 1211 BL20 CANopen 8 5...

Страница 86: ...BL20 Approvals for Zone 2 Division 2 D301087 1211 BL20 CANopen 8 6...

Страница 87: ...grammable logic controllers PLC are a special group of automation devices Baud Baud is a measure for the transmission speed of data 1 Baud corresponds to the transmission of one bit per second Bit s B...

Страница 88: ...401 V2 1 COB ID COB Identifier Identifies a COB uniquely in a CAN network The identifier determines the priority of that COB in the data link layer too Source CiA DS 401 V2 1 Coding elements Two piece...

Страница 89: ...bles on the input and output modules GND Abbreviation of ground potential 0 Ground Expression used in electrical engineering to describe an area whose electrical potential is equal to zero at any give...

Страница 90: ...as being an Object that is actually set up in a device Load value Predefined value for the counter module with which the count process begins Lightning protection All measures taken to protect a syst...

Страница 91: ...ive earth Electrical conductor for protection against dangerous shock currents Generally represented by PE protective earth Radiation coupling A radiation coupling appears when an electromagnetic wave...

Страница 92: ...Glossary D301087 1211 BL20 CANopen 9 6...

Страница 93: ...odules 2 4 electrostatic discharge 7 10 EMC 7 5 empty slot 6 2 ESD electrostatic discharge 7 10 F Fieldbus connection Direct wiring 4 10 Open Style connector 4 12 G gateway 2 3 gateway function 4 3 I...

Страница 94: ...Index D301087 1211 BL20 CANopen 10 2...

Страница 95: ...D301087 1211 Hans Turck GmbH Co KG 45472 M lheim an der Ruhr Germany Witzlebenstra e 7 Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail more turck com Internet www turck com www turck com...

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