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Manual VIPA System SLIO

Contents

HB300E - IM - RE_053-1CA00 - Rev. 11/29

i

Contents

About this manual .................................................................................... 1
Safety information .................................................................................... 2
Chapter 1

Basics and Assembly ..................................................... 1-1

Safety Information for Users................................................................. 1-2

System conception ............................................................................... 1-3

Dimensions .......................................................................................... 1-6

Installation............................................................................................ 1-7

Demounting and module exchange .................................................... 1-10

Wiring................................................................................................. 1-14

Trouble shooting - LEDs..................................................................... 1-18

Installation guidelines ......................................................................... 1-19

General data ...................................................................................... 1-22

Hardware description ..................................................... 2-1

Properties............................................................................................. 2-2

Structure .............................................................................................. 2-3

Technical Data ..................................................................................... 2-6

Deployment ..................................................................... 3-1

Basics CAN .......................................................................................... 3-2

Fast introduction................................................................................... 3-4

Accessing the System SLIO ................................................................. 3-8

Transfer rate and module-ID .............................................................. 3-13

Telegram structure ............................................................................. 3-15

PDO ................................................................................................... 3-17

SDO ................................................................................................... 3-22

Object directory .................................................................................. 3-24

Emergency Object.............................................................................. 3-72

Network management ........................................................................ 3-73

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Содержание IM 053-1CA00

Страница 1: ...VIPA System SLIO IM 053 1CA00 Manual HB300E_IM RE_053 1CA00 Rev 11 29 July 2011...

Страница 2: ...c Compatibility Directive 2006 95 EC Low Voltage Directive Conformity is indicated by the CE marking affixed to the product Conformity Information For more information regarding CE marking and Declara...

Страница 3: ...Demounting and module exchange 1 10 Wiring 1 14 Trouble shooting LEDs 1 18 Installation guidelines 1 19 General data 1 22 Chapter 2 Hardware description 2 1 Properties 2 2 Structure 2 3 Technical Data...

Страница 4: ...Contents Manual VIPA System SLIO ii HB300E IM RE_053 1CA00 Rev 11 29...

Страница 5: ...nsisting of System SLIO components Besides the dimensions the general technical data of System SLIO will be found Chapter 2 Hardware description Here the hardware components of the IM 053 1CA00 are mo...

Страница 6: ...rs Every chapter provides a self contained description of a specific topic The following guides are available in the manual an overall table of contents at the beginning of the manual an overview of t...

Страница 7: ...anual must be available to all personnel in the project design department installation department commissioning operation The following conditions must be met before using or commissioning the compone...

Страница 8: ...Safety information Manual VIPA System SLIO 4 HB300E IM RE_053 1CA00 Rev 11 29...

Страница 9: ...ired to assemble and wire a controller system consisting of System SLIO components Besides the dimensions the general technical data of System SLIO will be found Topic Page Chapter 1 Basics and Assemb...

Страница 10: ...ge components thereby causing the module to become inoperable or unusable Modules that have been damaged by electrostatic discharges can fail after a temperature change mechanical shock or changes in...

Страница 11: ...tronic power supply may be extended with 2A The System SLIO consists of the following components Bus coupler Periphery modules Power modules Accessories With a bus coupler bus interface and power modu...

Страница 12: ...nic module which is mounted to the terminal module by a safe sliding mechanism With an error the defective module may be exchanged for a functional module with standing installation By an integrated c...

Страница 13: ...ted underneath the terminal of the terminal module With a flat mounting rail for adaption to a flat mounting rail you may remove the spacer of the shield bus carrier With each bus coupler to protect t...

Страница 14: ...Manual VIPA System SLIO 1 6 HB300E IM RE_053 1CA00 Rev 11 29 Dimensions 104 109 76 5 48 5 49 104 109 76 5 15 133 12 9 55 5 62 12 9 Dimensions in mm Dimensions bus coupler Dimensions periphery module...

Страница 15: ...the strips at the upper and lower side of the module The module is fixed to the mounting rail by pushing downward the locking lever The modules may either separately be mounted to the mounting rail o...

Страница 16: ...with 2A More about this may be found at Wiring Mount the mounting rail Please consider that a clearance from the middle of the mounting rail of at least 80mm above and 60mm below respectively 80mm by...

Страница 17: ...module you have to mount the bus cover now The shield bus carrier available as accessory serves to carry the shield bus to connect cable shields The shield bus carrier is mounted underneath the termin...

Страница 18: ...dule the electronic module may be pulled forward after pressing the unlocking lever at the lower side of the module For installation plug the electronic module guided by the strips at the lower side u...

Страница 19: ...ard again Plug again the electronic module which you have removed before 4 5 6 Bus interface and power module of a head module may not be separated Here you may only exchange the electronic module Rem...

Страница 20: ...he stripes to the mounting rail Turn all the locking lever downward again Plug again the electronic module which you have removed before 3 4 5 Remove if exists the wiring of the module group More abou...

Страница 21: ...mounting turn all the locking lever of the module group to be mounted upwards To mount the module group put it to the gap between the both modules and push it guided by the stripes at both sides to t...

Страница 22: ...is vibration proof 10mm Umax 240V AC 30V DC Imax 10A Cross section 0 08 1 5mm2 AWG 28 16 Stripping length 10mm Wiring procedure Insert a suited screwdriver at an angel into the square opening as show...

Страница 23: ...nally protected with a fuse which corresponds to the maximum current This means max 10A is to be protected with a 10A fuse fast respectively by a line circuit breaker 10A characteristics Z It is recom...

Страница 24: ...a sum current of max 2A Afterwards the power module 007 1AB10 is to be placed again To secure the power supply the power modules may be mixed used 007 1AB00 Sys DC 5V DC 24V 10A 007 1AB00 Sys DC 5V D...

Страница 25: ...s The shield bus carrier is mounted underneath the terminal of the terminal module With a flat mounting rail for adaption to a flat mounting rail you may remove the spacer of the shield bus carrier Af...

Страница 26: ...place the power module 007 1AB10 More concerning this may be found above at Wiring RUN MF RUN MF RUN MF RUN MF RUN MF RUN MF RUN MF RUN MF RUN MF RUN MF Behavior After PowerON the MF LED of one module...

Страница 27: ...nterferencing the environment All System SLIO components are developed for the deployment in industrial environments and fulfill high demands on the EMC Nevertheless you should project an EMC planning...

Страница 28: ...g lines must be laid isolated When transmitting signals with small amplitudes the one sided laying of the isolation may be favorable Lay the line isolation extensively on an isolation protected earth...

Страница 29: ...ation one sided Then you only achieve the absorption of the lower frequencies A one sided isolation connection may be convenient if the conduction of a potential compensating line is not possible anal...

Страница 30: ...C Vertical installation EN 61131 2 0 60 C Air humidity EN 60068 2 30 RH1 without condensation rel humidity 10 95 Pollution EN 61131 2 Degree of pollution 2 Mechanical Oscillation EN 60068 2 6 1G Shock...

Страница 31: ...11 29 2 1 Chapter 2 Hardware description Here the hardware components of the IM 053 1CA00 are more described You will find the technical data at the end of this chapter Topic Page Chapter 2 Hardware...

Страница 32: ...E IM RE_053 1CA00 Rev 11 29 Properties 16 Rx and 16 Tx PDOs 2 SDOs Support of every transfer rates PDO linking PDO mapping variable CAN bus address setting via DIP switch Type Order number Description...

Страница 33: ...ower supplied SF red Station fault structure is not corresponding to the configuration BA green Operation mode operational ready for data exchange Operation mode pre operational waiting for parameters...

Страница 34: ...ed 2 DC 24V I DC 24V for power section supply 3 0V I GND for power section supply 4 Sys DC 24V I DC 24V for electronic section supply 5 not connected 6 DC 24V I DC 24V for power section supply 7 0V I...

Страница 35: ...d Shield CAN Ground CAN low CAN Ground CAN high Do not connect 120 7 2 3 120 2 Note The end of the bus cable must be terminated with a 120 terminating resistor to prevent reflections and the associate...

Страница 36: ...arameterizable Diagnostics information read out possible Supply voltage display green LED Group error display red LED Channel error display none Hardware configuration Racks max 1 Modules per rack max...

Страница 37: ...may find an introduction to the telegram structure and the function codes of CANopen The chapter is finished by the description of the Emergency Object as well as the Network Management NMT Topic Pag...

Страница 38: ...equipment supplied by different manufacturers is interchangeable The compatibility of the equipment is further enhanced by the equipment specification DS 401 that defines standards for the technical...

Страница 39: ...t is possible to connect or disconnect any station without interruption to the system It is therefore also possible to commission a system in various stages Extensions to the system do not affect the...

Страница 40: ...am the transfer rate and the module ID via 00 at the address selector within 20s For details to this see below under Transfer rate and module ID The CAN identifier for the in output data of the System...

Страница 41: ...rds user data Identifier 11bit AI 0 1word AI 1 1word AI 2 1word AI 3 1word The CAN messages with analog output data are represented as follows Identifier 0x300 Node address up to 4Words user data Iden...

Страница 42: ...7F Pre Operational 0x05 Operational 0x04 Stopped res Prepared Bit 7 Toggle bit toggles after every send To enable the bus coupler to recognize a network master failure watchdog function you still have...

Страница 43: ...Ereg Inf0 Inf1 Inf2 Inf3 Inf4 Error Code Meaning Info 0 Info 1 Info 2 Info 3 Info4 0x0000 Reset Emergency 0x00 0x00 0x00 0x00 0x00 0x8100 Heartbeat Consumer Node ID LowByte Timer Value HighByte Timer...

Страница 44: ...ea may be accessed via the following objects PDO SDO In PowerON the CAN coupler creates a default configuration see below As soon as the CAN coupler is set to operational with the NMT command 01h ente...

Страница 45: ...5 48 CP Function module 14 Analog 49 52 CP Function module 15 Analog 53 56 CP Function module 16 Analog 57 60 CP Function module PDO is per default blocked and may be accordingly set and activated wit...

Страница 46: ...se with input data Identifier 0x580 Node address up to 8byte input data Identifier 11bit 0x4F 8bit 0x4B 16bit 0x43 32bit Index Low 8bit Index High 8bit Subindex 8bit Data 0 8bit Data 1 8bit Data 2 8bi...

Страница 47: ...bit Data 0 8bit Data 1 8bit Data 2 8bit Data 3 8bit SDO Download Response with response data Identifier 0x580 Node address up to 8byte response data Identifier 11bit 0x60 8bit Index Low 8bit Index Hig...

Страница 48: ...ia SDO Here the segmented SDO protocol is used More about the segmented SDO protocol may be found at www can cia org at CiA301 Information concerning the index allocation may be found in the descripti...

Страница 49: ...f the address selector is still 0 after 20s the following values are set Transfer rate 1Mbit s Module ID 0 not valid To change these settings start with the Proceeding again As long as the LEDs SF BA...

Страница 50: ...ler the bus coupler returns to the normal operating mode status Pre Operational with the set values Note Each module ID may only exist once at the bus The module ID must be set before the bus coupler...

Страница 51: ...t 0 3 10 Data An additional division of the 2 byte identifier into function portion and a module ID gives the difference between this and a level 2 telegram The function determines the type of telegra...

Страница 52: ...Profile for I O Modules CiA301 CiA401 A CANopen device can be structured as follows Communication Status machine SDO PDO PDO SYNC NMT Heartbeat or Node Guarding SDO Status machine Application Object O...

Страница 53: ...e PDOs are named seen from the bus coupler Receive PDOs RxPDOs are received by the bus coupler and contain output data Transmit PDOs TxPDOs are send by the bus coupler and contain input data The assig...

Страница 54: ...45 48 CP Function module 14 Analog 49 52 CP Function module 15 Analog 53 56 CP Function module 16 Analog 57 60 CP Function module PDO is per default blocked and may be accordingly set and activated wi...

Страница 55: ...transmit PDOs default identifier in dependence of the node address Below follows a list of the COB identifiers for the receive and the transmit PDO transfer that are pre set after boot up The transmi...

Страница 56: ...the whole process image is send but only the changed values At the same time a short reaction time is achieved because there is no need to wait for a master request PDOs may also be polled via data re...

Страница 57: ...r state The transmission types 254 255 are asynchronous or also event triggered The transmission type 254 provides an event defined by the manufacturer at 255 it is fixed by the device profile When ch...

Страница 58: ...The first CAN message of the SDO contain process information in 4 of the 8 bytes For access to object directory entries with up to 4byte length one single CAN message is sufficient The following segme...

Страница 59: ...the device 0x06060000 Access failed due to an hardware error 0x06070010 Data type does not match length of service parameter does not match 0x06070012 Data type does not match length of service parame...

Страница 60: ...0x1018 General communication specific parameters e g device name 0x1400 0x140F Communication parameters e g identifier of the receive PDOs 0x1600 0x160F Mapping parameters of the receive PDOs The map...

Страница 61: ...PDO Slave to Master 0x1A00 0x1A0F Mapping parameter for Transmit PDOs TxPDO 0x2001 CAN transfer rate 0x200A Software Package Version 0x200B SLIO Bus Version 0x2028 Module Device name 0x2029 Module Har...

Страница 62: ...igital Input 8 Bit Array see DS 401 0x6002 Polarity Digital Input 8 Bit Array see DS 401 0x6200 Digital Output 8 Bit Array see DS 401 0x6202 Polarity Digital Output 8 Bit Array see DS 401 0x6206 Fault...

Страница 63: ...onal information contains data related to the signal types of the I O device z 1 digital inputs y 1 digital outputs x 1 analog inputs w 1 analog outputs Index Sub index Name Type Attr Map Default valu...

Страница 64: ...error description New errors are always saved at sub index 1 all the other sub indices being appropriately incremented By writing a 0 to sub index 0 the whole error memory is cleared If there has not...

Страница 65: ...ycle period Unsigned32 rw N 0x00000000 Maximum length of the SYNC interval in s If a value other than zero is entered here the coupler goes into error state if no SYNC telegram is received within the...

Страница 66: ...anufacturer Software version Visible string ro N Software version number CANopen software VIPA IM 053 1CA00 1 xx Since the returned value is longer than 4byte the segmented SDO protocol is used for tr...

Страница 67: ...Index Sub index Name Type Attr Map Default value Meaning 0x1010 0 Store Parameter Unsigned8 ro N 0x01 Number of store Options 1 Store all parameters Unsigned32 ro rw 0x01 Stores all storable Parameter...

Страница 68: ...014 0 COB ID Emergency Unsigned32 ro N 0x00000080 Node_ID Identifier of the emergency telegram Index Sub index Name Type Attr Map Default value Meaning 0x1016 0 Consumer heartbeat time Unsigned8 ro N...

Страница 69: ...Code 053 1CA00 0x0531CA00 Index Sub index Name Type Attr Map Default value Meaning 0x1020 0 Verify Configuration Unsigned8 ro N 0x02 Contains general information about the device number of entries 1 C...

Страница 70: ...nto STOP at errors The following error classes may be monitored 0 pre operational 1 no state change 2 stopped 3 reset after 2 seconds Index Sub index Name Type Attr Map Default value Meaning 0x1400 0...

Страница 71: ...mber of Elements Unsigned8 ro N 0x02 Communication parameter for the first receive PDOs sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0xC0000400 NODE_ID COB ID RxPDO3 2 Transmiss...

Страница 72: ...0 Number of Elements Unsigned8 ro N 0x02 Communication parameter for the first receive PDOs sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0x80000000 COB ID RxPDO6 2 Transmission...

Страница 73: ...0 Number of Elements Unsigned8 ro N 0x02 Communication parameter for the first receive PDOs sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0x80000000 COB ID RxPDO9 2 Transmission...

Страница 74: ...Number of Elements Unsigned8 ro N 0x02 Communication parameter for the first receive PDOs sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0x80000000 COB ID RxPD12 2 Transmission t...

Страница 75: ...Number of Elements Unsigned8 ro N 0x02 Communication parameter for the first receive PDOs sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0x80000000 COB ID RxPD15 2 Transmission t...

Страница 76: ...of the PDO can be directly seen in sub index 0 If the mapping is changed the entry in sub index 0 has to be adjusted accordingly Index Sub index Name Type Attr Map Default value Meaning 0x1601 0 Numbe...

Страница 77: ...Default value Meaning 0x1800 0 Number of Elements Unsigned8 ro N 0x05 Communication parameter of the first transmit PDO sub index 0 number of following parameters 1 COB ID Unsigned32 rw N 0x80000180...

Страница 78: ...nsigned8 ro N 0x05 Communication parameter for the 3 transmit PDO 1 COB ID Unsigned32 rw N 0x80000380 NODE_ID COB ID TxPDO3 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhib...

Страница 79: ...Communication parameter for the 6 transmit PDO 1 COB ID Unsigned32 rw N 0x80000000 COB ID TxPDO6 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x0...

Страница 80: ...mmunication parameter for the 9 transmit PDO 1 COB ID Unsigned32 rw N 0x80000000 COB ID TxPDO9 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x000...

Страница 81: ...munication parameter for the 12 transmit PDO 1 COB ID Unsigned32 rw N 0x80000000 COB ID TxPDO12 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x00...

Страница 82: ...munication parameter for the 15 transmit PDO 1 COB ID Unsigned32 rw N 0x80000000 COB ID TxPDO15 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x00...

Страница 83: ...the PDO can be directly seen in sub index 0 If the mapping is changed the entry in sub index 0 has to be adjusted accordingly Index Sub index Name Type Attr Map Default value Meaning 0x1A01 0 Number o...

Страница 84: ...mapped object Unsigned32 rw N 0x000000000 2 byte index 1 byte sub index 1 byte bit width The send PDOs 3 to 16 RxPDO3 16 get an automatic default mapping via the coupler depending from the connected...

Страница 85: ...SLIO bus version Possible values 0x01 SLIO system version 1 Interrupts are not supported 0x02 SLIO system version 2 Interrupts are supported Index Sub index Name Type Attr Map Default value Meaning 0...

Страница 86: ...e Meaning 0x202A 0 Number of connected modules Unsigned8 ro N Contains general information about the device number of entries 1 Module 1 Visible string ro N Software revision of Module 1 N Module N Vi...

Страница 87: ...on of Module N Index Sub index Name Type Attr Map Default value Meaning 0x2040 0 MxFile Visible string ro N MxFile VIPA 053 1CA00 MX000029 xyz The segmented SDO protocol is used for transmission Index...

Страница 88: ...N Module N Visible string ro N Product version of Module N VIPA 021 1BF00 01 V30 001 VIPA 022 1BF00 01 V30 001 The segmented SDO protocol is used for transmission Index Sub index Name Type Attr Map De...

Страница 89: ...ontains general information about the device number of entries 1 Module 1 Octet string ro N Diagnostic data record 1 of Module 1 N Module N Octet string ro N Diagnostic data record 1 of Module N The s...

Страница 90: ...signed8 wo N depending on the compo nents fitted 1 Parameter byte of the 2 configurable module 64 1 Prm 64 Module Unsigned8 wo N depending on the compo nents fitted 1 Parameter byte of the 64 configur...

Страница 91: ...er byte of the 1 configurable module 2 3 Prm 2 Module Unsigned8 wo N depending on the compo nents fitted 3 Parameter byte of the 2 configurable module 64 3 Prm 64 Module Unsigned8 wo N depending on th...

Страница 92: ...parameters to 64 module with any write access The number of configurable modules may be determined with index 0x31FF and subindex 0 The activation of the preset parameters via index 0x3100 0x3140 happ...

Страница 93: ...0 0x01 Param RS1 Octet string w N Parameter record set 1 0x02 Param RS0 Octet string w N Parameter record set 0 0x50 Device name Visible string ro N Device name 0x51 HW Rev Visible string ro N Hardwar...

Страница 94: ...ock Unsigned8 ro N 0x01 Number of available digital 8bit input blocks 0x01 1 input block Unsigned8 rw N 0x00 1 polarity digital input block 0x40 64 input block Unsigned8 rw N 0x00 64 polarity digital...

Страница 95: ...01 1 output block Unsigned8 rw N 0xFF 1 error mode digital output block 0x40 64 output block Unsigned8 rw N 0xFF 64 error mode digital output block By means of this object you may define whether in an...

Страница 96: ...atch value 0x20 32 counter latch value Unsigned32 ro Y 32 counter latch value Index Sub Index Name Type Attr Map Default value Meaning 0x5402 0x00 Number of max entries Unsigned8 ro N depending on the...

Страница 97: ...ker value Unsigned16 ro Y 1 SSI s ticker value 0x10 16 SSI s ticker value Unsigned16 ro Y 16 SSI s ticker value Index Sub Index Name Type Attr Map Default value Meaning 0x5420 0x00 Number of max entri...

Страница 98: ...odule Index Sub Index Name Type Attr Map Default value Meaning 0x5600 0x00 Number of max entries Unsigned8 ro N depending on the compo nents fitted Number of available counter compare values 0x01 1 co...

Страница 99: ...values 0x01 1 PWM value Unsigned32 rw Y 1 PWM pulse duration value 0x10 16 PWM value Unsigned32 rw Y 16 PWM pulse duration value Index Sub Index Name Type Attr Map Default value Meaning 0x5621 0x00 Nu...

Страница 100: ...t block Unsigned8 ro N 0x01 Number of available digital 8bit input blocks 0x01 1 input block Unsigned8 rw N 0x00 1 polarity digital input block 0x40 64 input block Unsigned8 rw N 0x00 64 polarity digi...

Страница 101: ...input channels 1 input inverted 0 input not inverted Index Sub Index Name Type Attr Map Default value Meaning 0x6206 0x00 8bit digital output block Unsigned8 ro N 0x01 Number of available digital 8bit...

Страница 102: ...to the value configured by this object Index Sub Index Name Type Attr Map Default value Meaning 0x6401 0x00 2byte input block Unsigned8 ro N depending on the compo nents fitted Number of available an...

Страница 103: ...igger Bit no Interrupt trigger 0 Upper limit exceeded 6424 1 Input below lower limit 6425 2 Input changed by more than negative delta 6426 3 to 7 Reserved Index Sub Index Name Type Attr Map Default va...

Страница 104: ...analog PDOs inhibit time object 0x1800ff sub index 3 limit value monitoring objects 0x6424 0x6425 delta function object 0x6426 Index Sub Index Name Type Attr Map Default value Meaning 0x6424 0x00 Numb...

Страница 105: ...tive object 0x6423 The data format corresponds to that of the analog inputs Index Sub Index Name Type Attr Map Default value Meaning 0x6426 0x00 Number of Inputs Unsigned8 ro N depending on the compo...

Страница 106: ...r an output is set to a pre defined error value set in object 0x6444 in case of an internal device failure 0 current value 1 set to error value 0x6444 Index Sub Index Name Type Attr Map Default value...

Страница 107: ...ce 0x06060000 Access failed due to an hardware error 0x06070010 Data type does not match length of service parameter does not match 0x06070012 Data type does not match length of service parameter too...

Страница 108: ...error register and closes with 5byte additional code Error code low byte Error code high byte ErrorRegister Index 0x1001 Info 0 Info 1 Info 2 Info 3 Info 4 Error Code Meaning Info 0 Info 1 Info 2 Inf...

Страница 109: ...us changes and the corresponding NMT command specifiers Initialize Communication Initialize Hardware Pre Operation Prepared Operational 12 12 7 6 6 10 11 7 10 11 8 10 11 8 1 Power On 1 The initializat...

Страница 110: ...y When the time determined by the product of guard time 0x100C and life time factor 0x100D has expired the module will automatically assume the status pre operational When either the guard time object...

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