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Chapter 5   CANopen

 

Manual VIPA System 200V  

5-72 

 

HB97E - IM - Rev. 06/29 

 
 
 

Index 

Sub- 
index 

Name 

Type 

Attr.  Map.  Default value  Meaning 

0x1403 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 

0xC0000500 
+ NODE_ID 

COB-ID RxPDO4 

 2 

Transmission 
type

 

Unsigned8  rw 

N 

0xFF 

Transmission type of the PDO 
 

 

 
 
 

Index 

Sub- 
index 

Name 

Type 

Attr.  Map.  Default value  Meaning 

0x1404 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 

0xC0000780 
+ NODE_ID 

COB-ID RxPDO5 

 2 

Transmission 
type

 

Unsigned8  rw 

N 

0xFF 

Transmission type of the PDO 
 

 

 
 
 

Index 

Sub- 
index 

Name 

Type 

Attr.  Map.  Default value  Meaning 

0x1405 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 

0xC0000240 
+ NODE_ID 

COB-ID RxPDO6 

 2 

Transmission 
type

 

Unsigned8  rw 

N 

0xFF 

Transmission type of the PDO 
 

 

Communication 
parameter RxPDO4 

Communication 
parameter RxPDO5 

Communication 
parameter RxPDO6 

Содержание System 200V IM Series

Страница 1: ...Manual VIPA System 200V IM Order No VIPA HB97E_IM Rev 06 29...

Страница 2: ...Lerrzeichen...

Страница 3: ...ual were verified with respect to the hard and software However we assume no responsibility for any discrepancies or errors The information in this manual is verified on a regular basis and any requir...

Страница 4: ...200V Chapter 3 Profibus DP This chapter contains a description of Profibus applications for the System 200V The text describes the configuration of the VIPA Profibus master and slave modules as well a...

Страница 5: ...upler and the parameterization of the System 200V modules Chapter 8 Ethernet coupler Content of this chapter is the description of the Ethernet coupler IM 253NET from VIPA It contains all information...

Страница 6: ...About this manual Manual VIPA System 200V Subject to change to cater for technical progress...

Страница 7: ...P Master Firmware update 3 32 IM 253 1DPx0 DP V0 slave Structure 3 34 IM 253 2DP20 DP V0 slave with DO 24xDC 24V Structure 3 37 IM 253 2DP50 DP V0 slave redundant Structure 3 41 IM 253 xDPx0 DP V0 sla...

Страница 8: ...CANopen slave Baudrate and module ID 5 51 IM 253CAN CANopen slave Message structure 5 52 IM 253CAN CANopen slave PDO 5 54 IM 253CAN CANopen slave SDO 5 58 IM 253CAN CANopen slave Object directory 5 60...

Страница 9: ...e of the automatic address allocation 8 14 Project engineering under WinNCS 8 15 Diagnosis and test via Internet Browser 8 16 ModbusTCP 8 20 Modbus function codes 8 21 Siemens S5 Header Protocol 8 26...

Страница 10: ...Contents Manual VIPA System 200V iv HB97E IM Rev 06 29...

Страница 11: ...ng guides are available in the manual an overall table of contents at the beginning of the manual an overview of the topics for every chapter an index at the end of the manual The manual is available...

Страница 12: ...one The manual 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 th...

Страница 13: ...a summary The chapter also contains the general specifications of the System 200V i e dimensions installation and environmental conditions Below follows a description of Introduction of the System 200...

Страница 14: ...e to become inoperable or unusable Modules that have been damaged by electrostatic discharges may fail after a temperature change mechanical shock or changes in the electrical load Only the consequent...

Страница 15: ...are installed directly on a 35mm DIN rail Bus connectors inserted into the DIN rail provide the interconnecting bus The following figure illustrates the capabilities of the System 200V System 200V dec...

Страница 16: ...to 4 rows In combination with a Profibus DP master and slave the PLC CPUs or the PC CPU form the basis for a Profibus DP network in accordance with DIN 19245 3 The DP network can be configured with W...

Страница 17: ...2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0 1 2 3 4 5 6 7 VIPA 221 1BF00 X 2 3 4 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0 1 2 3 4 5 6 7 VIPA 221 1BF00 X 2 3 4 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0 1 2...

Страница 18: ...Chapter 1 Basics Manual VIPA System 200V 1 6 HB97E IM Rev 06 29...

Страница 19: ...mble and wire a controller consisting of Systems 200V components Below follows a description of a general summary of the components steps required for the assembly and for wiring EMC guidelines for as...

Страница 20: ...s You may use the following standard 35mm profile rail to mount the System 200V modules 35 mm 27 mm 15 mm 1 5 mm 35 mm 27 mm 7 5 mm 1 mm System 200V modules communicate via a backplane bus connector T...

Страница 21: ...7 VIPA 221 1BF00 X 2 3 4 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0 1 2 3 4 5 6 7 VIPA 221 1BF00 X 2 3 4 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0 1 2 3 4 5 6 7 VIPA 221 1BF00 X 2 3 4 1 2 3 4 5 6 7 8 9 I...

Страница 22: ...4 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0 1 2 3 4 5 6 7 VIPA 221 1BF00 X 2 3 4 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0 1 2 3 4 5 6 7 VIPA 221 1BF00 X 2 3 4 1 2 3 4 5 6 7 8 9 I0 DI 8xDC24V SM 221 0...

Страница 23: ...odule PC CPU and bus coupler 1 2 4 3 Modules are to install adjacent to each other Gaps are not permitted between the modules since this would interrupt the backplane bus A module is only installed pr...

Страница 24: ...er left location with the installation of your header module like CPU PC or bus coupler and install the peripheral modules to the right of this 1 2 4 3 Insert the module that you are installing into t...

Страница 25: ...ed clip at the bottom by which the module can be removed from the rail Insert a screwdriver into the slot as shown The clip is unlocked by pressing the screwdriver in an upward direction Withdraw the...

Страница 26: ...gnaling and power cables In contrast to screw terminal connections spring clip wiring is vibration proof The assignment of the terminals is contained in the description of the respective modules You m...

Страница 27: ...ction shows the wiring procedure from above Insert a screwdriver at an angel into the square opening as shown Press and hold the screwdriver in the opposite direction to open the contact spring Insert...

Страница 28: ...e follow all the important dimensions of the System 200V 1tier width HxWxD in mm 76 x 25 4 x 74 2tier width HxWxD in mm 76 x 50 8 x 74 80 mm 60 mm 74 mm 88 mm ca 110 mm 84 mm 85 mm 76 62 mm 76 mm 2 77...

Страница 29: ...ly and installation guidelines HB97E IM Rev 06 29 2 11 84 46 mm 88 mm 4 66 mm 27 mm 8 cm 76 mm 24 mm 11 mm 85 mm 89 mm 89 mm 27 mm 8 cm 76 mm 12 cm 125 mm 91 mm 65 mm 24 mm 5 mm 11 mm 85 mm Function m...

Страница 30: ...causing illegal interference to the environment All System 200V components were developed for applications in harsh industrial environments and they comply with EMC requirements to a large degree In...

Страница 31: ...lines must be screened Analog lines must be screened Where low amplitude signals are transferred it may be advisable to connect the screen on one side of the cable only Attach the screening of cables...

Страница 32: ...where it is not possible to install equipotential bonding conductors analog signals in the mV or A range are transferred foil type shields static shields are used Always use metallic or metallized cov...

Страница 33: ...aster Deployment at CPU 21x 3 17 IM 208DP Master Project engineering 3 18 IM 208DP Master Slave operating mode 3 27 IM 208DP Master Overall reset 3 31 IM 208DP Master Firmware update 3 32 IM 253 1DPx0...

Страница 34: ...al HB97_CPU CPU 24xDP CPU 24x for S5 from Siemens with integrated Profibus DP slave refer to manual HB99 Profibus DP master class 1 Project design using WinNCS from VIPA or Siemens SIMATIC Manager Pro...

Страница 35: ...1 0 D P Type Order number Description Page IM 253DP VIPA 253 1DP00 Profibus DP V0 slave 3 34 IM 253DP VIPA 253 1DP01 Profibus DP V0 V1 slave 3 55 IM 253DP VIPA 253 1DP31 Profibus DP V0 V1 slave ECO 3...

Страница 36: ...Description Page IM 253DP DO 24xDC 24V VIPA 253 2DP20 Profibus DP V0 slave with 24 DO 3 37 PW ER RD DE IM 253 DPR D P 1 D P 2 1 2 DC 24V X1 VIPA 253 2DP50 X 2 3 4 PW ER RD DE 9 9 Type Order number Des...

Страница 37: ...nostic Profibus DP is a special protocol intended mainly for automation tasks in a manufacturing environment DP is very fast offers Plug n Play facilities and provides a cost effective alternative to...

Страница 38: ...data between the System 200V periphery and the high level master In accordance with the Profibus standards these devices have no bus access rights They are only allowed to acknowledge messages or retu...

Страница 39: ...sfer phase the master checks whether the defined configuration corresponds with the actual configuration This check is performed during the definition and configuration phase The verification includes...

Страница 40: ...r fast error localization Diagnostic messages are transferred via the bus and collected by the master As a further function the device specific diagnostic of the DP V1 have been enhanced and divided i...

Страница 41: ...ive and the data in the buffer send is transferred into the Profibus output area The exchange of data between DP master and DP slave is completed cyclically and it is independent from the V bus cycle...

Страница 42: ...ave 3 The DPM 1 Master Class 1 has the token and is able to send messages to or retrieve them from slave 1 then slave 2 etc in a fixed sequence until it reaches the last slave of the current list MS0...

Страница 43: ...he DPM 1 and is closely linked to the connection for cyclic data communication It can be used by the master that has parameterized and configured the respective slave Services for Acyclic data communi...

Страница 44: ...t stages Extensions to the system do not affect stations that have already been commissioned Any failures of stations or new devices are detected automatically The fiber optic system employs pulses of...

Страница 45: ...ineering by means of VIPAs WinNCS or Siemens SIMATIC Manager or ComProfibus Diagnostic facilities Properties 4 2 3 IM 208 DP D P R E IF DE MC MMC VIPA 208 1DP01 X 2 3 4 RN ST MR 1 Front view IM 208DP...

Страница 46: ...nsfer from MMC to Flash ROM without error IF red Initialization error for bad parameterization DE green DE Data exchange indicates Profibus communication activity At the DP master with the order no 20...

Страница 47: ...a detailed explanation of the change between RUN and STOP mode In position MR you may activate the data transfer from MMC into Flash ROM a serial mode for deploying the VIPA Green Cable Overall reset...

Страница 48: ...to process Power ON At a STOP RUN crossover the communication link to the slaves is established At this time only the R LED will be on Once communication has been established by means of valid bus pa...

Страница 49: ...larms causing the CPU to call the according OBs Process alarm OB40 Diagnostic alarm OB82 Slave failure OB86 As soon as the BASP signal i e Befehlsausgabesperre command output lock comes from the CPU t...

Страница 50: ...us from Siemens and export as 2bf file to MMC Transfer Project only at IM 208DP with SIP Tool and Green Cable V Bus to 1st DP Master PC CPU DP Master MMC MPI DP MMC RN ST MR Flash ROM Tip 3Sec Green C...

Страница 51: ...st master in the system Additional DP master have to be exported as wld file res 2bf file The steps you have to follow with the hardware configurator from Siemens shall be shortly described here 1 Cr...

Страница 52: ...you drag and drop the according System 200V modules from the hardware catalog at VIPA_CPU21x to the slots following the CPU Start with slot 1 The same is to do for the DP master place holder 8 For pr...

Страница 53: ...reen Cable from VIPA The Green Cable has the order no VIPA 950 0KB00 and may only be deployed at compatible modules from VIPA Please regard the instructions to the Green Cable further down At deployme...

Страница 54: ...e the MMC again This allows you to configure several masters at the same backplane bus with one MMC Approach 10 Create with File Memory Card File New a new wld file This need to have the file name dpm...

Страница 55: ...At successful data transfer the green R LED blinks 3 times At error the red E LED blinks 3 times RN ST MR RN ST MR RN ST MR Transfer Tip R E IF DE MC R E IF DE MC R E IF DE MC R E IF DE MC R E IF DE...

Страница 56: ...execute firmware updates of the CPUs and fieldbus masters Via the Green Cable and an upload application you may update the firmware of all recent VIPA CPUs with MP 2 I jack and certain fieldbus maste...

Страница 57: ...been established the SIP tool will display OK in the status line located at the top otherwise an ERR message will be displayed 16 Click Download select your dpm 2bf res dpm wld file and transfer this...

Страница 58: ...pheral module that is connected to the corresponding slave via the backplane bus You can select automatic addressing for the periphery by clicking Auto and display allocated addresses by means of MAP...

Страница 59: ...PU 315 2DP with virtual Profibus slave address 1 for System 200V The DP slave contains CPU 21x I O periphery and IM 208DP set parameter Transfer project to IM 208 to No Project is to be transferred to...

Страница 60: ...nd drop the according System 200V modules from the hardware catalog at VIPA_CPU21x to the slot following the CPU Start with slot 1 The same is to do for the DP master substitute Set at the IM 208DP pr...

Страница 61: ...ve of the station type CPU2xxDP This is to find in the hardware catalog at Profibus DP Additional field devices I O VIPA VIPA_CPU2xxDP after including VIPA04D5 GSD Assign the Profibus address to the D...

Страница 62: ...erating mode DP master General Properties Profibus address 2 125 which is still unused Hardware configuration System 200V VIPA_21x GSD required 0 1 CPU 21x I O periphery and IM 208DP Transfer project...

Страница 63: ...in 3s once more in pos MR The content of the Flash ROM is deleted The operation has been executed properly when the green R LED blinks 3 times and the IF LED is permanent on Clear R E IF DE MC R E IF...

Страница 64: ...ly careful Under certain circumstances you may destroy the DP master for example if the voltage supply is interrupted during transfer or if the firmware file is defective In this case please call the...

Страница 65: ...he MMC with the firmware into the CPU Please take care of the correct plug in direction of the MMC Turn on the voltage supply After a short boot up time the alternate blinking of the LEDs SF and FC sh...

Страница 66: ...wer supply for the peripheral modules 3 5A max Supports all Profibus data transfer rates Properties Front view 253 1DP00 3 1 PW ER RD DE IM 253DP ADR X 2 3 4 VIPA 253 1DP00 1 2 DC 24V X1 9 9 2 4 2 1 4...

Страница 67: ...the configuration is bad RD green Is turned on when the status is Data exchange and the V bus cycle is faster than the Profibus cycle Is turned off when the status is Data exchange and the V bus cycle...

Страница 68: ...off image of the diagnostic data is saved to Flash ROM Please take care to reset the correct Profibus address so at the next Power ON the right Profibus address is used Every Profibus slave has an int...

Страница 69: ...ed Nominal output voltage DC 24V max 1A per channel Total output current max 4A LED for error indication at overload over temperature or short circuit Suitable for the control of small motors lamps ma...

Страница 70: ...configuration is bad RD green Is turned on when the status is Data exchange and the V bus cycle is faster than the Profibus cycle Is turned off when the status is Data exchange and the V bus cycle is...

Страница 71: ...signment 1 shield 2 n c 3 RxD TxD P Line B 4 RTS 5 M5V 6 P5V 7 n c 8 RxD TxD N Line A 9 n c The DC 24V power supply to the output section is provided internally by the power supply of the slave sectio...

Страница 72: ...n addition to the electronics on the bus coupler the supply voltage is also used to power any modules connected to the backplane bus Please note that the maximum current that the integrated power supp...

Страница 73: ...oon as the active slave is failing the passive slave accesses the peripheral outputs I O 1 Slave 2 Slave CPU IM 208 1 Master 2 Master I O I O IM 253 DPR IM 253 DPR 1 Slave 2 Slave Next DPR Slave Pleas...

Страница 74: ...the configuration is bad RD green Blinks at positive self test READY and successful initialization DE green DE Data exchange indicates Profibus communication activity During redundant operation the a...

Страница 75: ...ion a once off image of the diagnostic data is saved to Flash ROM Please take care to reset the correct Profibus address so at the next Power ON the right Profibus address is used Every Profibus slave...

Страница 76: ...couplers in principal and the internal communication Microcontroller bus galvanic isolation by means of opto couplers and DC DC converter RS485 Profibus DP System 200V interface System 200V backplane...

Страница 77: ...GSD files for the VIPA components You may also download the GSD file via the ftp server ftp ftp vipa de support profibus_gsd_files After the installation of the GSD file you will find this entry e g i...

Страница 78: ...nication errors at the backplane bus the Profibus slave switches into STOP and boots again after app 2 seconds As soon as the test has been completed positive the RD LED blinks Power On Project data c...

Страница 79: ...on and the DP cycle Profibus DP communication This guarantees that there is one Profibus transmission per V Bus cycle The following values are possible Sync Mode off DP and V Bus cycle are asynchronou...

Страница 80: ...AM You can manually save the diagnostic data in Flash ROM by changing the address switch to 00 during DataExchange for a short while If a power failure or a voltage drop is detected a time stamp is sa...

Страница 81: ...header byte that are prepended to the device related diagnostic bytes The Profibus standards contain more detailed information on the structure of standard diagnostic data These standards are availab...

Страница 82: ...0 Byte 5 and the header Byte 6 are not stored the data in Byte 0 Byte 23 corresponds to Byte 7 Byte 30 that is transferred via Profibus The structure of the device related diagnostic data is as follow...

Страница 83: ...DP parameter error 1 Module no or slot no 1 32 module no or slot no 0 module no or slot no not available 2 Length user parameter data 3 Mode 0 standard mode 1 400 mode 4 Number of digital modules sla...

Страница 84: ...ime stamp is saved immediately to the EEPROM when a power failure or a voltage drop is detected If there is still enough voltage the diagnostic data is transferred to the master At the next restart th...

Страница 85: ...ule no or slot no not available 2 14 Process alarm data New DP address assigned Length 2 When the slave has received the service with Set Slave Address it sends the respective diagnostic message and r...

Страница 86: ...2 reserved Bit 3 reserved Bit 4 slave is in DataExchange Bit 5 reserved Bit 6 reserved Bit 7 reserved X 6 Red_State of second slave X 7 00h reserved permanent 00h As from GSD version 1 30 from VIPA th...

Страница 87: ...a transfer rates 1 MSAC_C1 connection Read Write with 244Byte data 4 Byte DP V1 Header 240Byte user data 3 MSAC_C2 connections Initiale Read Write DataTransport Initiate Abort with each 244Byte data 4...

Страница 88: ...switch 4 RS485 interface 2 1 4 3 PW ER RD DE IM 253 DPO Adr X 2 3 4 VIPA 253 1DP11 DC24V 1 2 IN OUT 9 9 Front view 253 1DP11 3 1 PW ER RD DE IM 253DP ADR X 2 3 4 VIPA 253 1DP31 1 2 DC 24V X1 2 4 64 32...

Страница 89: ...n the configuration is bad RD green Is turned on when the status is Data exchange and the V bus cycle is faster than the Profibus cycle Is turned off when the status is Data exchange and the V bus cyc...

Страница 90: ...f a DIL switch Addresses may range from 1 to 125 Addresses must be unique on the bus The slave address must have been configured before the bus coupler is turned on When the address is set to 00 durin...

Страница 91: ...couplers in principal and the internal communication Microcontroller bus galvanic isolation by means of opto couplers and DC DC converter RS485 Profibus DP System 200V interface System 200V backplane...

Страница 92: ...to your slave is shown in the Readme txt file of Cx000023_Vxxx ZIP Please install the required files from your floppy disc into your configuration tool Details on the installation of the GSD and or t...

Страница 93: ...nication errors at the backplane bus the Profibus slave switches into STOP and boots again after app 2 seconds As soon as the test has been completed positive the RD LED blinks Power On Project data c...

Страница 94: ...available 00h 1 00h fix 00h 2 08h fix 08h 3 0Ah fix 0Ah 4 81h fix 81h 5 00h fix 00h 6 00h fix 00h 7 Bit 0 0 Enhanced diagnostic enable 1 Enhanced diagnostic disable Bit 1 0 Module status enable 1 Mod...

Страница 95: ...3 0Ah fix 0Ah 4 81h fix 81h 5 00h fix 00h 6 00h fix 00h 7 Bit 0 0 Identifier related diagnostic enable 1 Identifier related diagnostic disable Bit 1 0 Module status enable 1 Module status disable Bit...

Страница 96: ...e Slot_Number 0 addresses the data of the PROFIBUS coupler the Slot_Number 0 addresses the data of the Function modules AI 4x12Bit SM 231 IM 253 DP X 2 3 4 VIPA 253 1DP01 DO 8xDC24V SM 222 Module 1 DO...

Страница 97: ...iguration see module configuration and module type R Number of stored diagnostic D0h W Deletes diagnostic entries R Diagnostic entries D1h W Stores diagnostic entries permanently in the FLASH memory R...

Страница 98: ...ital Input Byte DI 8 9FC1h 1 DI 8 Alarm 1FC1h 1 DI 16 9FC2h 2 DI 16 1C 08C0h 6 6 DI 32 9FC3h 4 DO 8 AFC8h 1 DO 16 AFD0h 2 DO 32 AFD8h 4 DIO 8 BFC9h 1 1 DIO 16 BFD2h 2 2 AI2 15C3h 4 AI4 15C4h 8 AI4 fas...

Страница 99: ...The system also stores diagnostic messages like the states Ready res DataExchange that are not passed on to the master With every status change between Ready and DataExchange the Profibus slave store...

Страница 100: ...the diagnostic bytes More detailed information to the structure of the slave norm diagnostic data is to find in the norm papers of the Profibus User Organization The slave norm diagnostic data have t...

Страница 101: ...3 Entry for module on slot 4 Bit 4 Entry for module on slot 5 Bit 5 Entry for module on slot 6 Bit 6 Entry for module on slot 7 Bit 7 Entry for module on slot 8 X 2 Bit 0 Entry for module on slot 9 Bi...

Страница 102: ...le status module slot 6 Bit 5 4 Module status module slot 7 Bit 7 6 Module status module slot 8 X 6 Bit 1 0 Module status module slot 9 Bit 3 2 Module status module slot 10 Bit 5 4 Module status modul...

Страница 103: ...standard 00001 Short circuit 00010 Undervoltage Supply voltage 00011 Overvoltage Supply voltage 00100 Output Module is overloaded 00101 Temperature rise output Module 00110 Open circuit sensors or act...

Страница 104: ...module specific and is described at the concerning module If there is a diagnostic event for channel channel group 0 of a module there may be a module error as well as a channel error The entry is mad...

Страница 105: ...e is not parameterized Bit 7 Parameter assignment error x 5 Bit 0 3 Module class 1111 Digital module 0101 Analog module 1000 FM 1100 CP Bit 4 Channel information available Bit 5 User information avail...

Страница 106: ...e with analog in outputs 76h Counter x 9 Lenght of the channel specific diagnostic x 10 Number of channels per module x 12 Diagnostic event on the channel channel group 0 Assignment see module descrip...

Страница 107: ...the hardware configurator with the configured DP slave Click on the DP slave and choose PLC Update Firmware This menu option is only available when the highlighted DP slave supports the function Upda...

Страница 108: ...M data the modules can online be identified Starting with Profibus firmware V110 the data are available at the Profibus slaves Note Only one DP master may access at one time the I M data The data str...

Страница 109: ...ion of the I M data 0101 hex Version 1 1 IM_SUPPORTED read 2Byte 001F hex Information about available I M Data IM_INDEX 650000 65004 Maintenance data 1 IM_INDEX 65001 TAG_FUNCTION read write 32Byte Cl...

Страница 110: ...deployed with a single CPU as long as they are located on the same backplane bus please take care not to exceed the max current consumption The maximum length of a FO link between two slaves may not...

Страница 111: ...d on RS485 interface specifications as the data communication medium The Profibus line must be terminated with ripple resistor The following picture illustrates the terminating resistors of the respec...

Страница 112: ...8 15 8 all in mm Note To connect this plug please use the standard Profibus cable type A with solid wire core according to EN50170 Under the order no 905 6AA00 VIPA offers the EasyStrip de isolating t...

Страница 113: ...erference Fiber optic systems have a linear structure Each device requires two lines a transmit and a receive line dual core It is not necessary to provide a terminator at the last device The Profibus...

Страница 114: ...cessor reception transmission 7mm Pressring Crimp pressring here with crimping tool Cut protruding fiber using a knife to leave app 1 5 mm Polish the ends to a flat surface using the HP polishing set...

Страница 115: ...tion against polarity reversal These plugs can be inserted in two positions Please check the polarity when you have turned on the power The light emitting fiber is the fiber for reception Assembling a...

Страница 116: ...connect modules that are able to issue alarms IM 253 1 Input output periphery IM 253 2 Input output periphery IM 253 4 Input output periphery IM 253 5 Input output periphery CPU IM 208 1 2 3 4 IM 208...

Страница 117: ...iphery IM 253 2 Input output periphery IM 253 3 Input output periphery CPU IM 208 2 4 IM 253 4 Input output periphery IM 253 5 Input output periphery Expansion options master only by means of electric...

Страница 118: ...3 1 Input output periphery IM 253 2 Input output periphery IM 253 4 Input output periphery IM 253 3 Input output periphery Links to other masters via optical or electrical links by means of an optical...

Страница 119: ...253 2 Input output periphery IM 253 3 Input output periphery B A A B IM 253 4 Input output periphery IM 253 5 Input output periphery Expandable by master only electrical slaves electrical Bus connecto...

Страница 120: ...y Profibus slave module as required Configure your Profibus master in your master system You can use the WinNCS of VIPA for this purpose A number of different transfer methods are employed due to the...

Страница 121: ...types of network interruption A B Slave 1 Slave 2 Master LED slave 1 Position of interruption LED A B RD blinks off ER off on DE off off LED slave 2 Position of interruption LED A B RD blinks on ER o...

Страница 122: ...bus and monitored at the output module The counter values have to be created in the CPU The CPU has to count from FFh to 00h and transfer the counter value cyclically into the output area of the Profi...

Страница 123: ...Add a Profibus slave VIPA_CPU21x with address 1 Include the CPU 214 1BA02 at slot 0 Include the DP master 208 1DP01 at slot 1 To connect your IM 253DP you have to execute the following steps after inc...

Страница 124: ...e used with VIPA CPUs of the Systems 100V 200V 300V and 500V For the employment the following settings are required Choose the interface parameterization PC Adapter MPI in your project engineering too...

Страница 125: ...the output module at address 0 Vice versa the CPU 214DP has to count from 00h to FFh store the value in the output area of the CPU slave and transfer it to the master via Profibus This value is monit...

Страница 126: ...U 214 1BA02 at slot 0 of the slave system Include the DP master 208 1DP01 place holder at slot 1 and include the output module 222 1BF00 at slot 2 Give the output module 222 1BF00 at slot 0 To connect...

Страница 127: ...nsfer via Profibus L IB 11 load input byte 11 output data of the CPU214DP and T QB 0 transfer to output byte 0 BE Read counter value from MB 0 decrement it store in MB 0 and transfer it to the CPU 21x...

Страница 128: ...ile vipa_21x gsd Project a CPU 315 2DP with DP master master address 2 Add a Profibus slave VIPA_CPU21x with address 1 Include the CPU 214 2BP02 at slot 0 Select the following parameters for the CPU 2...

Страница 129: ...B 16 FE control byte for Master CPU T PQB 40 Data transfer via Profibus L PIB 31 load periphery byte 31 input data from Profibus slave and T IB 0 transfer into output byte 0 BE Read counter value fro...

Страница 130: ...or at both ends tap lines are permitted Medium Screened twisted pair cable under certain conditions unscreened lines are permitted Data transfer rate 9 6kBaud to 12MBaud Total length 100m without repe...

Страница 131: ...or required Medium dual core fiber optic cable Data transfer rate 12MBaud Total length at POF FO max 50m between stations at HCS FO max 300m between stations Max no of stations 17 stations incl Master...

Страница 132: ...re permitted Medium Screened twisted pair cable under certain conditions unscreened lines are permitted Data transfer rate 9 6kBaud to 12MBaud Total length 100m without repeater for 12MBaud 1000m with...

Страница 133: ...nsfer rate 12MBaud Total length at POF FO max 50m between stations at HCS FO max 300m between stations Max no of stations 17 stations incl master see below Diagnostic functions Standard diagnostic The...

Страница 134: ...are permitted Medium Screened twisted pair cable under certain conditions unscreened lines are permitted Data transfer rate 9 6kBaud to 12MBaud automatic adjustment Total length 100m without repeater...

Страница 135: ...h 100m without repeaters for 12MBaud 1000m with repeaters Max no of stations 32 stations in any segment without repeaters Extendible to 126 stations when using repeaters Diagnostic functions Standard...

Страница 136: ...Chapter 3 Profibus DP Manual VIPA System 200V 3 104 HB97E IM Rev 06 29...

Страница 137: ...us coupler its installation and commissioning The chapter is concluded by the technical data Below follows a description of System overview and Interbus basics Hardware structure deployment and commis...

Страница 138: ...the VIPA Interbus slave to connect up to 16 input and 16 output modules of the System 200V to your Interbus At present one Interbus slave module is available from VIPA PW ER BA RC RD IM 253 IBS X 2 3...

Страница 139: ...tributed shift register The different registers of the devices connected to the ring are a portion of this shift register The master shifts the data through this shift register The ring structure of t...

Страница 140: ...d the output data is transferred from the master to the devices This is a full duplex data transfer Although Interbus appears to have a simple linear structure a single line linking the master with ev...

Страница 141: ...al construction of the entire Interbus system Interbus operates by means of a master slave access method where the master also provides the link to any high level control system The ring structure inc...

Страница 142: ...correct position in the shift registers of the different stations when the entire cumulative frame telegram has been sent and read back again At this point the master issues a special control command...

Страница 143: ...upply voltage is available ER red Error Application error BA green Bus active The BA LED bus active indicates an active Interbus data transfer RC green Remote bus Check The RC LED remote bus Check ind...

Страница 144: ...supply requires an external voltage of DC 24V In addition to the internal circuitry of the bus coupler the supply voltage is also used to power any devices connected to the backplane bus Please note t...

Страница 145: ...olation by means of optocouplers and DC DC converters RS422 Inbound Interbus line System 200V interface circuitry System 200V backplane bus Interbus protocol chip Expansion registers Microcontroller P...

Страница 146: ...be caused by potential differences However according to the recommendations of the Interbus club it is sufficient to provide galvanic isolation between inbound remote bus interfaces and the remainder...

Страница 147: ...tarting from the bus coupler Where the data width differs between inputs and outputs the larger of the two determines the data width used by the Interbus coupler This is always rounded up to a complet...

Страница 148: ...t IBS coupler output byte 0 process data allocation outputs output byte 7 output byte 8 output byte 9 output byte 10 output byte 11 output byte 12 output byte 13 output byte 14 output byte 15 output b...

Страница 149: ...l be transferred Where the width of the input and output data differs the larger value is used for the Interbus data width The remaining 3Bit are reserved When the module is identified by means of the...

Страница 150: ...ensure that you transfer consistent data properly from the Interbus master into your PLC For further information please refer to the manual for your Interbus master You may combine a maximum of 16 in...

Страница 151: ...is determined Then the modules are identified by means of their type identifier When the peripheral structure has been registered the location identifiers for the modules are generated This is then tr...

Страница 152: ...n RC off on on RD on on off Slave 2 Interruption at position LED A B C ER off off off BA off off on RC off off on RD on on off Slave 3 Interruption at position LED A B C ER off off off BA off off on R...

Страница 153: ...nterbus master exchanges a contiguous input and output data block with every Interbus coupler The data modules of the PLC or the configuration software allocate the bytes contained in this data block...

Страница 154: ...ound remote bus Interbus interface Connection remote bus 9pin D type as per DIN 19258 Network topology Ring with an integrated return line Medium Screened twisted pair cable Data transfer rate 500kBit...

Страница 155: ...on of the CAN specific objects Technical data Topic Page Chapter 5 CANopen 5 1 System overview 5 2 Basics 5 4 IM 208CAN CANopen master Structure 5 6 IM 208CAN CANopen master Project engineering 5 8 IM...

Страница 156: ...aud up to 125 slaves 5 6 Currently the following CANopen bus couplers are available from VIPA PW ER RD BA IM 253CAN ADR X 3 5 4 VIPA 253 1CA01 1 2 DC 24V X1 C A N 9 9 PW ER RD BA IM 253CAN ADR X 2 3 4...

Страница 157: ...Rev 06 29 5 3 PW ER DO 24xDC24V PW ER RD BA IM 253 CAN ADR 1 2 DC 24V X1 VIPA 253 2CA20 X 2 3 4 9 9 C A N Type Order number Description Page IM 253CAN VIPA 253 1CA20 CAN Bus CANopen slave with DO 24x...

Страница 158: ...ding of DS 301 by the CAN in Automation association CIA The communication specifications DS 301 define standards for CAN devices These specifications mean that the equipment supplied by different manu...

Страница 159: ...e 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 operational...

Страница 160: ...pen master Project engineering under WinCoCT from VIPA Diagnosis ability 40 Transmit PDOs 40 Receive PDOs PDO Linking PDO Mapping 1 SDO as Server 127 SDO as Client Emergency Object NMT Object Node Gua...

Страница 161: ...Note If all LEDs are blinking with 1Hz the CAN master awaits valid parameters from the CPU If the CAN master is not supplied with parameters by the CPU his LEDs get off after 5s The VIPA CAN Bus maste...

Страница 162: ...es with Set PLC Parameters Create a slave group with and add your CANopen slaves via Add modules to your slaves via Modules and parameterize them if needed Set your process data connections in the mat...

Страница 163: ...gsd Start the hardware configurator from Siemens Close all projects Choose Options Install new GSD file Select VIPA_21x GSD Now the modules of the System 200V from VIPA are integrated in the hardware...

Страница 164: ...trols and engineer connections The selection of the devices happens via a list that can be extended for your needs with an EDS file Electronic Data Sheet at any time A right click onto a device opens...

Страница 165: ...dialog window with Set PLC Parameters Reserved for later extensions Plug in location no at the bus 0 For the addressing of the CAN master integrated in the CPU 1 32 For the addressing of CAN master a...

Страница 166: ...consists of 4Byte Input addr 6000 Input blocks PI basic address in the CPU that are occupied from 0x6000 CAN input data For input blocks max 16 64Byte can be entered Output addr 6000 Output blocks PO...

Страница 167: ...ith the GSD file VIPA_21x gsd from VIPA into the hardware catalog Copy the required EDS files into the EDS directory and start WinCoCT Create a master group via and insert a CANopen master via VIPA_20...

Страница 168: ...ode address ID Master Slave Now your CANopen project engineering under WinCoCT is ready Start the SIMATIC manager from Siemens with your PLC project and open the wld file via File Memory Card File ope...

Страница 169: ...ware you have to be extremely careful Under certain circumstances you may destroy the CAN Master for example if the voltage supply is interrupted during transfer or if the firmware file is defective I...

Страница 170: ...operational n STOP RUN automatically After POWER ON and at valid project data in the CPU the master switches automatically into RUN The master has no operating mode lever After POWER ON the project da...

Страница 171: ...t network variables Object 0xA040 16 Bit input network variables Object 0xA100 32 Bit input network variables Object 0xA200 64 Bit input network variables Object 0xA440 Like to see in the following il...

Страница 172: ...work variables Object 0xA680 64 Bit output network variables Object 0xA8C0 Like to see in the following illustration the objects of the digital output data use the same memory area of the CPU For exam...

Страница 173: ...ction portion and a module ID gives the difference between this and a level 2 message The function determines the type of message object and the module ID addresses the receiver CANopen devices exchan...

Страница 174: ...the behavior of communication application and status machines In many fieldbus systems the whole process image is transferred mostly more or less cyclically CANopen is not limited to this communicati...

Страница 175: ...the SFC 219 integrated This allows you to start a SDO read or write access from your PLC program to the CAN master You address your master via the plug in location and the destination slave via its C...

Страница 176: ...ameter incompatibility reason 0x06040047 General internal incompatibility in the device 0x06060000 Access failed due to an hardware error 0x06070010 Data type does not match length of service paramete...

Страница 177: ...Byte or 4Byte F024h The SFC is not supported F025h Write buffer in the CANopen master full service can not be processed at this time F026h Read buffer in the CANopen master full service can not be pro...

Страница 178: ...ion 0x1000 0x1011 General communication specific parameters e g device name 0x1400 0x1427 Communication parameters e g identifier of the receive PDOs 0x1600 0x1627 Mapping parameters of the receive PD...

Страница 179: ...O Communication Parameter 1A00h to 1A27h Transmit PDO Mapping Parameter 1F22h Concise DCF 1F25h Post Configuration 1F80h NMT StartUp 1F81h Slave Assignment 1F82h Request NMT 1F83h Request Guarding 600...

Страница 180: ...Register Unsigned8 ro Y 0x00 Error register Bit 7 Bit 0 ManSpec reserved reserved Comm reserved reserved reserved Generic ManSpec Manufacturer specific error specified in object 0x1003 Comm Communica...

Страница 181: ...nsigned32 rw N 0x00000000 Contains the length of time window for synchronous PDOs in s Index Sub index Name Type Attr Map Default value Meaning 0x1008 0 Manufacturer device name Visible string ro N De...

Страница 182: ...life time watchdog for life guarding If a guarding telegram is not received within the life time the node enters the error state If the life time factor and or guard time 0 the node does not carry out...

Страница 183: ...Revision Number 4 Serial Number Unsigned32 ro N Serial Number Index Sub index Name Type Attr Map Default value Meaning 0x1400 0x1427 0 Number of Elements Unsigned8 ro N 0x02 Communication parameter f...

Страница 184: ...Number of Elements Unsigned8 ro N 0x05 Communication parameter of the first transmit PDO subindex 0 number of following parameters 1 COB ID Unsigned32 rw N 0x80000180 NODE_ID COB ID TxPDO1 2 Transmis...

Страница 185: ...Attr Map Default value Meaning 0x1F22 Array Concise DCF Domain rw N This object is required for the Configuration Manager The Concise DCF is the short form of the DCF Device Configuration File Index S...

Страница 186: ...d node you need one entry Subindex 0 has the value 127 Every other Subindex corresponds with the Node ID of the node Byte Bit Description Byte 0 Bit 0 0 Node with this ID is not a slave 1 Node with th...

Страница 187: ...n the local object directory Subindex 0 has the value 128 Subindex x with x 1 127 Initiates the NMT service for nodes with Node ID x Subindex 128 Initiates NMT service for all nodes At write access th...

Страница 188: ...t digital input block Unsigned8 ro N depending on the fitted components Number of available digital 16bit input blocks 0x01 1st input block Unsigned16 ro N 1st digital input block 0x20 32nd input bloc...

Страница 189: ...gital input block Unsigned8 ro N Depending on the compo nents fitted Number of available digital 16bit output blocks 0x01 1st output block Unsigned16 rw N 1st digital output block 0x20 32nd output blo...

Страница 190: ...0th input block Unsigned16 ro N 160th digital input block Index Sub index Name Type Attr Map Default value Meaning 0xA200 0x00 32bit digital input block Unsigned8 ro N depending on the compo nents fit...

Страница 191: ...output block Unsigned16 rw N 160th digital output block Index Sub index Name Type Attr Map Default value Meaning 0xA680 0x00 32bit digital input block Unsigned8 ro N Depending on the compo nents fitt...

Страница 192: ...al modules 0 8A max The CAN Bus address can be adjusted by DIP switch 3 1 PW ER RD BA IM 253CAN ADR X 3 4 5 VIPA 253 1CA01 1 2 DC 24V X1 9 9 2 C A N 4 3 1 PW ER RD BA IM 253CAN ADR X 2 3 4 VIPA 253 1C...

Страница 193: ...en data is being communicated via the V Bus BA yellow Off the self test was positive and the initialization was OK Blinks at 1Hz when the status is Pre operational Is turned on when the status is Oper...

Страница 194: ...mmunication medium bus is a screened three core cable Master Slave CAN high CAN Ground Shield CAN Ground CAN low CAN Ground CAN high Do not connect 120 7 2 3 120 2 All stations on systems having more...

Страница 195: ...rnal power supply This power supply requires DC 24V In addition to the internal circuitry of the bus coupler the supply voltage is also used to power any modules connected to the backplane bus Please...

Страница 196: ...mmunication Microcontrollerbus galvanic isolation by means of optocouplers and DC DC converter CAN Transceiver CANopen Bus System 200V interface circuitry System 200V backplane bus CAN Bus Controller...

Страница 197: ...ve colors Name Color Description PW yellow Indicates that the supply voltage is available ER red On when an error was detected in the backplane bus communications RD green Blinks at 1Hz when the self...

Страница 198: ...zes applying voltage via Profibus unit Power ER red On at short circuit overload and overheat Status indicator as a combination of LEDs LEDs digital output unit PW on Error during RAM or EEPROM initia...

Страница 199: ...gnment 1 n c 2 CAN low 3 CAN ground 4 n c 5 n c 6 optional ground 7 CAN high 8 n c 9 optional pos supply The DC 24V voltage supply of the output section happens via the power supply of the slave unit...

Страница 200: ...le for the backplane bus from the internal power supply is limited to 3 5A The power supply is protected against reverse polarity CAN Bus and backplane bus are isolated from each other The CAN Bus com...

Страница 201: ...refer to the section under the heading IM 253CAN CANopen slave Baudrate and module in this chapter The CAN identifier for the in output data of the System 200V are generated from the node addresses 1...

Страница 202: ...AI 2 1Word AI 3 1Word For the System 200V works per default in event controlled mode no cyclic DataExchange a node failure is not always immediately detected Remedy is the control of the nodes per cy...

Страница 203: ...he emergency telegram has always a length of 8Byte It consists of Identifier 0x80 Node address 8Byte user data Identifier 11Bit EC0 EC1 Ereg Inf0 Inf1 Inf2 Inf3 Inf4 Error Code Meaning Info 0 Info 1 I...

Страница 204: ...ID LowByte Timer Value HighByte Timer Value 0x00 0x00 0x8100 SDO Block Transfer 0xF1 LowByte Index HighByte Index SubIndex 0x00 0x8130 Node Guarding Error LowByte GuardTime HighByte GuardTime LifeTim...

Страница 205: ...nds the selected CAN baudrate is saved in the EEPROM LEDs ER and BA are turned off and the red RD LED continues to blink At this point you have 5s to enter the required module ID Define the module ID...

Страница 206: ...ifference between this and a level 2 message The function determines the type of message object and the module ID addresses the receiver CANopen devices exchange data in the form of objects The CANope...

Страница 207: ...Profile for I O Modules DS 401 Version 1 4 A CANopen device can be structured as follows Communication Status machine SDO PDO PDO SYNC NMT Heartbeat or Node Guarding SDO Status machine Application Ob...

Страница 208: ...m 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 assignment of the PDOs to inpu...

Страница 209: ...Below follows a list of the COB identifiers for the receive and the transmit PDO transfer that are pre set after boot up The transmission type in the object directory indices 0x1400 0x1409 and 0x1800...

Страница 210: ...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 request tel...

Страница 211: ...he 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 choosing th...

Страница 212: ...ng 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 se...

Страница 213: ...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 214: ...on 0x1000 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 PDO...

Страница 215: ...r receive PDOs RxPDO 0x1800 0x1809 X Communication parameter for transmit PDOs TxPDO Slave to Master 0x1A00 0x1A09 X Mapping parameter for transmit PDOs TxPDO 0x2001 CAN Baudrate 0x2100 Kill EEPROM 0x...

Страница 216: ...ault State Digital Output 32 Bit Array see DS 401 0x6401 Analog Input Array see DS 401 0x6411 Analog Output Array see DS 401 0x6421 X Analog Input Interrupt Trigger Array see DS 401 0x6422 Analog Inpu...

Страница 217: ...formation 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 value Meani...

Страница 218: ...scription 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 been an...

Страница 219: ...000 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 set time during synchronous PDO ope...

Страница 220: ...rer Software version Visible string ro N Software version number CANopen software VIPA IM 253 1CA01 3 xx VIPA IM 253 1CA30 3 xx Since the returned value is longer than 4Byte the segmented SDO protocol...

Страница 221: ...b 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 Parameters By wri...

Страница 222: ...e default identifiers for the PDOs Index Sub index Name Type Attr Map Default value Meaning 0x1014 0 COB ID Emergency Unsigned32 ro N 0x00000080 Node_ID Identifier of the emergency telegram Index Sub...

Страница 223: ...signed32 ro N 0xAFFEAFFE Vendor ID 2 Product Code Unsigned32 ro N Product Code 3 Revision Number Unsigned32 ro N Revision Number 4 Serial Number Unsigned32 ro N Serial Number Default value Product Cod...

Страница 224: ...0 FM 250 SSI B5DBh 4 4 FM 253 FM 254 18CBh 16 16 Index Sub index Name Type Attr Map Default value Meaning 0x1029 0 Error behavior Unsigned8 ro N 0x02 Number of Error Classes 1 Communication Error Unsi...

Страница 225: ...not 1 The sub index 2 contains the transmission type Index Sub index Name Type Attr Map Default value Meaning 0x1401 0 Number of Elements Unsigned8 ro N 0x02 Communication parameter for the first rece...

Страница 226: ...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 0xC0000780 NODE_ID COB ID RxPDO5 2 Transmission type...

Страница 227: ...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 0xC0000440 NODE_ID COB ID RxPDO8 2 Transmission type...

Страница 228: ...index 0 number of mapped objects 1 1st mapped object Unsigned32 rw N 0x62000108 2 byte index 1 byte sub index 1 byte bit width 2 2nd mapped object Unsigned32 rw N 0x62000208 2 byte index 1 byte sub in...

Страница 229: ...ccording objects are mapped For the digital outputs are organized in words the length 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 adjust...

Страница 230: ...1 or not 0 Bit 30 shows if a RTR access to this PDO is permitted 0 or not 1 The sub index 2 contains the transmission type sub index 3 the repetition delay time between two equal PDOs If an event time...

Страница 231: ...parameter for the 4th transmit PDO 1 COB ID Unsigned32 rw N 0x80000480 NODE_ID COB ID TxPDO4 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x0000...

Страница 232: ...parameter for the 7th transmit PDO 1 COB ID Unsigned32 rw N 0x800002C0 NODE_ID COB ID TxPDO7 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x0000...

Страница 233: ...ID Unsigned32 rw N 0x800006C0 NODE_ID COB ID TxPDO10 2 Transmission type Unsigned8 rw N 0xFF Transmission type of the PDO 3 Inhibit time Unsigned16 rw N 0x0000 Repetition delay value x 100 s 5 Event...

Страница 234: ...pping parameter of the second transmit PDO sub index 0 number of mapped objects 1 1st mapped object Unsigned32 rw N 0x64010110 2 byte index 1 byte sub index 1 byte bit width 2 2nd mapped object Unsign...

Страница 235: ...bit width 8 8th mapped object Unsigned32 rw N 0x000000000 2 byte index 1 byte sub index 1 byte bit width The send PDOs 3 to 10 RxPDO3 get an automatic default mapping via the coupler depending from t...

Страница 236: ...received messages to the RXFIFO only when the identifier bits of the received message are equal to the predefined ones within the acceptance filter The acceptance filter is defined via the acceptance...

Страница 237: ...and sends an emergency telegram Index Sub index Name Type Attr Map Default value Meaning 0x3001 0x3010 0 Number of Elements Unsigned8 ro N 0x04 or 0x00 Number of entries 0x04 module available 0x00 no...

Страница 238: ...01 0x30 0x02 0x00 0x00 0x00 0x00 S2M 0x43 0x01 0x30 0x02 0x28 0x28 0x00 0x00 Read SubIndex 3 M2S 0x40 0x01 0x30 0x03 0x00 0x00 0x00 0x00 S2M 0x43 0x01 0x30 0x03 0x00 0x00 0x00 0x00 Read SubIndex 4 M2S...

Страница 239: ...0x00 0x00 0x00 S2M 0x43 0x02 0x30 0x01 0x00 0x00 0x00 0x00 Write SubIndex 1 M2S 0x23 0x02 0x30 0x01 0x08 0x0B 0x00 0x00 S2M 0x60 0x02 0x30 0x01 0x00 0x00 0x00 0x00 Read SubIndex 0 M2S 0x40 0x02 0x30 0...

Страница 240: ...umber of sub indices Sub index 1 parameter byte 0 3 Sub index 0x20 parameter byte 124 127 Every sub index consists of 2 data words Enter your parameter bytes here Every analog input or output module h...

Страница 241: ...input block Unsigned8 rw N 0x00 72nd polarity digital input block Individual inverting of input polarity 1 input inverted 0 input not inverted Index Sub Index Name Type Attr Map Default value Meaning...

Страница 242: ...block 0x24 36th input block Unsigned16 rw N 0x0000 36th polarity digital input block Individual inverting of input polarity 1 input inverted 0 input not inverted Index Sub Index Name Type Attr Map Def...

Страница 243: ...digital input block 0x12 18th input block Unsigned32 rw N 0x00000000 18th polarity digital input block Individual inverting of input polarity 1 input inverted 0 input not inverted Index Sub Index Name...

Страница 244: ...annels 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 output...

Страница 245: ...block Unsigned8 rw N 0x00 72nd error value digital output block Presupposed that the error mode is active device failures set the output to the value configured by this object Index Sub Index Name Ty...

Страница 246: ...ted 0 output not inverted Index Sub Index Name Type Attr Map Default value Meaning 0x6306 0x00 16bit digital input block Unsigned8 ro N Depending on the compo nents fitted Number of available digital...

Страница 247: ...block Unsigned16 rw N 0x0000 36th error value digital output block Presupposed that the error mode is active device failures set the output to the value configured by this object Index Sub Index Name...

Страница 248: ...ted 0 output not inverted Index Sub Index Name Type Attr Map Default value Meaning 0x6326 0x00 32bit digital input block Unsigned8 ro N Depending on the compo nents fitted Number of available digital...

Страница 249: ...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 analog inputs 0x...

Страница 250: ...st below refer to the interrupt trigger 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 I...

Страница 251: ...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 Number of Input...

Страница 252: ...ect 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 nents fi...

Страница 253: ...ut 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 Meaning 0...

Страница 254: ...060000 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 high 0x...

Страница 255: ...Byte 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...

Страница 256: ...all CANopen status 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...

Страница 257: ...he 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 0x100C...

Страница 258: ...Linear bus active bus termination at one end tap lines permitted Medium Screened three core cable unscreened cable permitted depending on environment Data transfer rate 10kBaud to 1MBaud Max overall l...

Страница 259: ...r bus active bus termination at one end tap lines permitted Medium Screened three core cable unscreened cable permitted depending on environment Data transfer rate 10kBaud to 1MBaud Max overall length...

Страница 260: ...bus termination at one end tap lines permitted Medium Screened three core cable unscreened cable permitted depending on environment Data transfer rate 10kBaud to 1MBaud Max overall length 1000m at 50k...

Страница 261: ...gnostic messages and the technical data conclude the chapter Below follows a description of DeviceNet basics Hardware description of the VIPA DeviceNet coupler IM 253DN Configuration by means of the D...

Страница 262: ...up to 32 modules of 40Byte each of your System 200V periphery by means of DeviceNet The following DeviceNet components are currently available from VIPA PW ER RD BA IM 253 DN ADR X 2 3 4 VIPA 253 1DN0...

Страница 263: ...ast to the classical source destination model DeviceNet uses a modern producer consumer model that requires data packets with identifier fields for the identification of the data This approach caters...

Страница 264: ...that guarantees the power supply when required DeviceNet operates according to the Carrier Sense Multiple Access CSMA principle i e every station on the network may access the bus when it is not occu...

Страница 265: ...supports all baudrates 125 250 and 500kBaud address selection by means of switches definition of the data rate by means of a special POWER ON procedure start from address 90 92 LED status indicators a...

Страница 266: ...ion of the unique DeviceNet address programming of the baudrate Addresses 0 63 DeviceNet address 90 91 92 set communication rate to 125 250 500kBaud Every DeviceNet slave has an internal power supply...

Страница 267: ...nternal communication Microcontroller bus galvanic isolation by means of opto coupler and DC DC converter CAN transceiver DeviceNet Bus System 200V interface circuitry System 200V backplane bus CAN Bu...

Страница 268: ...he DeviceNet scanner master During the configuration the module specific data of the VIPA DeviceNet coupler are defined and supplied to the DeviceNet Manager The following steps are required Insert th...

Страница 269: ...e has been saved successfully the RD LED green will be turned on When the baudrate was selected incorrectly the ER LED will be turned on All stations connected to the bus must have a unique DeviceNet...

Страница 270: ...he DeviceNet Manager Enter the same data rate into the manager that was selected at the bus coupler Start the function NETWORK WHO in the manager The following network windows is displayed Right click...

Страница 271: ...eter Len 1st parameter of a group The number of parameter bytes is available from the technical data contained in the documentation on the peripheral modules The group allocation for a module does not...

Страница 272: ...number from the documentation for the peripheral module Set or reset the respective bits by clicking the checkbox Click OK to close the mask The next parameter slot of the same group is displayed whe...

Страница 273: ...o transfer all the parameters or only the parameters that were modified During the transfer the status text Status downloading is displayed When the transfer has completed the status text changes to S...

Страница 274: ...installed in plug in locations 1 to 9 can not be configured Below follows the description of the configuration of the analog module in location 10 Precondition the hardware was assembled and is active...

Страница 275: ...2Dh 5 Function no channel 3 see module description 2Dh 6 Option byte channel 0 00h 7 Option byte channel 1 00h 8 Option byte channel 2 00h 9 Option byte channel 3 00h When all parameters have been ent...

Страница 276: ...type POLL IO Define the parameters Receive data size number of input bytes Transmit data size number of output bytes Define the base address mapping of receive data and transmit data as required Acti...

Страница 277: ...nding on the position of the address selector DeviceNet mode address selector in position 0 63 Configuration mode address selector in position 90 92 LED Description PW on After POWER ON the PW LED is...

Страница 278: ...W LED is turned on The ER ER on LED is on due to one of the following conditions on the DeviceNet coupler RD off bad address or address occupied by another device BA off data transfer rate is bad PW o...

Страница 279: ...hat occurs during POWER ON with DeviceNet and master displays the same combination of LEDs as a hardware error It is possible to distinguish between these cases by interruption of the DeviceNet connec...

Страница 280: ...is re started and it indicates the error by means of the respective LED combination LED Description PW on The ER LED is turned on permanently and the RD LED ER on blinks because the quantity of I O da...

Страница 281: ...a valid setting RD off 0 63 as DeviceNet address BA off 90 92 for the definition of the baudrate PW on When the coupler is not connected to the DeviceNet ER on an error was detected in the internal E...

Страница 282: ...lane bus 500V rms Function specific data Status indicator by means of LEDs on the front Physical connection to DeviceNet 5pin Open Style connector Network topology Linear bus tap lines up to 6m length...

Страница 283: ...cription of the SERCOS coupler IM 253SC from VIPA Description of the identifiers with assignment sample Example for the parameterization Technical data Topic Page Chapter 7 SERCOS Spare part 7 1 Syste...

Страница 284: ...from VIPA you may connect up to 32 modules of your 200V periphery to SERCOS The following SERCOS components are available from VIPA at this time PW ER RD Tx Rx LE ADR 1 2 DC24V X1 VIPA 253 1SC00 X 2 3...

Страница 285: ...om the slaves drive telegram and sends the output information to the slaves master data telegram A maximum of 254 slaves may be connected to one bus SERCOS knows three kinds of telegrams for the commu...

Страница 286: ...ialization and may range between 62 s and 65ms This cycle times are specified in a way that the required synchronization with fixed working cycle times in control and drives is met The communication m...

Страница 287: ...r use with 1mm Plastic Optical Fiber and 200 m Hard Clad Silica HCS Support of all SERCOS baudrates 2 4 8 16MBaud Support of all System 200V modules from VIPA max 32 peripheral modules the number of a...

Страница 288: ...onnection to SERCOS takes place via 2 jacks The direction of the 2 jacks is shown at the left side The jacks are for use with 1mm Plastic Optical Fiber and 200 m Hard Clad Silica HCS The address adjus...

Страница 289: ...COS coupler and the internal communication Micro controller bus galvanic separation via opto coupler SERCOS FO transceiver SERCOS bus System 200V interface logic System 200V backplane bus SERCON ASIC...

Страница 290: ...of the SERCOS coupler Choose the according address code at the address adjuster Turn on the voltage supply The assigned parameter is permanently stored in the SERCOS coupler and this is shown via the...

Страница 291: ...e green RD LED Set here the operating mode for the time window calculation The following 2 modes are possible 98 Mode_All_Cyclic The complete periphery is available in the cyclic SERCOS operation Addi...

Страница 292: ...rating mode the two Standard ID lists are filled Mode_All_Cyclic S 0 0187 points to all input identifier S 2 xxxx S 0 0188 points to all output identifier S 3 xxxx Mode_All_Service_Channel S 0 0187 Li...

Страница 293: ...0200 module in plug in location 2 P 0 3200 module in plug in location 32 For the S Identifier there are the following information Name consists of max 32 characters Format S I T_W D with S plug in loc...

Страница 294: ...ssxx identifier block is created dynamically Here ss means plug in location 1 32 and xx for the parameter no 0 17 In principle these additional P 0 identifiers have the following structure P 0 ss00 N...

Страница 295: ...231 1BD52 4 channel multi Analog Input ANALOG_WORD ANALOG_WORD ANALOG_WORD ANALOG_WORD 10 Byte 2 VIPA 232 1BD51 4 channel multi Analog Output ANALOG_WORD ANALOG_WORD ANALOG_WORD ANALOG_WORD 6 Byte 3 V...

Страница 296: ...ord Input S 2 0020 1 4 ANALOG_WORD IN Module in position 1 Inside the module at Byte offset 4 An analog word Input S 2 0030 1 6 ANALOG_WORD IN Module in position 1 Inside the module at Byte offset 6 A...

Страница 297: ...IN Module in position 9 Inside the module at Byte offset 9 An digital Byte Input S 3 Identifier Output S 3 0000 2 0 ANALOG_WORD OUT Module in position 2 Inside the module at Byte offset 0 An analog w...

Страница 298: ...tal double word Output S 3 0080 9 4 DIGITAL_DOUBLE OUT Module in position 9 Inside the module at Byte offset 4 A digital double word Output S 3 0090 9 8 DIGITAL_BYTE OUT Module in position 9 Inside th...

Страница 299: ...for module at position 1 P 0 0116 1 PARAMETER 14 Parameter byte 14 for module at position 1 P 0 0117 1 PARAMETER 15 Parameter byte 15 for module at position 1 P 0 0200 2 SLOT At position 2 is a param...

Страница 300: ...at position 9 P 0 0907 9 PARAMETER 5 Parameter byte 5 for module at position 9 P 0 0908 9 PARAMETER 6 Parameter byte 6 for module at position 9 P 0 0909 9 PARAMETER 7 Parameter byte 7 for module at p...

Страница 301: ...h 0dez 8 Option Byte channel 2 default 00h 0dez 9 Option Byte channel 3 default 00h 0dez Herefore the table has the following entries P 0 0100 1 SLOT At position 1 is a parameterizable module P 0 0101...

Страница 302: ...nnel 3 Current 4 20mA in S7 format from Siemens 0Ch 12dez Herefore the table has the following entries P 0 0200 2 SLOT At position 2 is a parameterizable module P 0 0201 2 LENGTH 6dez P 0 0202 2 PARAM...

Страница 303: ...Counter 1 measurement 16dez Herefore the table has the following entries P 0 0900 9 SLOT At position 9 is a parameterizable module P 0 0901 9 LENGTH 2dez P 0 0902 9 PARAMETER 0 16dez P 0 0903 9 PARAME...

Страница 304: ...ial separ to the backplane bus 500V eff Function specific data Status indicator via LED at the frontside Physical connection SERCOS FO jacks Network topology Ring Transfer medium Fiber optic transmitt...

Страница 305: ...a sample for socket programming and the technical data The following text contains System overview Basics of the Ethernet communication Structure of the Ethernet coupler Principles of the automatic ad...

Страница 306: ...es to the requesting master The Ethernet coupler described in this chapter is a slave system For the communication happens via TCP IP the slave system is referred to as server and a master as client T...

Страница 307: ...point to point scheme The network that may be established by means of this cable has a star topology Every station is connected to the hub switch by means of a separate cable The hub switch provides t...

Страница 308: ...sa the Ethernet coupler receives the data addressed to it by IP address and port and transfers it to its output periphery For project engineering VIPA offers the configuration tool WinNCS that allows...

Страница 309: ...e used IP addresses that are normally written in four octets of each 8Bit e g 172 16 192 11 One octet may represent numbers between 0 and 255 A part of the address specifies the network the rest ident...

Страница 310: ...quest of a client this awaits the answer of the server for a configurable time ModbusTCP exclusively uses the RTU format Every Byte is transferred as one sign This enables a higher data pass through t...

Страница 311: ...I Fiber Distributed Data Interface CCITT Committee Consultative Internationale de Telephone et Telegraph Amongst others this advisory committee has produced the provisions for the connection of indust...

Страница 312: ...network How many network segments provide the best solution for the physical space interference related conditions encountered on site How many network stations SPS IPC PC transceiver bridges if requi...

Страница 313: ...execute a firmware update Extensive Alarm handling Integrated web server for test and diagnosis RJ45 jack 100BaseTX 10BaseT Automatic polarity and speed recognition auto negotiation Automatic recognit...

Страница 314: ...hows bus activity C Green Collision on full duplex operation active off half duplex operation active blinking collision detected The RJ45 jack is the Twisted Pair connection to Ethernet The jack has t...

Страница 315: ...ties HTTP Web Server Port 80 Configuration Server Port 5048 ModbusTCP Server Port 502 Siemens S5 Header Server Port 7779 Port 7780 VIPA Rack 135U with CP 143 from VIPA with CP 443 from VIPA S7 400 fro...

Страница 316: ...d The password is requested once per session and slave In delivery state the password is 00000000 Note Before you may access the Ethernet slave via internet browser you have to assign an IP address ac...

Страница 317: ...Siemens S5 Header More detailed information about programming with sample sources is to find further below in this chapter Modbus utility The access is via port 502 at the ModbusTCP Server Modbus util...

Страница 318: ...et coupler to right in ascending sequence starting with address 0 It is separated between in and output area if a module has in and output data these are stored at different addresses There is no sepa...

Страница 319: ...d create a new Ethernet project via File Create Open project A parameter windows for online search of Slaves and Stations opens Slaves lists all Ethernet coupler and Stations all CPs Click at Slaves A...

Страница 320: ...connected clients Elements for active access to the Ethernet coupler VIPA 253 1NE00 Station A HWVer 10 PLDVer 10 FWMajor 1 FWMinor 3 RDY ERR Slot 0 221 1BH10 IB 0 00 00 Slot 1 222 1BH10 Slot 2 221 1B...

Страница 321: ...is message shows that one module is defect This area shows all information about the in output periphery like module name in output assignment if existing parameter bytes and diagnosis data Module nam...

Страница 322: ...nsfer them via set output value to the Ethernet coupler Please regard that the address has to be a decimal number and the value a Hex number You may transfer a max of 4Byte to the address given in Add...

Страница 323: ...the default Password 00000000 at the parameter reboot node Set Resetvalue 4 and click reboot node Now the coupler resets its password to default value 00000000 and boots up again Configure Timeout Th...

Страница 324: ...te data max 254Byte For send and receive telegrams ModbusTCP uses a header of 6Byte with the following structure ModbusTCP header Byte Name Description 0 Transaction identifier High Byte Is sent back...

Страница 325: ...happens by means of the ranges 0x 1x 3x and 4x 0x and 1x gives you access to digital Bit areas and 3x and 4x to analog word areas For the Ethernet coupler from VIPA is not differentiating digital and...

Страница 326: ...nd Read m Words Write n words into master output area 4x and the respond contains m read words of the master input area 3x The Ethernet coupler from VIPA does not differentiate between digital and ana...

Страница 327: ...ata 1 st Word Data 2 nd Word x x 0 0 0 6Byte 1Byte 1Byte 1Byte 1Word 1Word max 126Words This function allows to alter a Bit in your coupler A status change happens via Status Bit with the following va...

Страница 328: ...dress Word Value Word x x 0 0 0 6 6Byte 1Byte 1Byte 1Word 1Word This function writes n Bits to the slave Please regard that the number of Bits has additionally given in Byte Command telegram ModbusTCP...

Страница 329: ...0 0 0 6 1Byte 1Byte 1Word 1Word This function allows to write n words and read m words with a request Command telegram ModbusTCP Header Slave address Functions code Read address Read number of words...

Страница 330: ...useable ORG formats The length may not be specified as 1 FFFFh ORG specification 02h 05h CPU area MB EB AB PB ORG specification 02h 03h 04h 05h Description Source destination data out in Process image...

Страница 331: ...4 Ackn block 0Fh Length ackn Block 03 Error No Nr Empty block FFh Length empty block 07 free Request telegram System spec S 5 Length Header 16d Spec OP Code 01 Length OP Code 03 OP Code 03 ORG Block 0...

Страница 332: ...tus and one 32bit wide field called diagnosis alarm status After that there follows for each slot 0 31 a 16byte wide field called alarmdata For acknowledgement you can also access diagnostic and proce...

Страница 333: ...7 Slot 8 alarmdata 16Byte 3x0205 Slot 9 alarmdata 16Byte 3x0213 Slot 10 alarmdata 16Byte 3x0221 Slot 11 alarmdata 16Byte 3x0229 Slot 12 alarmdata 16Byte 3x0237 Slot 13 alarmdata 16Byte 3x0245 Slot 14...

Страница 334: ...t 7 alarmdata 16Byte 392 Slot 8 alarmdata 16Byte 408 Slot 9 alarmdata 16Byte 424 Slot 10 alarmdata 16Byte 440 Slot 11 alarmdata 16Byte 456 Slot 12 alarmdata 16Byte 472 Slot 13 alarmdata 16Byte 488 Slo...

Страница 335: ...watches the alarm status fields and checks their value For 0 there is nothing to do because no alarm has occurred If process alarm status or diagnosis alarm status are 0 there have been found one or m...

Страница 336: ...0 SockAddr sin_addr S_un S_addr inet_addr 0 0 0 0 bind m_lsock LPSOCKADDR SockAddr sizeof SockAddr By calling bind with the value 0 for port and IP address the socket gets the PC IP address and the ne...

Страница 337: ...k topology Star topology Medium Twisted Pair Transfer rate 10 100MBit Total length max 100m per segment Online access Test Diagnosis http server integrated that graphically displays the configuration...

Страница 338: ...Chapter 8 Ethernet coupler Manual VIPA System 200V 8 34 HB97E IM Rev 06 29...

Страница 339: ...ring LEDs Technical data Topic Page Chapter 9 Bus expansion modules IM 260 IM 261 9 1 Field of application 9 2 Wiring 9 3 Status indication 9 4 Technical data 9 5 Type Order number Description IM 260...

Страница 340: ...terfacing module for rows Certain rules and regulations have to be observed when the bus expansion modules are being employed The bus expansion may only be used in conjunction with the PC 288 VIPA 288...

Страница 341: ...m n o m n 1 Peripheral Module IM 261 Peripheral Module m n o p m n o 1 Peripheral Module IM 261 Peripheral Module CPU PC with p 16 with o 16 with n 16 with m 16 Where m n o p 32 Addressing sequence N...

Страница 342: ...ge for subsequent rows is active Backplane bus communications active PW P8 EN IM 260 X 2 3 4 VIPA 260 1AA00 DC24V 1 2 OUT LED PW EN BA Color yellow yellow red Description Supply voltage available via...

Страница 343: ...urrent consumption backplane bus 30mA max cable distance betw 1 st and last row 2 5m Dimensions and weight Dimensions WxHxD in mm 25 4x76x78 Weight 80g Electrical data VIPA 261 1CA00 Power supply by I...

Страница 344: ...Chapter 9 Bus expansion modules IM 260 IM 261 Manual VIPA System 200V 9 6 HB97E IM Rev 06 29...

Страница 345: ...t directory 5 24 Operating modes 5 16 PDO 5 20 Project engineering 5 8 SDO 5 21 SFC 219 5 21 Structure 5 6 Technical data 5 104 WinCoCT deployment 5 10 Slave 5 38 Address selector 5 51 Baudrate 5 51 B...

Страница 346: ...dbusTCP 8 20 Function codes 8 21 Range 8 21 OPC server 8 12 ORG format 8 26 Password 8 19 PLC header 8 27 Project engineering 8 11 8 15 Siemens S5 Header 8 26 Socket programming 8 32 Structure 8 9 Tec...

Страница 347: ...lave 3 36 ECO 3 58 SERCOS 7 6 Process image CANopen master 5 17 DeviceNet coupler 6 16 Ethernet coupler 8 14 Interbus 4 11 Profibus 3 17 Profibus DP 3 1 Addressing 3 12 Basics 3 5 Commissioning 3 88 D...

Страница 348: ...22 Shift register 4 3 SIP tool 3 25 Switch 8 3 System 200V Assembly 2 1 2 5 dimensions 2 10 Basics 1 1 Bus connector 2 2 Centralized system 1 4 Components 1 4 Decentralized system 1 4 Disturbances 2...

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