Schneider Electric Ip67 Users Manual FTB CANopen EN
IP67 to the manual 99a66ab1-f4a0-4d88-a477-e477ab9bc537
2015-02-06
: Schneider-Electric Schneider-Electric-Ip67-Users-Manual-526934 schneider-electric-ip67-users-manual-526934 schneider-electric pdf
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Advantys FTB CANopen
IP67 monobloc input/output
splitter box
User guide
1606218 02
1606218 02 eng
3.0
www.telemecanique.com
2
1606218 02 08/2006
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Presentation of the CANopen Advantys FTB I/O Splitter Box Range . . . . . . . . . 12
Overview of the Accessories Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Chapter 2
Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Grounding of the Advantys FTB Splitter Box. . . . . . . . . . . . . . . . . . . . . . . . . . . .
EMC Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 3
Splitter Box Characteristics and Wiring . . . . . . . . . . . . . . . . . . 27
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Advantys FTB Splitter Box Environment Properties . . . . . . . . . . . . . . . . . . . . . .
Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the Actuators and Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power Supply Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4
4.1
4.2
1606218 02 08/2006
15
16
17
21
23
27
28
29
30
32
CANopen Network Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring on the CANopen Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction to Wiring on the CANopen Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Choice of system cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the Field Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the Address and Transmission Speed . . . . . . . . . . . . . . . . . . . . . . .
General Principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Device Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
37
37
38
39
42
44
46
48
48
49
52
3
4.3
Chapter 5
CANopen "Boot-Up". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Process Data Object (PDO) Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Inhibit Time and Event Timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Access to Data by Explicit Exchanges (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
"Node-Guarding" and "Life-Guarding" Monitoring Protocols. . . . . . . . . . . . . . . . 62
The "Heartbeat" Error Monitoring Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Behavior of FTB CANopen Splitter boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Behavior at Power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Behavior in the Case of Communication Error. . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Saving / Restoring Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
List of Saved Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Application-Specific Functions . . . . . . . . . . . . . . . . . . . . . . . . 71
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
List of Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Description of the Discrete Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Description of Discrete Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Description of Configurable Discrete I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects . . . . . . . . . . . . . . 78
List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects . . . . . . . . . . . . . . 81
List of Advantys FTB 1CN16EP0 and FTB 1CN16EM0 Splitter Box I/O Objects 85
List of Advantys FTB 1CN16CP0 and FTB 1CN16CM0 Splitter Box I/O Objects 87
List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects . . . . . . . . . . . . . . 91
Chapter 6
6.1
6.2
6.3
6.4
Chapter 7
Software Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Introduction to Software Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Product Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
At A Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Characteristics of an EDS File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Existing EDS File for CANopen Advantys FTB Splitter Box . . . . . . . . . . . . . . . 103
Creating a New EDS and DCF Configuration File . . . . . . . . . . . . . . . . . . . . . . . 104
Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Setting the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
PLC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Integration and Use under PL7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Examples of SDO Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Power Supply Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Field Bus Status Diagnostics LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
LED Status Diagnostics for I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
4
1606218 02 08/2006
CANopen Objects Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Behavior in the Event of Short-circuit / Overload / Under-voltage. . . . . . . . . . . 130
Chapter 8
8.1
8.2
8.3
8.4
1606218 02 08/2006
The Object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Objects of the Communication Profile 1000H to 1FFFH . . . . . . . . . . . . . . . . .
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1000H: Device Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1001H: Error Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1002H: Manufacturer Status Register . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1003H: Pre-defined Error Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1005H: COB-ID SYNC Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1006H: Communication Cycle Period . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1008H: Manufacturer Device Name. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 100AH: Manufacturer Software Version (MSV) . . . . . . . . . . . . . . . . . . .
Object 100CH: Guard Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 100DH: Life Time Factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1010H: Store Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1011H: Restore Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1014H: COB-ID Emergency Message (EMCY) . . . . . . . . . . . . . . . . . . .
Object 1016H: Consumer Heartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1017H: Producer Heartbeat Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1018H: Identity Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1200H: Server SDO Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 1400H: 1st Receive PDO Communication Parameter . . . . . . . . . . . . . .
Object 1405H: 2nd Receive PDO Communication Parameter . . . . . . . . . . . . .
Object 1600H: 1st Receive PDO Mapping Parameter . . . . . . . . . . . . . . . . . . .
Object 1605H: 2nd Receive PDO Mapping Parameter . . . . . . . . . . . . . . . . . . .
Object 1800H: 1st Transmit PDO Communication Parameter . . . . . . . . . . . . .
Object 1805H: 2nd Transmit PDO Communication Parameter . . . . . . . . . . . .
Object 1A00H: 1st Transmit PDO Mapping Parameter. . . . . . . . . . . . . . . . . . .
Object 1A05H: 2nd Transmit PDO Mapping Parameter . . . . . . . . . . . . . . . . . .
Manufacturer-specific Zone Objects 2000H to 5FFFH . . . . . . . . . . . . . . . . . . .
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 2000H: Input / Diag Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 2001H: Input/Output Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 3000H: Manufacturer Specific Diagnostic . . . . . . . . . . . . . . . . . . . . . . .
Hardware Profile Objects 6000H to 9FFFH . . . . . . . . . . . . . . . . . . . . . . . . . . .
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 6000H: Read Inputs 8 Bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 6100H: Read Input 16 Bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 6102H: Polarity Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 6103H: Filter Constant Input 16 Bits . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object 6200H: Write Outputs 8 Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
131
133
133
134
134
135
136
137
138
140
141
142
143
144
145
146
148
150
151
152
153
154
155
156
157
159
161
164
167
169
171
171
172
173
174
175
175
176
177
178
179
180
5
Object 6300H: Write Outputs 16 Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Object 6302H: Polarity Outputs 16 Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Object 6306H:Fallback Mode 16 Bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Object 6307H: Fallback Value 16 Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Object 6308H: Filter Mask Output 16 Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Appendices
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Appendix A
IEC Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Glossary of Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
6
Glossary
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Index
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
1606218 02 08/2006
Safety Information
§
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special
messages may appear throughout this documentation or on the equipment to warn
of potential hazards or to call attention to information that clarifies or simplifies a
procedure.
The addition of this symbol to a Danger or Warning safety label indicates
that an electrical hazard exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal
injury hazards. Obey all safety messages that follow this symbol to avoid
possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided,
will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can
result in death, serious injury, or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can
result in injury or equipment damage.
1606218 02 08/2006
7
Safety Information
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
© 2006 Schneider Electric. All Rights Reserved.
8
1606218 02 08/2006
About the Book
At a Glance
Document Scope
This user guide contains the information required to install an Advantys FTB
CANopen monobloc IP67 splitter box.
It has been designed to facilitate rapid familiarization with the system, while
optimizing the system's features for the most advanced technology available.
To install Advantys FTB CANopen splitter boxes, the relevant communication
protocol pre-requisites are necessary, and it should only be installed by qualified
personnel. Special points and warnings regarding safety are highlighted in the
different chapters.
The early chapters provide information for designers and installers on installing the
mechanical and electrical elements of the system.
The following chapters, from the section on "network interface", are specific to the
communication protocol. They contain information on specific wiring for the network
interface and all the necessary information for the software application programmer,
and for the end user (diagnostics).
1606218 02 08/2006
9
About the Book
Related
Documents
User Comments
10
Chapter
Subject covered
Introduction
General presentation of system components
Installation
Dimensions
Safe practice for installation
I/O splitter box characteristics
and wiring
Physical and electrical characteristics
Wiring information
CANopen network interface
Wiring the splitter box on the network
Reminder on the communication protocol
System behavior
Application functions
Description of application functions (Advantys FTB
CANopen splitter box I/O functions)
Software implementation
Software installation help
Diagnostics
Performing diagnostics
Object dictionary
Description of the objects accessible for communication
Appendices
Presentation
Appendix A: List of IEC symbols
Glossary
Acronyms
Definitions
Title of Documentation
Reference Number
Instruction sheet
1693627
CANopen hardware installation manual
35010859
We welcome your comments about this document. You can reach us by e-mail at
techpub@schneider-electric.com
1606218 02 08/2006
Introduction
1
Presentation
Introduction
This chapter provides a general overview of Advantys IP 67 FTB CANopen IP67 I/
O splitter boxes.
Advantys FTB CANopen splitter boxes comply with the following specifications:
CiA DS301 V4.02 (CANopen application layer and communication profile)
CiA DS401 V2.1 (CANopen device profile generic I/O modules) (see CANopen
Profiles, p. 50)
Note: The information in this manual is primarily intended for people with some
practical knowledge of the CANopen standard applied to the CANopen field bus.
CANopen equipment installers and users are advised to read the standard
documentation before any equipment installation or handling. All detailed
CANopen specifications may be found at http://www.can-cia.de.
What's in this
Chapter?
1606218 02 08/2006
This chapter contains the following topics:
Topic
Page
Presentation of the CANopen Advantys FTB I/O Splitter Box Range
12
Overview of the Accessories Range
13
11
Introduction
Presentation of the CANopen Advantys FTB I/O Splitter Box Range
The CANopen
Advantys FTB
Product Range
The splitter boxes in the CANopen Advantys FTB ranges come in the following
forms:
Configurable
Connectors
Each CANopen Advantys FTB splitter box contains eight connectors used to link the
sensors or actuators.
CANopen plastic unit
CANopen metal unit
Each of these connectors supports two channels. Depending on the splitter box
reference, and on its configuration, each channel is either:
an input channel,
an output channel,
a DESINA standard diagnostics channel.
Splitter Box
Inputs and
Outputs
The configuration of the I/O connector channels depends on the splitter box model.
The table below shows the I/O connector channels available for each model:
Distribution of available inputs/outputs
Unit type
Product reference
8 input / diagnostics channels + 8 output
channels
Plastic
FTB 1CN08E08SP0
4 input channels + 4 output channels + 8 input Plastic
/ diagnostics channels
FTB 1CN12E04SP0
8 input channels + 8 input / diagnostics
channels
Plastic
Metal
FTB 1CN16EP0
FTB 1CN16EM0
8 input / output channels + 8 input / output /
diagnostics channels
Plastic
Metal
FTB 1CN16CP0
FTB 1CN16CM0
8 input / output channels + 8 input /
diagnostics channels
12
Metal
FTB 1CN08E08CM0
1606218 02 08/2006
Introduction
Overview of the Accessories Range
Cables for
Connecting the
Bus to the
Splitter Box
Different cables can be used to connect the splitter box to the field bus. These are
available in different lengths.
4
1
3
2
6
8
24 V
7
5
FTB 1CN
9
Element
Reference
Function
1
FTX CN3203
FTX CN3206
FTX CN3210
FTX CN3220
FTX CN3230
FTX CN3250
Cables fitted with 2 M12-type elbow connectors, 5 pins, at both ends for connecting the
bus between two splitter boxes.
2
FTX DP2206
FTX DP2210
FTX DP2220
FTX DP2250
Cables fitted with 2 7/8-type connectors, 5 pins, at both ends for daisy-chaining 24 VDC
supplies to two splitter boxes.
3
FTX DP2115
FTX DP2130
FTX DP2150
Cables fitted with 1 7/8-type connector, 5 pins, with one free end and the other for
connecting 24 VDC supplies.
4
FTXCN12M5
FTXCN12F5
Male and female M12-type connectors, 5 pins, for CANopen bus cables (encoding A).
5
FTXCNCT1
Connection T fitted with 2 7/8-type connectors, 5 pins, for power supply cables.
6
FTX CNTL12
Line terminators fitted with 1 M12-type connector.
7
FTX CY1208
FTX CY1212
Distribution Y for connecting 2 M8-type connectors to the M12 connector of the splitter
box.
Distribution Y for connecting 2 M12-type connectors to the M12 connector of the splitter
box.
8
FTX C78B
Sealing plug for 7/8 connector.
9
FTX CM12B
Sealing plugs for M12-type connectors.
1606218 02 08/2006
13
Introduction
14
1606218 02 08/2006
Installation
2
Presentation
Introduction
This chapter provides all required information for installing an FTB splitter box on a
field bus.
Note: The graphic representations of the splitter boxes in this chapter may not
correspond to those really used. However, the dimensions are exact whatever the
case.
What's in this
Chapter?
1606218 02 08/2006
This chapter contains the following topics:
Topic
Page
Overview
16
Installing the Unit
17
Grounding of the Advantys FTB Splitter Box
21
EMC Compatibility
23
15
Installation
Overview
Introduction
This section gives a detailed technical description of the Advantys FTB CANopen
splitter box.
Description
The illustrations below show the plastic units (left) and metal units (right) of the
Advantys FTB CANopen splitter.
1
2
1
2
3
3
4
16
4
5
5
6
6
9
9
7
7
8
8
1
1
Element
Function
1
Mounting holes
2
M12 connector for the inputs and outputs
3
Label
4
Display elements (diagnostics and status LED)
5
Power supply connectors (PWR IN)
6
Power supply distribution connector (PWR OUT)
7
Bus connector (BUS IN)
8
Bus connector (BUS OUT)
9
Transmission speed and addressing rotary selector switch
1606218 02 08/2006
Installation
Installing the Unit
Introduction
This section gives a detailed technical description of Advantys FTB splitter boxes.
Description
The Advantys FTB splitter box can be mounted directly onto a wall or a machine.
Two mounting holes have been provided for this purpose inside the splitter box.
Note: When mounting the unit, the support must be flat and smooth so as to
prevent any undue stress on the unit, which may lead to a loss of sealing.
Types of Screws
and Tightening
Torques
Plastic unit
The plastic splitter box is mounted using two 4 mm (0.16 in.) diameter screws and
two washers. The tightening torque is 1.5 Nm (13.3 lb-in).
Metal unit
The metal splitter box is mounted using two 6 mm (0.24 in.) diameter screws and
two washers. The tightening torque is 9 Nm (79.7 lb-in).
Note: For metal units, wire the ground terminal before attaching the splitter box to
its support. See Grounding of the Advantys FTB Splitter Box, p. 21.
1606218 02 08/2006
17
Installation
Plastic Unit
Dimensions
18
The dimensions of the plastic unit (front and side views) are given in the following
illustrations:
1606218 02 08/2006
Installation
Metal Unit
Dimensions
1606218 02 08/2006
The dimensions of the metal unit (front and side views) are given in the following
illustrations:
19
Installation
Method
Follow the steps below:
Step
Action
1
Position the splitter box on the support.
2
Mount the splitter box using the screws and washers.
CAUTION
RISK OF EQUIPMENT DAMAGE AND NON-COMPLIANCE WITH IP67.
Unused connectors must not be left unprotected. If a connector is not correctly
connected to the end of another connector or to a standard cable, fit a sealing plug
in order to ensure that the product is IP67 standard compliant. To ensure the IP67
protection index, check that the cover is screwed onto the base splitter box and that
all connectors are fitted with cables or sealing plugs.
Failure to follow this instruction can result in injury or equipment damage.
20
1606218 02 08/2006
Installation
Grounding of the Advantys FTB Splitter Box
Description
The ground connection is connected internally to pin 1 of the M12 connector of the
field bus connector.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Check that the splitter box is correctly connected to the earth in compliance with
the instructions provided in his section. If the splitter box is not grounded, or if the
ground connection is made with an unsuitable cable, the product will be sensitive
to electromagnetic disturbances. See EMC Compatibility, p. 23.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Position of the
Ground
Electrode on the
Plastic Unit
The following figure shows the position of the ground electrode on the plastic boxes.
Note: Use a grounding strip or a conductor with a cross-section of 1 to 1.5 mm2
(AWG18, AWG16) and a length of ≤ 3 m (9.84 ft) long. The maximum
recommended length for the grounding strip is 3 m (9.84 ft).
1606218 02 08/2006
21
Installation
Method for
Plastic Units
Position of the
Ground
Electrode on the
Metal Unit
Follow the steps below to connect the ground to the unit:
Step
Action
1
Remove the label located above the symbol representing the ground.
2
Insert the end of the grounding strip into the grounding terminal of the splitter
box.
3
Screw in the ground connection screw.
The following figure shows the position of the ground electrode on the metal boxes.
Note: Use a grounding strip or a conductor with a cross-section of 1 to 1.5 mm2
(AWG18, AWG16) and a length of ≤ 3 m (9.84 ft) long. The maximum
recommended length for the grounding strip is 3 m (9.84 ft).
Method for Metal
Units
Mounting the
Metal Unit
22
Follow the steps below to connect the unit to the ground electrode:
Step
Action
1
Crimp the lug on the ground cable.
2
Screw in the lug with the ground conductor connection screw (supplied with the
product).
Once these steps have all been completed (see table above), the product can be
mounted on its support.
1606218 02 08/2006
Installation
EMC Compatibility
Product
Compliance
e
This product complies with the European directive 89/336/CEE on "electromagnetic
compatibility".
The products described in this manual meet all the conditions regarding
electromagnetic compatibility and are compliant with the applicable standards.
However, this does not mean that the electromagnetic compatibility of your
installation is assured.
This is why it is strongly recommended to follow all indications concerning an EMC
compliant installation. Only in these conditions and thanks to the exclusive use of
CE approved components, will the devices used be deemed as compliant with the
EMC directives.
When handling the products, ensure that all safety measures related to
electromagnetic compatibility and all conditions for the use of the products are
complied with by all persons concerned. This is especially important when handling
products sensitive to electrostatic discharges.
WARNING
RISK OF ELECTROMAGNETIC INTERFERENCE AND UNINTENDED
EQUIPMENT OPERATION
The products described in this manual contain highly complex semiconductors that
can be damaged or destroyed by electrostatic discharges (ESD). If, for example,
they are used within the vicinity of devices rated as class A or B according to IEC
6100-4-4, the level of electromagnetic interference may be enough to cause the
device to operate unexpectedly, and/or to damage it.
Damage may not necessarily cause a failure or malfunction that is immediately
detectable. It may occur sporadically or in a delayed manner.
If there is a risk of electromagnetic interference, the system designer must
implement the necessary protective measures.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
1606218 02 08/2006
23
Installation
Grounding
A low impedance connection with a maximum length of 3 m (9.84 ft) must be
installed between the splitter box's ground electrode and the reference ground in
order to discharge the noise voltages. The inductance of standard grounding cables
(PE) presents a risk of high impedance when high frequency noise voltages are
present. It is therefore advisable to use grounding strips. If this solution is not
possible, use a ground conductor with a large cable cross-section and a ground
connection that is as short as possible.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
If the box is not connected to the ground, or if the ground connection is made using
an inappropriate cable, the product will be sensitive to electromagnetic
disturbances. This may lead to unexpected equipment operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Cable Routing
Make sure that the following basic wiring rules are followed:
Keep the data wire and the power cables apart from one another, in so far as is
possible.
Make sure there is a space of at least 10 cm (3.94 inches) between the data wires
and the power cables.
The data wires and power cables must only cross at a right angle to one another.
It is advisable to route the data wires and power cables through separate shielded
ducts.
When laying the cables, the noise voltage from other devices or wires must be
considered. This particularly applies to frequency converters, motors and other
devices or cables generating high frequency disturbances. High frequency
sources and the cables described in this manual must be as far apart from each
other as possible.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Please read and comply with the cabling rules listed above. Failure to comply with
these wiring rules is a common cause of EMC problems! This may lead to
unexpected equipment operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
24
1606218 02 08/2006
Installation
Control of
Inductive Loads
The outputs of the devices described in this manual are equipped with an integrated
protective system against the high noise voltages that may be generated by
inductive loads.
Integrated protective system against the high noise voltages generated by inductive
loads
Varistor
Inductive load
e.g. electromagnetic
valve
The varistor rapidly discharges the energy accumulated in the magnetic field of the
inductive load.
The high voltages arising from the disconnection of inductive loads create large
fields in the wires that may cause disturbances in nearby circuits or devices. It is
advisable to provide an anti-interference device at the load level. In this way, the
voltage peak generated by the inductive load is short-circuited directly at the point
at which it occurs.
1606218 02 08/2006
25
Installation
26
1606218 02 08/2006
Splitter Box Characteristics and
Wiring
3
Presentation
Introduction
This chapter provides an overall description of all Advantys FTB splitter boxes.
Note: The "-" in the tables corresponds to values that are not applicable.
What's in this
Chapter?
1606218 02 08/2006
This chapter contains the following topics:
Topic
Page
Advantys FTB Splitter Box Environment Properties
28
Electrical Characteristics
29
Connecting the Actuators and Sensors
30
Power Supply Connection
32
27
Splitter Box Characteristics and Wiring
Advantys FTB Splitter Box Environment Properties
Environment
Properties
Characteristic
Description
Reference standard
Product certification
cULus
-
Operating temperature
-20°C...+60°C (-4°F...+140°F)
-
Storage temperature
-25°C...+70°C (-13°F...+158°F)
-
Degree of protection
IP67
According to IEC 60529
Altitude
0m 2,000 m (6,561 ft)
-
Vibration withstand capacity
for plastic units
Constant amplitude: 0.35 mm (0.0138 in)
10 Hz≤ f ≤ 57 Hz
Constant acceleration: 5.0 gn
57 Hz≤ f ≤ 150 Hz
According to IEC 68-2-6, Fc
test
Vibration resistance capacity
for metal units
Constant amplitude: 1.5 mm (0.06 in)
5 Hz ≤ f ≤ 70 Hz
Constant acceleration: 15 gn
70 Hz ≤ f ≤ 500 Hz
According to IEC 68-2-6, Fc
test
Shock resistance capacity for 30 gn, duration: 11 ms
plastic units
According to IEC 68-2-27, Fc
test
Shock withstand capacity for
metal units
-
Resistance capacity for
electrostatic discharges
Withstand capacity for
radiated fields
50 gn, duration: 11 ms
Contact: +/- 4 kV
Air: +/- 8kV
10 V/m (3.05 V/ft)
According to IEC 61000-4-2
According to IEC 61000-4-3
Withstand capacity for fast
transients
Power supply: +/- 2 kV
Signal: +/- 2 kV
According to IEC 61000-4-4
Withstand capacity for surge
Power supply:
symmetrical: +/-500VDC
asymmetrical: +/-1,000 VDC
Signals:
symmetrical: +/-500VDC
asymmetrical: +/-1,000 VDC
Ground : +/-500VDC
According to IEC 61000-4-5
Withstand capacity for duct
fields
10 Vrms
According to IEC 61000-4-6
Withstand capacity for 50 Hz
magnetic fields
30 A/m (9.15 A/ft)
According to IEC 61000-4-8
Mounting
In all positions
-
28
1606218 02 08/2006
Splitter Box Characteristics and Wiring
Electrical Characteristics
Splitter Box
Characteristics
Input
Characteristics
Output
characteristics
Characteristic
Description
Splitter box's internal consumption
120 mA
Splitter power supply voltage
18...30VDC
Splitter and sensor supply current
≤8A
Actuator supply current
≤8A
Under-voltage detection
yes
Characteristic
Description
Compliance with IEC 1131-2
Type 2
Compliance with 2-wire/3-wire sensor
Yes
Rated power voltage
24 VDC
Maximum current
200 mA (for 2 diagnostics input channels)
Logic
Positive PNP Sink
Filtering input
1 ms
Protection against reverse polarity and shortcircuit in sensor power supply
Yes
Overload and over-voltage protection
Yes
Characteristic
Description
Output type
Transistors
Output voltage
24 VDC
Output current
1.6 A
Over-voltage protection
Yes (transient diode)
Maximum switching cycle
20 Hz
Maximum lamp load
10 W
Connection for outputs / cable lengths
0.75mm2: 10 m maximum (AWG 19 / 32.8 ft)
0.34 mm2: 5 m maximum (AWG 23 / 16.4 ft)
Protection against short-circuits
1606218 02 08/2006
yes
29
Splitter Box Characteristics and Wiring
Connecting the Actuators and Sensors
Description
The actuators and sensors are connected to the FTB splitter box using M12-type
connectors.
Characteristics
of the
Connections
The maximum admissible load for the FTB splitter boxes is limited to:
1.6 A per output (actuator current),
200 mA for both inputs (sensor current).
WARNING
RISK OF EQUIPMENT DAMAGE AND NON-COMPLIANCE WITH IP67
Unused M12 connectors must not be left unprotected. If an M12 connector is not
correctly connected to the end of another connector or standard cable, fit a sealing
plug in order to ensure that the product is IP67 standard compliant. To ensure the
IP67 protection index, check that the cover is screwed onto the base splitter box
and that all connectors are fitted with cables or sealing plugs.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Assignment of
M12 Connector
Pins
30
The following diagram shows the front view of a 5-pin M12 connector and the
convention for numbering the pins:
Pin
Assignment
1
+24 VDC
2
Channel 10 to 17: diagnostics input or functional input or output
3
0 VDC
4
Channel 00 to 07: functional input or output
5
Ground
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Splitter Box Characteristics and Wiring
Allocation of the
M12 Connectors
to the I/Os
1606218 02 08/2006
The following table shows the assignment of the M12 connector pins to the marking
of the splitter box's Inputs, Outputs and diagnostics:
Connector
number
Pin 4
Pin 2
0
Channel 00
Channel 10
1
Channel 01
Channel 11
2
Channel 02
Channel 12
3
Channel 03
Channel 13
4
Channel 04
Channel 14
5
Channel 05
Channel 15
6
Channel 06
Channel 16
7
Channel 07
Channel 17
31
Splitter Box Characteristics and Wiring
Power Supply Connection
Description
For the FTB splitter boxes, the power supply is linked using a Mini-Style 7/8" 5-pole
connector.
The FTB splitter boxes require a 24 VDC power supply.
Calculation of
the Power
Supply Cable
Cross-Section
Calculations to find cable cross-sections are made according to the system's own
configuration data and remain the full responsibility of the user.
CAUTION
RISK OF EQUIPMENT DAMAGE
There are two kinds of risk of damage to equipment:
The 7/8" connector is sized for a maximum current of 8 A per pin. The pins of
the 7/8" connector must be provided with adequate protection to prevent an
overload of more than 8 A.
Reversed polarity connections in the power supply may damage the FTB splitter
box.
Failure to follow this instruction can result in injury or equipment damage.
Assembling the
Power Supply
Cable
32
The following diagram gives a view of the shape and size of the connection cable
connector:
1606218 02 08/2006
Splitter Box Characteristics and Wiring
Pin Assignment
The following diagram shows a front view of the PWR IN and PWR OUT connectors:
Pin
Assignment
1
0 VDC
2
0 VDC
3
Ground
4
Splitter box sensor and power supply
5
Actuator power supply
Recommendations for the
Power Supply to
the Sensors,
Actuators and
Splitter Boxes
We recommend the use of 2 independent power supplies so as to separate the
power supply to the splitter boxes / sensors from the power supply to the actuators.
Emergency Stop
Separating the splitter box/sensor (pin 4) power supplies means that the emergency
stop can be connected to the actuator power supply (pin 5 of the 7/8" connector).
This configuration provides maximum protection against any disturbance on the
outputs (short circuits).
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Do not connect pin 4 of the power supply connector to the emergency stop circuit
of the system. Interrupting the power supply to this pin, will deactivate the I/O
channels of the splitter box, which can result in an unintended equipment
operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
1606218 02 08/2006
33
Splitter Box Characteristics and Wiring
Method
Follow the steps below:
Step
Phaseo Power
Supply
34
Action
1
Disconnect all power to the system.
2
On the PWR IN connector:
If the splitter box is the first in the chain, connect a cable with a female
connector and free wires.
If the splitter box is the last in the chain, connect a connection cable.
3
On the PWR OUT connector:
If the splitter box is in the middle of the chain, connect a power supply
connection cable.
If the splitter box is at the end of the chain, fit a sealing plug.
A switch mode power supply such as Phaseo (ABL 7•••) is particularly well-suited to
supply automation systems. It is therefore highly recommended for use with
Advantys FTB splitter boxes.
1606218 02 08/2006
CANopen Network Interface
4
Presentation
Introduction
This section describes how to connect the Advantys FTB CANopen splitter box to
the CANopen network.
What's in this
Chapter?
This chapter contains the following sections:
Section
4.1
1606218 02 08/2006
Topic
Page
Wiring on the CANopen Bus
37
4.2
General Principles
48
4.3
Behavior of FTB CANopen Splitter boxes
66
35
CANopen Network Interface
36
1606218 02 08/2006
CANopen Network Interface
4.1
Wiring on the CANopen Bus
Presentation
Introduction
The following section describes wiring on the CANopen bus.
What's in this
Section?
This section contains the following topics:
1606218 02 08/2006
Topic
Page
Introduction to Wiring on the CANopen Bus
38
Topology
39
Choice of system cables
42
Connecting the Field Bus
44
Configuring the Address and Transmission Speed
46
37
CANopen Network Interface
Introduction to Wiring on the CANopen Bus
Introduction
38
The physical characteristics necessary for CANopen bus operation are given in the
following illustration (plastic units on the left and metal units on the right):
1
1
2
2
3
3
4
4
5
5
6
6
Description
Function
See
1
7/8" connector
Power supply connection (PWR IN)
2
7/8" connector
Power supply connection (PWR OUT)
Power Supply
Connection, p. 32
3
Rotary switch
Selecting transmission speed
4
Rotary switches
Selecting the splitter box address
5
M12 Connector
CANopen bus connector (Bus OUT)
6
M12 Connector
CANopen bus connector (Bus IN)
Configuring the
Address and
Transmission
Speed, p. 46
Connecting the
Field Bus, p. 44
1606218 02 08/2006
CANopen Network Interface
Topology
Architecture
The CANopen network architecture must comply with the following limitations:
bus length / transmission speed (See Transmission Speed, p. 42),
number of connected devices (See Number of Connected Devices, p. 41),
length of the taps and the space between two taps (See Tap Length, p. 40),
line terminator (See Line Terminator Resistance, p. 43).
The connections to the CANopen bus may be of the chaining or tap type.
The following is an illustration of a CANopen network architecture:
Lmax
2
1
7
6
6
5
3
3
4
6
4
Min. interval
6
5
8
8
The table below describes the components of a CANopen network:
Number
Description
1
CANopen devices connected by chaining
2
CANopen devices connected by tap
3
Drop cables (tap junction box / device)
4
Tap junction boxes
5
Chaining cables
6
Line terminator
7
Repeater (identical arbitration on the different bus segments)
or Bridge (different arbitration on the different bus segments)
8
CANopen bus segment
Note: A single line architecture is recommended to reduce signal reflection. Avoid
using star-type architecture.
1606218 02 08/2006
39
CANopen Network Interface
Tap Length
A tap creates a signal reflection and thus its length must be limited to the following
parameters:
Lmax is the maximum length of a tap.
ΣLImax is the maximum value of the sum of all taps on the same tap junction box.
Min interval is the minimum distance necessary between two taps.
ΣLGmaxis the maximum value of the sum of all taps on the segment.
The values to use are given in the following table:
Speed
Lmax
ΣLImax
1 Mbits/s
0.3 m (0.98 ft)
0.6 m (1.96 ft)
800 Kbits/s
3 m (9.8 ft)
6 m (19.6 ft)
3.6 m (11.8 ft)(*)
15 m (49 ft)
500 Kbits/s
5 m (16.4 ft)
10 m (32.80 ft)
6 m (19.6 ft)(*)
30 m (98.4 ft)
Min. interval
0.6xΣL local
ΣLGmax
1.5 m (4.9 ft)
250 Kbits/s
5 m (16.4 ft)
10 m (32.80 ft)
6 m (19.6 ft)(*)
60 m (196.8 ft)
125 Kbits/s
5 m (16.4 ft)
10 m (32.80 ft)
6 m (19.6 ft)(*)
120 m (393.6 ft)
50 Kbits/s
60 m (196.8 ft)
120 m (393.6 ft)
72 m (236 ft)(*)
300 m (984 ft)
20 Kbits/s
150 m (492 ft)
300 m (984 ft)
180 m (590.5 ft)(*)
750 m (2 460.6 ft)
10 Kbits/s
300 m (984 ft)
600 m (1 968.4 ft)
360 m (1 181 ft)(*)
1 500 m (4 921 ft)
Legend:
(*) The minimum cable length between two consecutive tap junction boxes must be greater than 60% of the largest
of the two sums of the lengths of taps on each of the two boxes.
40
1606218 02 08/2006
CANopen Network Interface
Example
The following illustration shows the calculation of the length of a cable located
between two tap junction boxes.
1
2
1m
(3 ft)
1m
(3 ft)
3m
(10 ft)
1m
(3 ft)
3m
(10 ft)
ΣL=5 m (16 ft)
3
3m
(10 ft)
ΣL=7 m (23 ft)
4
Min interval > 0.6 * 7 m (23 ft)
Min interval > 4.2 m (13.8 ft)
The table below describes the components of a CANopen network:
Number
Description
1
Connected CANopen devices
2
Drop cables (tap junction box / device)
3
Tap junction boxes
4
Connection cables (tap junction box / tap junction box)
In this example, we have two tap junction boxes and 6 devices. We start by
calculating the sum of the lengths of cables for each tap junction box, and we obtain
5 m (16 ft) and 7 m (23 ft). We keep the longest length, i.e. 7 m (23 ft). The minimum
length of the cable between the two tap junction boxes is equal to 60% of 7 m, i.e.
4.2 m (13.8 ft).
Number of
Connected
Devices
1606218 02 08/2006
In addition to the length limitations over the whole of the CANopen bus, the following
limitations apply:
Whatever the case, no more than 64 devices may be connected on the same
segment.
41
CANopen Network Interface
Choice of system cables
Transmission
Speed
Specific
Resistance
The maximum allowable transmission speeds are given in the following table:
Transmission speed
(kBit/s)
Cable length
1000
30 m (98 ft)
800
50 m (164 ft)
500
100 m (328 ft)
250
250 m (820 ft)
125
350 m (1 148 ft)
100
500 m (1 640 ft)
50
1 000 m (3 280 ft)
20
2 500 m (8 202 ft)
10
5 000 m (16 404 ft)
The specific resistances and AWG cable sections are shown in the following table:
Maximum speed
Cable length
Specific resistance of
cables
Cable sections
Kbits/s
m
ft
mΩ/m
mΩ/ft
mm2
AWG
1000 for 40 m
(131 ft)
0 ... 40
0...131
70
21.34
0.25...0.34
AWG24, AWG22
500 for 100 m
(328 ft)
40 ... 300
131...984
< 60
< 18.29
0.34...0.6
AWG22, AWG20
100 for 500 m
(1640 ft)
300 ... 600
984...1968
< 40
< 12.19
0.5...0.6
AWG20
50 for 1000 m
(3,280 ft)
600 ... 1000
1968...3280
< 26
< 7.92
0.75...0.8
AWG18
Note: The parameters shown in the above table must be considered for networks
complying with the standard ISO11898-2.
42
1606218 02 08/2006
CANopen Network Interface
Line Terminator
Resistance
To minimize the voltage drop in the connection, it is advisable to use a higher line
terminator resistance for high length cables than that specified by the standard
ISO11898-2. When configuring the system, the connector resistances must also be
taken into consideration. For each connector, 5 mΩ to 20 mΩ must be added to the
terminator resistance.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
The potential difference at the CAN_GND connections of all the CANopen bus
items must not be greater than 2 VDC. The connectors have a standard DC of
5 mΩ to 20 mΩ. It is important to connect a 120 Ω line terminator between CAN_H
and CAN_L at the line end (see Physical Layer, p. 49).
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
What types of
cables can be
used?
1606218 02 08/2006
Pre-assembled cables make installing the system considerably easier. Cabling
errors are avoided and implementation is achieved more rapidly. Schneider Electric
offers a full range of products such as field bus links, power supply cables and
cables for detectors, together with accessories such as line terminators. Connectors
and cables for assembly are also available.
43
CANopen Network Interface
Connecting the Field Bus
Description
The splitter box can either be in the middle of the chain connection or at line end.
The field bus is connected via a 5-pin M12 connector.
Illustration of the
Connection
Cable Connector
The following diagram shows the characteristics of the connection cable connector:
Bus Connector
Pin Assignment
The BUS IN connector is a 5-pin M12 male connector.
The BUS OUT connector is a 5-pin M12 female connector.
The following diagram shows a front view of the bus connectors:
3
2
2
BUS 4
IN
3
5
5
1
1
4 BUS
OUT
The following table gives the assignments of the bus connector pins:
Pin
Signal
Meaning
1
(CAN_SHLD)
Optional CAN shielding
2
(CAN_V+)
NC (not connected)
3
CAN_GND
0V
4
CAN_H
CAN_H bus line
5
CAN_L
CAN_L bus line
Note: Pin 1 is connected to the ground connection terminal of the splitter box.
44
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CANopen Network Interface
CAUTION
RISK OF EQUIPMENT DAMAGE AND NON-COMPLIANCE WITH STANDARD
IP67
Unused M12 connectors must not be left unprotected.
If an M12 connector is not fitted with a line terminator or connected to a standard
cable, fit a sealing plug so as to guarantee the product’s IP67 protection.
Failure to follow this instruction can result in injury or equipment damage.
Correspondence
between 9-pin
SUB-D
Connectors and
M12 5-pin
Connectors
9-pin SUB-D
connector
1
2
3
4
5
6
7
8
9
Method
The bus connector on IP20 products is a 9-pin SUB-D connector (e.g. Advantys
OTB CANopen).
The following table shows the correspondence between pins on 9-pin SUB-D
connectors and on 5-pin M12 connectors:
SUB-D
pin
Signal
Meaning
M12 pin
1
-
Reserved
-
2
CAN_L
CAN_L bus line
5
3
CAN_GND
0V
3
4
-
Reserved
-
5
(CAN_SHLD)
Optional CAN shielding
1
6
(GND)
Optional CAN_V-
-
7
CAN_H
CAN_H bus line
4
8
-
Reserved
-
9
(CAN_V+)
Optional power supply
-
2
3
5
1
4
Follow the steps below:
Step
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5-pin M12
connector
Action
1
Connect the connection cable for chaining to the BUS IN connector.
2
If the splitter box is at the end of the line, connect a line terminator resistor to
the BUS OUT connector.
Otherwise, connect a connection cable to the BUS OUT connector.
45
CANopen Network Interface
Configuring the Address and Transmission Speed
Method
Follow the steps below:
Step
Action
1
Switch off the power supply to the splitter box.
2
Unscrew both screws on the transparent cover.
3
Set the communication speed.
4
Set the splitter box address.
5
Screw the transparent cover back on.
6
Power up the splitter box.
Illustration of the
Rotary Switches
DATA NODE ADDRESS
RATE X10
X1
6
4
78
6
4
78
78
4
5
6
2
1
Assignment of
the Address on
the Network
5
90 1
23
5
90 1
23
23
90 1
Element
Function
1
Sets the transmission speed
2
Node-ID x 10
3
Node-ID x 1
3
The CANopen address is configured using two specially designed rotary switches.
Addresses can be configured from 1 to 99. Address zero (0) cannot be used.
Note: When assigning the addresses, ensure that each splitter box is assigned to
a single address.
A configured address is registered at power up. It cannot be changed if you do not
remove the cover.
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CANopen Network Interface
Adjustment of
the
Transmission
Speed
The transmission speed is configured using a rotary switch.
The following transmission speeds are possible:
Switch position
Transmission speed
0
Automatic recognition
1
10 Kbits/s
2
20 Kbits/s
3
50 Kbits/s
4
100 Kbits/s
5
125 Kbits/s
6
250 Kbits/s
7
500 Kbits/s
8
800 Kbits/s
9
1 Mbits/s
Note: Two different operating modes are possible:
With a set speed of (10 Kbit/s to 1 Mbits/s), the transmission speed of the splitter
box must be the same as that of the other devices on the network.
In automatic recognition mode, at least one of the slaves on the network must
be configured to the speed of the Master.
For each case, if the required condition is not observed, the splitter box will not be
recognized by the network ( it will remain in the "Init" state).
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47
CANopen Network Interface
4.2
General Principles
Presentation
Introduction
This section addresses the general principles for operating and using the CANopen
network.
What's in this
Section?
This section contains the following topics:
Topic
About CANopen
48
Page
49
The Device Profile
52
CANopen "Boot-Up"
53
Process Data Object (PDO) Transmission
56
Inhibit Time and Event Timer
60
Access to Data by Explicit Exchanges (SDO)
61
"Node-Guarding" and "Life-Guarding" Monitoring Protocols
62
The "Heartbeat" Error Monitoring Protocol
65
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CANopen Network Interface
About CANopen
Introduction
CANopen is a standard fieldbus protocol for industrial control systems. It is
particularly well suited to real-time PLCs, as it provides an effective, low-cost
solution for industrial applications.
The CANopen
Protocol
The CANopen protocol was created as a subset of CAL (CAN Application Layer). By
defining profiles, it is able to be even more specifically adapted to use with standard
industrial components. CANopen is a CiA standard (CAN in Automation) that was
very quickly adopted by users when it was put on the market. In Europe, CANopen
is now recognized as the industry standard for industrial systems based on a CAN
design.
Physical Layer
CAN uses a differentially driven two-wire bus line (common return). A CAN signal is
the difference between the voltage levels of the CAN_H and CAN_L wires. (See
figure below.)
The following diagram shows the components of the physical layer of a two-wire
CAN bus:
5
5
5
1
4
3
4
2
1
2
3
4
5
CAN_H wire
CAN_L wire
Potential difference between CAN-H/CAN-L signals
Line terminator 120 Ω
Connected devices,
The bus wires can be routed in parallel, twisted or shielded form in accordance with
electromagnetic compatibility requirements.
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49
CANopen Network Interface
CANopen
Profiles
The communication profile
The CANopen communication protocol is based on a "communication profile", which
specifies the main communication mechanisms and their description (DS301).
The device profile
The most important types of devices used in industrial automation are described in
the "Device profiles". They also define device functionalities.
Here are some examples of standard devices:
Discrete and analog input/output splitter boxes (DS401)
Motors (DS402)
Control devices (DSP403)
Closed loop controllers (DSP404)
PLCs (DS405)
Encoders (DS406)
Device
Configuration via
the CAN Bus
The possibility of configuring devices via the CANopen bus is one of the basic
principles of the autonomy required by manufacturers (for each profile family).
General
Specifications
for CANopen
Profiles
CANopen is a set of profiles for CAN systems with the following specifications:
CANopen
Product
Certification
All manufacturers offering CANopen-certified products on the market are members
of the CiA (CAN in Automation) industrial consortium. As an active member of the
CiA consortium, Schneider Electric develops its products in compliance with
standard recommendations recognized internationally by the CiA consortium.
50
An open bus system
Real-time data exchange without protocol overload
A modular design with the possibility of resizing
Interoperability and interchangeability of devices
Support guaranteed by a large number of international manufacturers
A standardized network configuration
Access to all device parameters
Synchronization and circulation of cyclical process data and/or event-driven data
(possibility of short system response times).
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CANopen Network Interface
CAN Standards
CANopen specifications are defined by the CiA group and can be accessed (subject
to some restrictions) on the group site at www.can-cia.de. The source codes for
master and slave devices are available from the various suppliers.
Note: To find out more about CANopen standard specifications and mechanisms,
please visit the CiA home page (http//www.can-cia.de).
Communication
on a CANopen
Network
The communication profile is based on CAL (CAN Application Layer) services and
protocols.
It provides the user with access to two types of exchange: SDO and PDO.
On power up, the device enters an initialization phase then goes into "Preoperational" state. At this stage, only SDO communication is authorized. After
receiving a startup command, the device switches to the "Operational" state. PDO
and SDO communications are both authorized when the device is in the
"Operational" state.
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CANopen Network Interface
The Device Profile
List of Functions
The list of functions supported and their coding are given in the following table:
Function
52
Function code
(binary)
Resulting COB-ID
(Hex)
Resulting COB-ID
(Dec)
NMT
0000
0
0
SYNC
0001
80
128
EMERGENCY
0001
81 - FF
129 - 255
TPDO (tx)
0011
181- 1FF
385 - 511
RPDO (rx)
0100
201- 27F
513 - 639
TPDO (tx)
0101
281 - 2FF
641 - 767
RPDO (rx)
0110
301 - 37F
769 - 895
TPDO (tx)
0111
381 - 3FF
897 - 1023
RPDO (rx)
1000
401 - 47F
1025 - 1151
TPDO (tx)
1001
481 - 4FF
1153 - 1279
RPDO (rx)
1010
501 - 57F
1281 - 1407
SDO (tx)
1011
581 - 5FF
1409 - 1535
SDO (rx)
1100
601 - 67F
1537 - 1663
Node-Guarding
1110
701 - 77F
1793 - 1919
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CANopen Network Interface
CANopen "Boot-Up"
Procedure for
"Boot-Up"
The minimum configuration of the equipment specifies a shortened boot procedure.
This procedure is illustrated in the following diagram:
1
Initialisation
Reset Application
Reset Communication
Init
2
7
Pre-Operational
6
5
4
4
Stopped
3
6
3
5
7
Operational
6
Legend
Number
Description
1
Device power-up
2
After initialization, the device automatically goes into the PRE-OPERATIONAL
state
3
NMT service indication: START REMOTE NODE
4
NMT service indication: ENTER PRE-OPERATIONAL
5
NMT service indication: STOP REMOTE NODE
6
NMT service indication: RESET NODE
7
NMT service indication: RESET COMMUNICATION
NMT : Network Management Telegram
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53
CANopen Network Interface
Active CANopen
Objects
depending on
State Machine
The crosses in the table below indicate which CANopen objects are active for which
states of the state machine:
Initialisation
Pre-Operational
PDO object:
Emergency
X
X
X
X
X
X
X
NMT
"Reset
Application"
Stopped
X
SDO object:
Boot-Up
Operational
X
The device goes into the "Reset Application" state:
after the device starts up or,
by "RESET NODE" (NMT service,Network Management Telegram).
In this state, the device profile is initialized, and all the device profile information is
reset to default values. When initialization is complete, the device automatically
goes into the state "Reset Communication".
"Reset
Communication"
The device goes into the "Reset Communication" state:
after the "Reset Application" state,
by "RESET COMMUNICATION" (NMT service).
In this state, all the parameters (standard value, depending on the device
configuration) of the supported communication objects (1000H - 1FFFH) are saved
in the object directory. The device then automatically goes into the "Init" state.
"Init"
The device goes into "Init" mode after being in the "Reset Communication" state.
This state enables you to:
define the required communication objects (SDO, PDO, Sync, Emergency),
install the corresponding CAL services
configure the CAN-Controller.
Initialization of the device is complete and the device automatically goes into the
"Pre-Operational" state and sends a "Boot-Up" message.
54
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CANopen Network Interface
"PreOperational"
The device goes into the "Pre-Operational" state:
after the "Init" state,
on receiving the NMT "ENTER PRE-OPERATIONAL" indication if it was in the
"Operational" or "Stopped" state.
When the device is in this state, its configuration can be modified. However, only
SDOs can be used to read or write device-related data.
When configuration is complete, the device goes into one of the following states on
receiving the corresponding indication:
"Stopped" on receiving the NMT "STOP REMOTE NODE" indication.
"Operational" on receiving the NMT "START REMOTE NODE" indication.
"Stopped"
The device goes into the "Stopped" state on receiving the "STOP REMOTE NODE"
indication (NMT service) if it was in "Pre-Operational" or "Operational" state.
In this state, the device cannot be configured. No service is available to read and
write device-related data (SDO). Only the slave monitoring function ("NodeGuarding" or "Heartbeat") remains active.
"Operational"
The device goes into the "Operational" state if it was in the "Pre-Operational" or
"Stopped" state on receiving "START REMOTE NODE" indication.
When the CANopen network is started using the NMT "START REMOTE NODE"
services, all device functionalities can be used. Communication can be carried out
via PDOs or SDOs.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
Do not change the device configuration when it is in "Operational" state. Changing
the equipment configuration while it is in the "Operational" state may result in the
device behaving in an unexpected manner and/or in equipment damage or injury
to personnel. If the device needs to be reconfigured, put it in the "Pre-Operational"
state and check that this has been done correctly before proceeding to modify the
configuration.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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55
CANopen Network Interface
Process Data Object (PDO) Transmission
Definition of PDO
PDOs are objects which provide the communication interface with process data and
enable them to be exchanged in real time. A CANopen device's PDO set describes
the implicit exchanges between this device and its communication partners on the
network.
The exchange of PDOs is authorized when the device is in "Operational" mode.
Types of PDO
There are two types of PDO:
PDOs transmitted by the device ("Transmit PDO", "TPDO")
PDOs received by the device ("Receive PDO", "RPDO")
PDO Consumer/
Producer
PDOs are based on the "Producer / consumer" model ("Producer" / "Consumer").
The device which sends out a PDO is called the producer, while the device receiving
it is known as the consumer.
PDO
Transmission
Modes
In addition to data to be transported, it is possible to configure the type of exchange
for each PDO.
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Dec.
Hex.
Cyclic
0
0
1 to 240
1 to F0
x
241 to 251
F1 to FB
Reserved
252
FC
253
FD
x
254 to 255
FE to FF
x
56
Notes
Acyclic
Synchron
ous
Asynchro
nous
only RTR
x
x
Send PDO on first SYNC
message following an
event
x
Send PDO every x SYNC
messages
-
x
x
Receive SYNC message
and send PDO on
Remote Request
x
Update data and send
PDO on Remote Request
Send PDO on event
(Change of state mode)
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CANopen Network Interface
Change of state
Producer
Consumer(s)
Remote frame
Remote Transmission
Request
Producer
Consumer(s)
Synchronous object
Synchronous object
(cyclic, acyclic)
Producer
Consumer(s)
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57
CANopen Network Interface
Synchronous
(mode 0 to 240)
For certain applications, synchronization between scanning of the inputs and
activation of the outputs may be necessary.
For this reason, CANopen provides the "SYNC" object, a high-priority CAN message
without any working data, which, when it is received by the synchronized devices is
used to trigger the reading of inputs or activation of outputs (Trigger).
The following diagram shows the time data for synchronized PDO transmission.
Communication cycle
SYNC
SYNC
SYNC
Current input data
Set point
Output
Data
Input search in each SYNC
message
Actuation based on outputs
at next SYNC message
Synchronous
RTR (mode 252)
Synchronous
window length
Aside from polling by request ("timing-related polling"), the slaves can also be polled
by the master by using data request messages ("Remote-Frames", known as RTR
messages).
In mode 252, the device uses the synchronization message to trigger transmission
of the PDO once it has received the RTR message.
Asynchronous
RTR (mode 253)
58
In mode 253, the TPDOs are transmitted once the RTR message is received.
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CANopen Network Interface
"Change of
state" (modes
254 and 255)
The asynchronous exchange of PDO in "Change of state" mode enables the rapid
modification of an input value, followed by immediate confirmation of the change of
value. This avoids the need to wait for the master to send a request.
A high priority bus status is assigned to the "Change of state" mode and only the
updated input value is returned, not the image of the full process, thus considerably
reducing traffic on the bus.
"Change of state" corresponds to the modification of the input value (event control).
WARNING
RISK OF UNINTENDED DEVICE OPERATION
The "Change of State" mode must not be used for inputs/outputs whose state
changes continuously (such as analog inputs). The continual modification of I/Os
using the "Change of State" mode may block the transmission of other crucial
commands, resulting in the unintended operation of the device.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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59
CANopen Network Interface
Inhibit Time and Event Timer
Inhibit Time
In event transmission mode, the Inhibit Time utility is used to define a minimum time
delay before transmission of a new PDO. This avoids overloading the bus where a
significant number of events occur in rapid succession.
The Inhibit Time is expressed in multiple of 100 μs.
Event Timer
Values (hex.)
Values (dec.)
Actual values (ms)
0000H
0
0000
000AH
10
1
0064H
100
10
03E8H
1000
100
2710H
10 000
1000
FFFFH
65 535
6553.5
In event transmission mode, the Event Timer is used to define an expiry time delay
where transmission of a PDO will be forced, even if there has been no change in
status .
The Event Timer is expressed in milliseconds.
60
Values (hex.)
Values (dec.)
Actual values (ms)
0000H
0
0 (deactivated)
000AH
10
10
0064H
100
100
01F4H
500
500
03E8H
1000
1000
1388H
5000
5000
2710H
10 000
10 000
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CANopen Network Interface
Access to Data by Explicit Exchanges (SDO)
What is an SDO?
An SDO allows a device's data to be accessed by using explicit requests.
The SDO service is available when the device is in "Operational" or "PreOperational" state.
Types of SDO
There are two types of SDO:
Read SDOs (Download SDO)
Write SDOs (Upload SDO)
The Producer/
Consumer Model
The SDO protocol is based on a 'Producer/Consumer' model.
For a Download SDO
The client sends a request indicating the object to be read.
The server returns the data contained within the object.
For an Upload SDO
The client sends a request indicating the object to be written to and the desired
value.
After the object has been updated, the server returns a confirmation message.
For an unprocessed SDO
In both cases, if an SDO was not able to be processed, the server returns an error
code (abort code).
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61
CANopen Network Interface
"Node-Guarding" and "Life-Guarding" Monitoring Protocols
Introduction
Error monitoring protocols are used to detect communication errors on the network.
The default monitoring method, "Node-Guarding", consists in the master controlling
the slaves. It is possible to add "Life-Guarding" control of the master by the slaves.
Note: The simultaneous use of both monitoring methods, "Guarding" and
"Heartbeat", is impossible. Should both methods be activated at once, the
equipment will only use the "Heartbeat" monitoring method.
Definition of
"Life-Time"
The "Life-Time" parameter is calculated as follows:
"Life-Time"= "Guard-Time" x "Life-Time-Factor"
The object 100CH contains the ''Guard-Time'' parameter expressed in milliseconds.
The object 100DH contains the ''Life-Time-Factor" parameter.
Activation of
Monitoring
When one of the two parameters "Life-Time-Factor" or "Guard-Time" is set to "0"
(default configuration), the device does not perform monitoring (no "Life-Guarding").
To activate monitoring over time, you must enter a value (minimum 1) in the object
100DH and specify a time in ms in the object 100CH.
Common typical values for the "Guard-Time" parameter lie between 250 ms and 2 s.
Reliable
Operation
To enable reliable and secure operation, the user must enter a "Life-Time-Factor"
with a minimum value of 2.
When the value 1 is used, should a delay occur due to the processing of high priority
messages or internal processing on the "Node-Guarding" master, the device
switches back to the "Pre-Operational" default state without generating any errors.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
Set the "Life-Time-Factor" (object 100DH) to a minimum value of 2 to prevent any
inadvertent change of state to "Pre-Operational" state. Depending on the I/O
configuration, an inadvertent change of state may result in unintended device
operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
62
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CANopen Network Interface
Importance of
Monitoring
These two monitoring mechanisms are especially important in the CANopen
system. Devices connected to the bus do not regularly indicate their presence in
operating mode, commanded by "Event".
Slave Monitoring
Monitoring is performed in the following way:
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Phase
Description
1
The master sets "Remote-Frames" (or "Remote-Transmit-Request" request
messages) on the "Guarding-CobID" of the slaves to be monitored.
2
The slaves concerned respond by sending the "Guarding" message. This
message contains the "Status-Code" of the slave and the "Toggle-Bit", which
changes after each message.
3
The NMT (Network Management Telegram) master compares the "Status"and
"Toggle-Bit" information:
If they are not in the expected state or if no response is received, the NMT
master considers that an error has occurred on the slave.
63
CANopen Network Interface
Master
Monitoring
If the master requests "Guarding" messages on a strictly cyclical basis, the slave
can detect a master failure.
If the slave does not receive a request from the master within the defined "Life-Time"
interval ("Guarding" error), it considers that a master failure has occurred
("Watchdog" function).
In this case, the corresponding outputs go into fallback mode and the slave switches
back into "Pre-Operational" mode.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
An unexpected change in state to "Pre-Operational" mode may occur when the
slave does not successfully detect the master’s request even though a slavemaster communication monitoring protocol is used.
Depending on the configuration of the slave’s inputs and outputs, this change in
state may result in unintended device operation or in bodily injury or equipment
damage. The person in charge of configuring the system is fully responsible for the
configuration of the slave inputs/outputs and must ensure secure fallback
operations in the event of a loss of master/slave communication. The person in
charge of the configuration must also take all necessary steps to ensure equipment
and personnel safety should it prove impossible to secure the fallback operations.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Note: Even if the monitoring function over time is disabled ("Guard-Time" and "LifeTime-Factor" registers set to 0), the slave will respond to a remote request from the
master.
"Guarding"
Protocol
The initial value of the ''Toggle-Bit'' sent in the first ''Guarding'" message is ''0''.
Then, the ''Toggle'' bit changes in each subsequent ''Guarding'' message, which
makes it possible to indicate if a message has been lost.
The network state of the device is indicated in the seven remaining bits:
64
Network state
Response in hex.
Stopped
04H or 84H
Pre-operational
7FH or FFH
Operational
05H or 85H
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CANopen Network Interface
The "Heartbeat" Error Monitoring Protocol
Operation of
"Heartbeat"
Mechanism
The default monitoring method is "Node-Guarding". If a non-zero value is written in
the object 1017H, the "Heartbeat" mechanism is used.
If the Heartbeat error monitoring protocol is selected, the producer transmits a
"Heartbeat" message periodically, depending on the "Producer Hearbeat Time"
parameter.
The devices responsible for monitoring this message ("Heartbeat Consumer")
generate a "HeartBeat" event if the message is not received in the configured time
("Consumer Heartbeat Time").
Note: The simultaneous use of both monitoring methods, "Guarding" and
"Heartbeat", is impossible. Should both methods be activated at once, the
equipment will only use the "Heartbeat" monitoring method.
Meaning of
Possible Values
The "Heartbeat" message indicates that the device status is one byte long and is
formatted as follows:
The most significant bit is reserved and always has a value of 0
The 7 least significant bits provide the status for the device producing the
"Heartbeat" message.
The possible values are as follows:
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Status of the "Heartbeat
Producer"
Value (Decimal)
Boot-Up
0
Stopped
4
Operational
5
Pre-Operational
127
65
CANopen Network Interface
4.3
Behavior of FTB CANopen Splitter boxes
Presentation
Introduction
This section addresses the different behavior patterns of the Advantys FTB
CANopen IP67 splitter and the saving of different parameters.
What's in this
Section?
This section contains the following topics:
66
Topic
Page
Behavior at Power-up
67
Behavior in the Case of Communication Error
68
Saving / Restoring Parameters
69
List of Saved Parameters
70
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CANopen Network Interface
Behavior at Power-up
Description
The behavior of the Advantys FTB 1CN splitter box at power-up is in compliance
with the "CANOPEN BOOT-UP (see CANopen "Boot-Up", p. 53)" Diagram.
If a back-up configuration exists
Where a save has been carried out, the saved parameters are applied prior to
switching to "Pre-Operational" status.
If a back-up configuration does not exist
If there is no back-up configuration, the Advantys FTB splitter box initializes the
CANopen data with the default parameters.
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CANopen Network Interface
Behavior in the Case of Communication Error
Description
68
In the event of a communication error detected by one of the error monitoring
protocols ("Node-Guarding" or "Heartbeat"), fallback values are applied physically
on the outputs until the next write of the output command object and when the
communication error has disappeared.
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CANopen Network Interface
Saving / Restoring Parameters
Management of
Saved
Parameters
During initial power up, the Advantys splitter box is initialized with the default
parameters. During subsequent power ups, it is initialized with the saved
parameters.
Note: When the master detects the presence of the splitter box on the network, the
parameters of the splitter box that are re-defined in the master's configuration tool
are overwritten.
Updating Default
Parameters
Saved parameters are only applied once the speed on the Advantys splitter box has
been detected.
Saving and
Resetting
Parameters
The back-up of parameters is performed by writing a signature to the object 1010H
(see Object 1010H: Store Parameters, p. 146) These parameters will be used during
the next start-ups.
Saved parameters are reset with the default values by writing a signature in the
object 1011H (see Object 1011H: Restore Default Parameters, p. 148).
Recommendations to Avoid
Data Losses
While writing or deleting saved parameters, the slave no longer processes
communications received via the CANopen bus. During this operation, none of the
messages transmitted to the slave are taken into account (this includes SDO or
Node-Guarding messages).
In order to avoid equipment damage or injury to personnel as well as any losses of
data, it is not advisable to initiate parameter saves or restitution when the equipment
is in "Operational" mode.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
The splitter box must be switched to the "Pre-Operational" state to save its
configuration. The saving process takes 1 to 2 seconds. If the save takes place in
the "Operational" state, the outputs will not be updated during the saving process.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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69
CANopen Network Interface
List of Saved Parameters
Communication
Profile Objects
The objects that are saved or reused on start-up are as follows:
1005H : COB-ID SYNC Message
1006H : Communication Cycle Period
100CH : Guard Time
100DH : Life Time Factor
1014H : COB-ID Emergency Message (EMCY)
1016H : Consumer Heartbeat Time
1017H : Producer Heartbeat Time
1400H...1405H : Receive PDO Communication Parameters
1600H...1605H : Receive PDO Mapping Parameters
1800H...1805H : Transmit PDO Communication Parameters
1A00H...1A05H : Transmit PDO Mapping Parameters
Discrete I/O
Configuration
Objects
The discrete I/Os configuration objects are as follows:
2000H : Input / Diag Parameter
2001H : Input / Output Parameter
6102H : Polarity Inputs
6103H : Filter Constant Input 16 Bits
6200H : Write Outputs 8 Bits
6300H : Write Outputs 16 Bits
6302H : Polarity Outputs 16 Bits
6306H : Fallback Mode 16 Bits
6307H : Fallback Value 16 Bits
6308H : Filter Mask Outputs 16 Bits
DANGER
RISK OF UNINTENDED EQUIPMENT OPERATION
Check the contents of objects 6200H and 6300H before switching the product in
"Operational" state. Output write objects 6200H and 6300H are saved. Following
power up, the switch to "Operational" state will apply to the saved output values.
Failure to follow this instruction will result in death or serious injury.
70
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Application-Specific Functions
5
Presentation
Introduction
The FTB splitter box offers discrete input, output and diagnostics channels and
configurable input or output channels, depending on its version. This following
chapter describes the operating modes for these different channels.
What's in this
Chapter?
This chapter contains the following topics:
1606218 02 08/2006
Topic
Page
List of Objects
72
Description of the Discrete Inputs
74
Description of Discrete Outputs
75
Description of Configurable Discrete I/Os
76
List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects
78
List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects
81
List of Advantys FTB 1CN16EP0 and FTB 1CN16EM0 Splitter Box I/O Objects
85
List of Advantys FTB 1CN16CP0 and FTB 1CN16CM0 Splitter Box I/O
Objects
87
List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects
91
71
Application-Specific Functions
List of Objects
List of
Communication
Objects
The communication objects are listed in the following table:
Object
Object 1000H: Device Type, p. 135
Object 1001H: Error Register, p. 136
Object 1002H: Manufacturer Status Register, p. 137
Object 1003H: Pre-defined Error Field , p. 138
Object 1005H: COB-ID SYNC Message, p. 140
Object 1006H: Communication Cycle Period, p. 141
Object 1008H: Manufacturer Device Name, p. 142
Object 100AH: Manufacturer Software Version (MSV), p. 143
Object 100CH: Guard Time, p. 144
Object 100DH: Life Time Factor, p. 145
Object 1010H: Store Parameters, p. 146
Object 1011H: Restore Default Parameters, p. 148
Object 1014H: COB-ID Emergency Message (EMCY), p. 150
Object 1016H: Consumer Heartbeat Time, p. 151
Object 1017H: Producer Heartbeat Time, p. 152
Object 1018H: Identity Object, p. 153
Object 1200H: Server SDO Parameter, p. 154
Object 1400H: 1st Receive PDO Communication Parameter, p. 155
Object 1405H: 2nd Receive PDO Communication Parameter, p. 156
Object 1600H: 1st Receive PDO Mapping Parameter, p. 157
Object 1605H: 2nd Receive PDO Mapping Parameter, p. 159
Object 1800H: 1st Transmit PDO Communication Parameter, p. 161
Object 1805H: 2nd Transmit PDO Communication Parameter, p. 164
Object 1A00H: 1st Transmit PDO Mapping Parameter, p. 167
Object 1A05H: 2nd Transmit PDO Mapping Parameter, p. 169
72
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Application-Specific Functions
List of
Manufacturerspecific Profile
Objects
The manufacturer-specific profile objects are listed in the following table:
Object
Object 2000H: Input / Diag Parameter, p. 172
Object 2001H: Input/Output Parameter, p. 173
Object 3000H: Manufacturer Specific Diagnostic, p. 174
List of Device
Profile Objects
The device profile objects are listed in the following table:
Object
Object 6000H: Read Inputs 8 Bits, p. 176
Object 6100H: Read Input 16 Bits, p. 177
Object 6102H: Polarity Input, p. 178
Object 6103H: Filter Constant Input 16 Bits, p. 179
Object 6200H: Write Outputs 8 Bits, p. 180
Object 6300H: Write Outputs 16 Bits, p. 181
Object 6302H: Polarity Outputs 16 Bits, p. 182
Object 6306H:Fallback Mode 16 Bits, p. 183
Object 6307H: Fallback Value 16 Bits, p. 184
Object 6308H: Filter Mask Output 16 Bits , p. 185
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73
Application-Specific Functions
Description of the Discrete Inputs
Discrete Inputs
Input reading made per byte. Each input byte is contained in the sub-index of object
6000H.
For each input, the following parameters may be modified:
Polarity (object 6102H)
Filtering constant (object 6103H)
The 2000H object is used to configure inputs 10 to 17 as a discrete input or a
diagnostics input.
The state displayed on the inputs is determined by the configuration registers as
described below:
SWITCH
IF 1H
2000H
{OH,1H}
Single
Digital
Input
Diag
Input
{OH,1H}
OPTIONAL
FILTER
Filter
Constant
6103H
{OH,1H}
CHANGE
POLARITY
{EH,DH}
{OH,1H}
ENTRY
into
6000H
6100H
6102H
Polarity Input
74
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Application-Specific Functions
Description of Discrete Outputs
Discrete Outputs
The discrete outputs are controlled by a command in the sub-index of object 6200H.
For each output, the following parameters may be modified:
Polarity (object 6302H)
Filter mask (object 6308H)
In the event of an error (loss of communication with the master for example), the
fallback mode is applied.
The state of the output is determined by the configuration registers as described
below:
Change
Polarity
Filter
Mask
6302H
6308H
{E,D}
{E,D}
{O,1}
ENTRY
into 6200H
6300H
Fallback Mode
6306H
{OH,1H}
Fallback Value
6307H
{O,1}
CHANGE
POLARITY
{O,1}
OPTIONAL
FILTER
{O,1}
Single
Digital
Output
SWITCH
IF 0H
Switch if
Device
Failure
{O,1}
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75
Application-Specific Functions
Description of Configurable Discrete I/Os
Configurable
Splitters
The configurable splitter boxes are as follows:
Channel
Configured for
Discrete Output
Write outputs are per word. Each output word is contained in the sub-index of object
6200H.
FTB 1CN16CP0
FTB 1CN16CM0
FTB 1CN08E08CM0
For each output, the following parameters may be modified:
Polarity (object 6302H)
Filter mask (object 6308H)
In the event of an error (loss of communication with the master for example), the
fallback mode is applied.
The state applied to the output is determined by the configuration registers as
described below:
Filter
Mask
Change
Polarity
6302H
6308H
{E,D}
{E,D}
{O,1}
ENTRY
into 6200H
6300H
Fallback Mode
6306H
{OH,1H}
Fallback Value
6307H
{O,1}
CHANGE
POLARITY
{O,1}
OPTIONAL
FILTER
{O,1}
Single
Digital
Output
SWITCH
IF 0H
Switch if
Device
Failure
{O,1}
76
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Application-Specific Functions
Channel
Configured for
Discrete Input
Input reading made per byte. Each input byte is contained in the sub-index of object
6000H.
For each input, the following parameters may be modified:
Polarity (object 6102H)
Filtering constant (object 6103H)
The 2000H object is used to configure inputs 10 to 17 as a discrete input or a
diagnostics input.
The state displayed on the inputs is defined by the configuration registers as
described below:
SWITCH
IF 1H
2000H
{OH,1H}
Single
Digital
Input
Filter
Constant
{OH,1H}
OPTIONAL
FILTER
Diag
Input
6103H
{OH,1H}
{OH,1H}
CHANGE
POLARITY
ENTRY into
6000H
6100H
{EH,DH}
6102H
Polarity Input
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77
Application-Specific Functions
List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects
List of FTB
1CN08E08SPO
Input Objects
The list of input objects for the Advantys FTB 1CN08E08SP0 splitter box is given in
the following table:
Object
Subindex
Bit
Description
2000H
1
Bit 0
Choice between the "input" function and the "diagnostics input"
function for channel 10
...
...
Bit 7
Choice between the "input" function and the "diagnostics input"
function for channel 17
Bit 0
Not assigned
...
...
6000H
1
2
6100H
6102H
6103H
78
1
1
1
Bit 7
Not assigned
Bit 0
Reading of channel 10 input
...
...
Bit 7
Reading of channel 17 input
Bit 0
Not assigned
...
...
Bit 7
Not assigned
Bit 8
Reading of channel 10 input
...
...
Bit 15
Reading of channel 17 input
Bit 0
Not assigned
...
...
Bit 7
Not assigned
Bit 8
Polarity of channel 10
...
...
Bit 15
Polarity of channel 17
Bit 0
Not assigned
...
...
Bit 7
Not assigned
Bit 8
Channel 10 masking
...
...
Bit 15
Channel 17 masking
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Application-Specific Functions
Note: All the objects are 16-bit word tables except for 2000H and 6000H.
Sub-index 1 of object 6000H corresponds to the 6100H (pin 4) object's least
significant byte
Sub-index 2 of object 6000H corresponds to the 6300H (pin 2) object's most
significant byte.
Object 2000H, read by byte, concerns channels 10 to 17 only (pin 2).
List of FTB
1CN08E08SP0
Output Objects
The list of output objects for the Advantys FTB 1CN08E08SP0 splitter box is given
in the following table:
Object
Subindex
Bit
Description
6200H
1
Bit 0
Writing of channel 0 output
...
...
Bit 7
Writing of channel 7 output
Bit 0
Writing of channel 0 output
...
...
Bit 7
Writing of channel 7 output
Bit 8
Not assigned
6300H
6302H
6306H
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1
1
1
...
...
Bit 15
Not assigned
Bit 0
Polarity of channel 0 output
...
...
Bit 7
Polarity of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Bit 0
Fallback mode of channel 0 output
...
...
Bit 7
Fallback mode of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
79
Application-Specific Functions
Object
Subindex
Bit
Description
6307H
1
Bit 0
Fallback value of channel 0 output
6308H
1
...
...
Bit 7
Fallback value of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Bit 0
Masking of channel 0 output
...
...
Bit 7
Masking of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Note: All the objects are 16-bit word tables except for 6200H. Sub-index 1 of object
6200H corresponds to the 6300H object's least significant byte.
80
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Application-Specific Functions
List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects
List of FTB
1CN12E04SP0
Input Objects
The list of input objects for the Advantys FTB 1CN12E04SP0 splitter box is given in
the following table:
Object
Subindex
Bit
Description
2000H
1
Bit 0
Choice between the "input" function and the "diagnostics
input" function for channel 10
...
...
Bit 7
Choice between the "input" function and the "diagnostics
input" function for channel 17
Bit 0
Reading of channel 0 input
...
...
6000H
1
2
6100H
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1
Bit 3
Reading of channel 3 input
Bit 4
Not assigned
...
...
Bit 7
Not assigned
Bit 8
Reading of channel 10 input
...
...
Bit 15
Reading of channel 17 input
Bit 0
Reading of channel 0 input
...
...
Bit 3
Reading of channel 3 input
Bit 4
Not assigned
...
...
Bit 7
Not assigned
Bit 8
Reading of channel 10 input
...
...
Bit 15
Reading of channel 17 input
81
Application-Specific Functions
Object
Subindex
Bit
Description
6102H
1
Bit 0
Polarity of channel 0
...
...
Bit 3
Polarity of channel 3
6103H
1
Bit 4
Not assigned
...
...
Bit 7
Not assigned
Bit 8
Polarity of channel 10
...
...
Bit 15
Polarity of channel 17
Bit 0
Channel 0 masking
...
...
Bit 3
Channel 3 masking
Bit 4
Not assigned
...
...
Bit 7
Not assigned
Bit 8
Channel 10 masking
...
...
Bit 15
Channel 17 masking
Note: All the objects are 16-bit word tables except for 2000H and 6000H.
Sub-index 1 of object 6000H corresponds to the 6100H (pin 4) object's least
significant byte
Sub-index 2 of object 6000H corresponds to the 6300H (pin 2) object's most
significant byte.
Object 2000H, read by byte, concerns channels 10 to 17 only (pin 2).
82
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Application-Specific Functions
List of FTB
1CN12E04SP0
Output Objects
The list of output objects for the Advantys FTB 1CN12E04SP0 splitter box is given
in the following table:
Object
Subindex
Bit
Description
6200H
1
Bit 0
Not assigned
2
6300H
6302H
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1
1
...
...
Bit 3
Not assigned
Bit 4
Writing of channel 4 output
...
...
Bit 7
Writing of channel 7 output
Bit 0
Not assigned
...
...
Bit 7
Not assigned
Bit 0
Not assigned
...
...
Bit 3
Not assigned
Bit 4
Writing of channel 4 output
...
...
Bit 7
Writing of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Bit 0
Not assigned
...
...
Bit 3
Not assigned
Bit 4
Polarity of channel 4 output
...
...
Bit 7
Polarity of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
83
Application-Specific Functions
Object
Subindex
Bit
Description
6306H
1
Bit 0
Not assigned
...
...
Bit 3
Not assigned
Bit 4
Fallback mode of channel 4 output
...
...
Bit 7
Fallback mode of channel 7 output
Bit 8
Not assigned
6307H
6308H
1
1
...
...
Bit 15
Not assigned
Bit 0
Not assigned
...
...
Bit 3
Not assigned
Bit 4
Fallback value of channel 4 output
...
...
Bit 7
Fallback value of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Bit 0
Not assigned
...
...
Bit 3
Not assigned
Bit 4
Masking of channel 4 output
...
...
Bit 7
Masking of channel 7 output
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Note: All the objects are 16-bit word tables except for 6200H. Sub-index 1 of object
6200H corresponds to the 6300H object's least significant byte.
84
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Application-Specific Functions
List of Advantys FTB 1CN16EP0 and FTB 1CN16EM0 Splitter Box I/O Objects
List of
FTB 1CN16EP0
and
FTB 1CN16EM0
Input Objects
The list of input objects for the Advantys FTB 1CN16EP0 and FTB 1CN16EM0
splitter boxes is given in the following table:
Object
Subindex
Bit
Description
2000H
1
Bit 0
Choice between the "input" function and the "diagnostics input"
function for channel 10
...
...
Bit 7
Choice between the "input" function and the "diagnostics input"
function for channel 17
Bit 0
Reading of channel 0 input
...
...
6000H
1
2
6100H
6102H
6103H
1
1
1
Bit 7
Reading of channel 7 input
Bit 0
Reading of channel 10 input
...
...
Bit 7
Reading of channel 17 input
Bit 0
Reading of channel 0 input
...
...
Bit 15
Reading of channel 17 input
Bit 0
Polarity of channel 0
...
...
Bit 15
Polarity of channel 17
Bit 0
Channel 0 masking
...
...
Bit 15
Channel 17 masking
Note: All the objects are 16-bit word tables except for 2000H and 6000H.
Sub-index 1 of object 6000H corresponds to the 6100H (pin 4) object's least
significant byte
Sub-index 2 of object 6000H corresponds to the 6300H (pin 2) object's most
significant byte.
Object 2000H, read by byte, concerns channels 10 to 17 only (pin 2).
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85
Application-Specific Functions
List of
FTB 1CN16EP0
and
FTB 1CN16EM0
Output Objects
86
The Advantys FTB 1CN16EP0 and FTB 1CN16EM0 splitter boxes have no outputs.
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Application-Specific Functions
List of Advantys FTB 1CN16CP0 and FTB 1CN16CM0 Splitter Box I/O Objects
Configuration
Object 2001H
Object 2001H is used to select the "input" and "output" functions for the 00 to 17
channels as an input or output. Object 2001H: Input/Output Parameter, p. 173.
The table below presents the mapping of object 2001H:
Object
Sub-index
Bit
Description
2001H
1
Bit 0
Choice between the "input" function and the "output"
function for channel 0
2
...
...
Bit 7
Choice between the "input" function and the "output"
function for channel 7
Bit 8
Choice between the "input" function and the "output"
function for channel 10
...
...
Bit 15
Choice between the "input" function and the "output"
function for channel 17
Note: All objects are read by bytes.
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87
Application-Specific Functions
List of
FTB 1CN16CP0
and
FTB 1CN16CM0
Input Objects
The list of input objects for the Advantys FTB 1CN16CP0 and FTB 1CN16CM0
splitter boxes is given in the following table:
Object
Subindex
Bit
Description
2000H
1
Bit 0
Choice between the "input" function and the "diagnostics input"
function for channel 10
...
...
Bit 7
Choice between the "input" function and the "diagnostics input"
function for channel 17
Bit 0
Channel 0 input reading if channel 0 configured for input
Not assigned if channel 0 configured for output
6000H
1
...
2
Bit 7
Channel 7 input reading if channel 7 configured for input
Not assigned if channel 7 configured for output
Bit 0
Channel 10 input reading if channel 10 configured for input
Channel 10 diagnostics input reading if channel 10 configured
for diagnostics input
Not assigned if channel 10 configured for output
...
6100H
1
...
Bit 7
Channel 17 input reading if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
Not assigned if channel 17 configured for output
Bit 0
Channel 0 input reading if channel 0 configured for input
Not assigned if channel 0 configured for output
...
...
Bit 7
Channel 7 input reading if channel 7 configured for input
Not assigned if channel 7 configured for output
Bit 8
Channel 10 input reading if channel 10 configured for input
Channel 10 diagnostics input reading if channel 10 configured
for diagnostics input
Not assigned if channel 10 configured for output
...
Bit 15
88
...
...
Channel 17 input reading if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
Not assigned if channel 17 configured for output
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Application-Specific Functions
Object
Subindex
Bit
6102H
1
Bit 0
...
6103H
1
Description
Channel 0 polarity if channel 0 configured for input
Not assigned if channel 0 configured for output
...
Bit 15
Channel 17 polarity if channel 17 configured for input
Not assigned if channel 17 configured for output
Bit 0
Channel 0 masking if channel 0 configured for input
Not assigned if channel 0 configured for output
...
...
Bit 15
Channel 17 masking if channel 17 configured for input
Not assigned if channel 17 configured for output
Note: All the objects are 16-bit word tables except for 2000H and 6000H.
Sub-index 1 of object 6000H corresponds to the 6100H (pin 4) object's least
significant byte
Object 2000H, read by byte, concerns channels 10 to 17 only (pin 2).
List of
FTB 1CN16CP0
and
FTB 1CN16CM0
Output Objects
The list of output objects for the Advantys FTB 1CN16CP0 and FTB 1CN16CM0
splitter boxes is given in the following table:
Object
Subindex
Bit
6200H
1
Bit 0
...
2
1
...
Channel 7 output writing if channel 7 configured for output
Not assigned if channel 7 configured for input
Bit 0
Channel 10 output writing if channel 10 configured for output
Not assigned if channel 10 configured for input
...
Bit 7
Channel 17 output writing if channel 17 configured for output
Not assigned if channel 17 configured for input
Bit 0
Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
...
Bit 15
1606218 02 08/2006
Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
Bit 7
...
6300H
Description
...
Channel 17 output writing if channel 17 configured for output
Not assigned if channel 17 configured for input
89
Application-Specific Functions
Object
Subindex
Bit
6302H
1
Bit 0
...
6306H
1
1
1
...
Channel 17 output polarity if channel 17 configured for output
Not assigned if channel 17 configured for input
Bit 0
Channel 0 output fallback mode if channel 0 configured for
output
Not assigned if channel 0 configured for input
...
Bit 15
Channel 17 output fallback mode if channel 17 configured for
output
Not assigned if channel 17 configured for input
Bit 0
Channel 0 output fallback value if channel 0 configured for
output
Not assigned if channel 0 configured for input
...
6308H
Channel 0 output polarity if channel 0 configured for output
Not assigned if channel 0 configured for input
Bit 15
...
6307H
Description
...
Bit 15
Channel 17 output fallback value if channel 17 configured for
output
Not assigned if channel 17 configured for input
Bit 0
Channel 0 output masking if channel 0 configured for output
Not assigned if channel 0 configured for input
...
Bit 15
...
Channel 17 output masking if channel 17 configured for output
Not assigned if channel 17 configured for input
Note: All the objects are 16-bit word tables except for 6200H.
For object 6200H:
Sub-index 1 corresponds to the 6300H (pin 4) object's least significant byte
Sub-index 2 corresponds to the 6300H (pin 2) object's most significant byte
90
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Application-Specific Functions
List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects
Configuration
Object 2001H
Object 2001H is used to select the "input" and "output" functions for channels 00 to
17 as an input or output. Object 2001H: Input/Output Parameter, p. 173.
The table below presents the mapping of object 2001H:
Object
Sub-index
Bit
Description
2001H
1
Bit 0
Choice between the "input" function and the "output"
function for channel 0
...
...
Bit 7
Choice between the "input" function and the "output"
function for channel 7
Bit 8
Not assigned
...
...
Bit 15
Not assigned
2
Note: All objects are read by bytes.
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91
Application-Specific Functions
List of FTB
1CN08E08CM0
Input Objects
The list of input objects for the Advantys FTB 1CN08E08CM0 splitter box is given in
the following table:
Object
Subindex
Bit
Description
2000H
1
Bit 0
Choice between the "input" function and the "diagnostics input"
function for channel 10
...
...
Bit 7
Choice between the "input" function and the "diagnostics input"
function for channel 17
Bit 0
Channel 0 input reading if channel 0 configured for input
Not assigned if channel 0 configured for output
6000H
1
...
2
Bit 7
Channel 7 input reading if channel 7 configured for input
Not assigned if channel 7 configured for output
Bit 0
Channel 10 input reading if channel 10 configured for input
Channel 10 diagnostics input reading if channel 10 configured
for diagnostics input
...
6100H
1
...
Bit 7
Channel 17 input reading if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
Bit 0
Channel 0 input reading if channel 0 configured for input
Not assigned if channel 0 configured for output
...
...
Bit 7
Channel 7 input reading if channel 7 configured for input
Not assigned if channel 7 configured for output
Bit 8
Channel 10 input reading if channel 10 configured for input
Channel 10 diagnostics input reading if channel 10 configured
for diagnostics input
...
Bit 15
92
...
...
Channel 17 input reading if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
1606218 02 08/2006
Application-Specific Functions
Object
Subindex
Bit
6102H
1
Bit 0
...
1
Channel 0 input polarity if channel 0 configured for input
Not assigned if channel 0 configured for output
...
Bit 7
Channel 7 input polarity if channel 7 configured for input
Not assigned if channel 7 configured for output
Bit 8
Channel 10 input polarity if channel 10 configured for input
Channel 10 diagnostics input polarity if channel 10 configured
for diagnostics input
...
6103H
Description
...
Bit 15
Channel 17 input polarity if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
Bit 0
Channel 0 input masking if channel 0 configured for input
Not assigned if channel 0 configured for output
...
...
Bit 7
Channel 7 input masking if channel 7 configured for input
Not assigned if channel 7 configured for output
Bit 8
Channel 10 input masking if channel 10 configured for input
Channel 10 diagnostics input masking if channel 10
configured for diagnostics input
...
Bit 15
...
Channel 17 input masking if channel 17 configured for input
Channel 17 diagnostics input masking if channel 17
configured for diagnostics input
Note: All the objects are 16-bit word tables except for 2000H and 6000H.
Sub-index 1 of object 6000H corresponds to the 6100H (pin 4) object's least
significant byte
Object 2000H, read by byte, concerns channels 10 to 17 only (pin 2).
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93
Application-Specific Functions
List of FTB
1CN08E08CM0
Output Objects
The list of output objects for the Advantys FTB 1CN08E08CM0 splitter box is given
in the following table:
Object
Subindex
Bit
6200H
1
Bit 0
...
Description
Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
...
Bit 7
2
6300H
1
Bit 8
Channel 7 output writing if channel 7 configured for output
Not assigned if channel 7 configured for input
Not assigned
...
...
Bit 15
Not assigned
Bit 0
...
Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
...
Bit 7
6302H
1
Channel 7 output writing if channel 7 configured for output
Not assigned if channel 7 configured for input
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Bit 0
...
Channel 0 output polarity if channel 0 configured for output
Not assigned if channel 0 configured for input
...
Bit 7
Bit 8
6306H
1
Channel 7 output polarity if channel 7 configured for output
Not assigned if channel 7 configured for input
Not assigned
...
...
Bit 15
Not assigned
Bit 0
...
Channel 0 output fallback mode if channel 0 configured for
output
Not assigned if channel 0 configured for input
...
Bit 7
Bit 8
94
Channel 7 output fallback mode if channel 7 configured for
output
Not assigned if channel 7 configured for input
Not assigned
...
...
Bit 15
Not assigned
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Application-Specific Functions
Object
Subindex
Bit
6307H
1
Bit 0
...
Description
Channel 0 output fallback value if channel 0 configured for
output
Not assigned if channel 0 configured for input
...
Bit 7
6308H
1
Channel 7 output fallback value if channel 7 configured for
output
Not assigned if channel 7 configured for input
Bit 8
Not assigned
...
...
Bit 15
Not assigned
Bit 0
...
Channel 0 output masking if channel 0 configured for output
Not assigned if channel 0 configured for input
...
Bit 7
Bit 8
Channel 7 output masking if channel 7 configured for output
Not assigned if channel 7 configured for input
Not assigned
...
...
Bit 15
Not assigned
Note: All the objects are 16-bit word tables except for 6200H.
For object 6200H:
Sub-index 1 corresponds to the 6300H (pin 4) object's least significant byte
Sub-index 2 corresponds to the 6300H (pin 2) object's most significant byte
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95
Application-Specific Functions
96
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Software Tools
6
Presentation
Introduction
This chapter deals with Advantys FTB CANopen splitter software installation.
What's in this
Chapter?
This chapter contains the following sections:
1606218 02 08/2006
Section
Topic
Page
6.1
Introduction to Software Tools
6.2
Product Configuration
101
99
6.3
Network Configuration
107
6.4
PLC Programming
114
97
Software Tools
98
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Software Tools
6.1
Introduction to Software Tools
Introduction
General
The products in the Advantys range must be configured to be able to operate
correctly on the network. There are three stages in the configuration process:
Configuration of the Advantys devices and the desired parameters.
Configuration of the network (master and slaves).
PLC setup and programming: I/O, startup of the network and subsequent use.
Note: For more information, please consult the appropriate documentation for the
other network devices that may be required, the Advantys Configuration Tool
online help (FTX ES 0•), the PLC manual etc.
Software Tools
The software to be used depends on the PLC software workshop. Certain PLC
software workshops can configure the network. The following diagram shows the
software to be used for three Telemecanique PLC software workshops:
M340
Premium
Twido
Device
Configuration
Advantys
Configuration
Tool
Advantys
Configuration
Tool
Advantys
Configuration
Tool
Network
Configuration
Unity
SyCon
Twido Suite
Unity
PL7 / Unity
Twido Suite
PLC setup and
programming
Note: With Twido Suite, Advantys Configuration Tool is run directly by Twido Suite
to create or modify an island.
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99
Software Tools
Advantys Device
Configuration
The first phase is accomplished by using the Advantys Configuration Tool
(FTX ES 0•). This tool is used to define each Advantys device, to set the parameters
and the functions of the inputs/outputs and to generate the configuration files
required to integrate each device into the master.
Configuration
Files
There are two types of configuration file:
EDS (Electronic Data Sheet) files, which define the structure of the data available
in a splitter box (see the object dictionary).
DCF (Device Configuration File) files which, in addition to the information
contained in an EDS file, also contain settings data (Cf. CiA CAN standard
DS 306).
Note: For further information on EDS file creation, please refer to the user manual
or to the Advantys Configuration Tool online help.
Network
Configuration
This phase may be carried out by a specific software application (e.g. SyCon) or by
certain PLC software workshops (e.g. Unity, Twido Suite...). This phase involves
integrating all devices into the network, and defining the network (master
configuration) so as to create a functional network.
PLC Setup and
Programming
This phase is carried out by the operator, via the PLC software workshop.
Software
Installation
Before installing the software, please refer to the relevant manuals.
100
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Software Tools
6.2
Product Configuration
At A Glance
Introduction
This section describes the tools and operating modes that generate the EDSs and
DCFs of the Advantys range of devices using the Advantys Configuration Tool
(FTX ES 0•).
The software generates one file per island. An island represents a node on the
network with a separate network address. An island can correspond to:
An OTB module (with or without expansion modules),
An FTB splitter box,
A modular FTM splitter (module with or without splitters).
What's in this
Section?
1606218 02 08/2006
This section contains the following topics:
Topic
Page
Characteristics of an EDS File
102
Existing EDS File for CANopen Advantys FTB Splitter Box
103
Creating a New EDS and DCF Configuration File
104
101
Software Tools
Characteristics of an EDS File
Description
The EDS file describes all configurable objects for CANopen products. These
configurable objects are used to identify the product and specify the appropriate
behavior. The parameters of an EDS file contain all the important information
relating to the product. For example:
The product type
The manufacturer
The identification of the vendor
The item number
The software version
The hardware version
The details of all the configurable objects
etc.
Each EDS file is specific to a product type and cannot be re-used on other products
as this will result in the incorrect I/O configuration. It is up to the user to make sure
that the correct EDS file is used.
An EDS file can be recognized by its ".eds" extension. Each EDS file is associated
with one or more ".dib" image files.
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Software Tools
Existing EDS File for CANopen Advantys FTB Splitter Box
EDS File
The configuration software tool suite allows you to make full use of your Advantys
FTB splitter box and can be used to create a new EDS file (see Creating a New EDS
and DCF Configuration File, p. 104).
If you do not use the Advantys Configuration Tool (ACT), you may use the EDS files
supplied on the FTX ES 0• CD whose names are specified in the following table:
For each splitter box, an assigned EDS file to be used is supplied:
Type of splitter box
EDS file name
Image name
FTB 1CN08E08SP0
TEFTB01P01E.eds
TEFTB01P01E_r.dib (run)
TEFTB01P01E_s.dib (stop)
TEFTB01P01E_d.dib (diag)
FTB 1CN12E04SP0
TEFTB02P01E.eds
TEFTB02P01E_r.dib (run)
TEFTB02P01E_s.dib (stop)
TEFTB02P01E_d.dib (diag)
FTB 1CN16EP0
TEFTB03P01E.eds
TEFTB03P01E_r.dib (run)
TEFTB03P01E_s.dib (stop)
TEFTB03P01E_d.dib (diag)
FTB 1CN16EM0
TEFTB03P01E.eds
TEFTB03M01E_r.dib (run)
TEFTB03M01E_s.dib (stop)
TEFTB03M01E_d.dib (diag)
FTB 1CN16CP0
TEFTB04P01E.eds
TEFTB04P01E_r.dib (run)
TEFTB04P01E_s.dib (stop)
TEFTB04P01E_d.dib (diag)
FTB 1CN16CM0
TEFTB04MP01E.eds
TEFTB04M01E_r.dib (run)
TEFTB04M01E_s.dib (stop)
TEFTB04M01E_d.dib (diag)
FTB 1CN08E08CM0
TEFTB05M01E.eds
TEFTB05M01E_r.dib (run)
TEFTB05M01E_s.dib (stop)
TEFTB05M01E_d.dib (diag)
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Do not modify the EDS file manually, and do not use any configuration tools that
have not been approved by Schneider Electric. All modifications must be made
using the Advantys Configuration Tool, or be carried out by qualified Schneider
Electric personnel.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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103
Software Tools
Creating a New EDS and DCF Configuration File
Introduction
Creating a New
EDS and DCF
Configuration
File
Once the Advantys Configuration Tool (ACT) software has been installed and
registered, you can begin the process for creating island EDS and DCF
configuration files.
Step
1
Action
Launch the Advantys Configuration Tool software.
A window appears:
Advantys
Create a new island
000000000
00 00 00 00 00 00 00 00 00 00
Load an existing island
Download a new island (island -> PC)
OK
Cancel
Select Create new island
Click on the OKbutton.
104
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Software Tools
Step
2
Action
The New island window appears:
New island
Name (CANopen 11 characters max)
Catalog Selection
FTM: IP67 modular I/O splitter boxes
OTB: IP20 remote I/O
FTM: IP67 modular I/O splitter boxes
FTB: IP67 monobloc I/O splitter boxes
OK
Cancel
The creation of an island must be in line with the physical configuration of your
installation:
Enter the name of the island in the fieldName. The name of the island must
correspond to the name of the EDS configuration file.
Select the catalog in the Catalog selection drop-down menu.
Confirm your selection by clicking on the OK button
3
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Building the Island
A browser window appears. A representative model of the island can be built in
this window. At this point, this is an image of an empty 35mm (1.37in) DIN rail.
The catalog browser contains all the references of the catalog selected.
Building the island is a "drag and drop" operation:
Click on the reference in the catalog browser window and, while holding
down the left mouse button, drag the reference over to the DIN rail and drop
it (release the mouse button).
105
Software Tools
Step
4
Action
Island Configuration
Once the island has been built, you can set its parameters. The parameters you
need to define will depend on the I/O functions you wish to use.
The islands are configured in the configuration window:
Open the configuration window by double clicking on the island (or by
selecting the island and then the Island/Module Editor menu.
Modify the required parameter(s).
Click OK to save the changes and close the configuration window.
Notes:
The values given in the configuration window define the behavior of the island.
PDOs are configured in such a way as to transport the island process data. The
list of data contained in the PDOs is visible in the I/O Assignment tab of the
configuration window.
5
106
Saving the Island and Generating an EDS or DCF Configuration File
Select the Save command from the File menu.
The *.ISL island file is saved.
A Generation window appears.
Click on YES to generate the EDS or DCF configuration file.
The EDS or DCF configuration file is saved.
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Software Tools
6.3
Network Configuration
Setting the Network Parameters
Description
The configuration tool is used to draw diagrams of networks using a graphic
representation of the network nodes. It is then used to generate the complete
configuration of the network that has been drawn.
It provides access to the various configuration parameters and communication
parameters by PDO.
Below is an example of how to use the SyCon configuration tool:
Method
Within the PL7 programming software or Unity, launch the SyCon network tool and
follow the steps below:
Steps
Actions
1
Open a CANopen type file.
2
Click on "File" and select "Copy EDS".
SyCon
File Edit View Insert Online Settings
New
Open...
Close
Save
Save As…
?
Ctrl+N
Ctrl+O
Ctrl+S
Export
Copy EDS
Print...
Print Preview
Print Setup...
Ctrl+P
1 D:\document\...\ftm_v0_04.co
2 D:\document\...\ana.co
3 D:\document\...\ana\4-20.co
4 D:\document\...\500k.pb
Exit
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107
Software Tools
Steps
3
Actions
Select the file to be imported and click on "Open":
SyCon
File Edit View Insert Online Settings Window Help
?
?
Copy EDS
Look in:
can config
TEST.eds
4
Open
File name:
“TEST.EDS”
File type /
EDS Files (*.eds)
Cancel
Click on "Yes" to import the 3 associated image files.
Question
Do you want to import the corresponding bitmap files?
Yes
5
No
If the image files are in the same directory as the EDS file, they are found
automatically:
Note
Imported files:
EDS files 1
Bitmap files
3
OK
Click "OK".
108
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Software Tools
Steps
6
Actions
Click on "Insert" and select "Node" or click on the associated button.
SyCon
File Edit
Insert
?
7
Online Settings
Window
Master...
Node...
Select the devices to be inserted in the network, enter the node address (given
by the rotary switches) and the node description, and click OK:
SyCon
File Edit View Insert Online Settings Window Help
?
CIF
CANopen
Insert Node
--
Node filter
Vendor
Telemecanique
Profile
OK
Cancel
All
Available devices
Lexium05
LEXIUM17D
Osicoder
OPTB 1C0DM9LP
PreventaXPSMC ZC
STB NCO 1010
STB NCO 2212
TEST
Selected devices
Add >>
TEST
Add All >>
<< Remove
<< Remove All
Vendor name
Telemecanique
Node ID (address) 2
Product number
90157
Description
Product version
No entry
Product revision
No entry
File name
TEST.EDS
EDS Revision
1
Node2
Note: The name given in the list is the "comment associated with
communication block" defined with CANConfig.
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109
Software Tools
Configuring the
PDOs
Follow the steps below:
Step
Action
1
Double-click on the image of the island to be configured.
The configuration window appears.
2
Select a configured PDO and click on "PDO characteristics":
SyCon
File Edit View Insert Online Settings Window Help
?
Node configuration
CIF
CANopen
--
Master
Node
TEST
Designation
Node
Node2
File name
TEST.EDS
ID
Master
Node address
OK
2
63
Configuration Protocol
TSX CPP 100 Control Error
Activate node in current configuration
Emergency COB-ID 129
Nodeguard COB-ID 1793
Automatic COB-ID allocation in accordance with
Profile 301
Device profile 401 Device type Analog input, Digital output, Input
Predefined Process Data Objects (PDOs) from EDS file
Obj.Idx. PDO name
Enable
1800 Transmit PDO Parameter (Digital)
1801 Transmit PDO Parameter (Unused)
1802 Transmit PDO Parameter (Unused)
1803 Transmit PDO Parameter (Unused)
1804 Transmit PDO Parameter (Unused)
1805 Transmit PDO Parameter (Unused)
Cancel
Node BootUp
OPC Objects
Object
Configuration
Actual node
1 / Osicoder
PDO mapping method
DS301 V4
Add to configured PDOs
Configured PDOs
PDO name Symbolic NameCOB-ID I Type
Transmit PDO PDO_1800 385
IB
Transmit PDO PDO_1801 641
IB
Transmit PDO PDO_1802 897
IB
Transmit PDO PDO_1803 1153 IB
Transmit PDO PDO_1804 1664 IB
Transmit PDO PDO_1805 1664 IB
I Addr. I len.
0
0
0
0
0
0
O Type O Addr. O len.
2
1
0
0
0
0
PDO Contents Mapping
PDO Characteristics
New receive PDO
New transmit PDO
Delete configured PDO
Symbolic Names
Press F1 for Help
110
CANopen
Configuration
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Software Tools
Step
3
Action
Select the required transmission mode and click OK:
Node Transmit PDO Characteristics, Master Input Data
Transmission Mode
OK
Node shall use a synchronization message as trigger to send the transmit PDO cyclically.
Node has to send the transmit PDO every
10
received synchronization message.
Node shall use a synchronization message as trigger to send the transmit PDO when
remote requested by the master.
Node shall send the transmit PDO when remote requested by master.
Transmission type of transmit PDO manufacturer specific.
Transmission event of transmit PDO defined in the device profile.
CANopen specific transmission type
255
Communication Timer Node
Event timer
0
ms
Inhibit time
0
ms
CANopen Master Remote Request Condition
Every
4
0
master cycle interval (request slow down).
If you want to define the addresses of the activated PDOs manually:
Select the master,
Click on "Settings" and select "Global settings",
Deselect "Enabled" in the "Process Data Auto Addressing" area,
Click OK.
Illustration
Settings
Process Data Auto Addressing
Automatic addressing
OK
Cancel
COB-ID Allocation during PDO insertion
Automatic Addressing in accordance with Profile 401
Manual addressing
Otherwise, go directly to step 6.
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111
Software Tools
Step
5
Action
Enter the required values in the "I Addr" and "O Addr" boxes opposite the
activated PDO.
Node Configuration
Master
Node
TEST
Designation
Node
Node2
File name
TEST.EDS
ID
Master
Node address
OK
2
63
Configuration Protocol
TSX CPP 100 Control Error
Activate node in current configuration
Emergency COB-ID 129
Nodeguard COB-ID 1793
Automatic COB-ID allocation in accordance with
Profile 301
Device profile 401 Device type Analog input, Digital output, Input
Cancel
Node BootUp
OPC Objects
Object
Configuration
Predefined Process Data Objects (PDOs) from EDS file
Actual node
Obj.Idx. PDO name
1 / Osicoder
1800
1801
1802
1803
1804
1805
Enable
Transmit PDO Parameter (Digital)
Transmit PDO Parameter (Unused)
Transmit PDO Parameter (Unused)
Transmit PDO Parameter (Unused)
Transmit PDO Parameter (Unused)
Transmit PDO Parameter (Unused)
PDO Mapping method
DS301 V4
Add to configured PDOs
Configured PDOs
PDO name Symbolic NameCOB-ID I Type
Transmit PDO PDO_1800 385
IB
Transmit PDO PDO_1801 641
IB
Transmit PDO PDO_1802 897
IB
Transmit PDO PDO_1803 1153 IB
Transmit PDO PDO_1804 1664 IB
Transmit PDO PDO_1805 1664 IB
I Addr. I len. O Type O Addr. O len.
0
0
0
0
0
0
2
1
0
0
0
0
PDO Contents Mapping
PDO Characteristics
New receive PDO
New transmit PDO
Delete configured PDO
Symbolic Names
112
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Software Tools
Step
6
Action
Click on "Object Configuration":
Node Configuration
Master
Node
TEST
Designation
Node
Node2
File name
TEST.EDS
ID
Master
Node address
2
63
Configuration Protocol
TSX CPP 100 Control Error
Activate node in current configuration
Emergency COB-ID 129
Nodeguard COB-ID 1793
Automatic COB-ID allocation in accordance with
Profile 301
Device profile 401 Device type Analog input, Digital output, Input
OK
Cancel
Node BootUp
OPC Objects
Object
Configuration
Object Configuration
Actual node
Predefined Process Data
OK
Actual node
Node
TEST
Obj.Idx. PDO
name
Enable Node addr. 21 / Osicoder
Designation
Node2
3 / FTM
Cancel
1800 Transmit PDO Parameter (Digital)
PDO Mapping method
1801 Transmit PDO Parameter (Unused)
Predefined
supported objects
in the EDS file PDO mapping
Access Filter
1802 Transmit
PDO Parameter
(Unused)
DS301 V4
Sub. Parameter
Idx. Settings (Unused)
Obj. Idx.PDO
Default
value
All
1803 Transmit
DS301
V4Access
1000
0
Device
Type
Read
only
20196
1804 Transmit PDO Parameter (Unused)
1001 PDO
0
Error Register
(no default value) Read
Addonly
to configured PDOs
1805 Transmit
Parameter
(Unused)
Decimal
1002
0
Configured PDOs
1003
Manufacturer Status Register
Pre-Defined Error Field
0
Number
Type I
COB-IDofI errors
PDO name Symbolic
1005
0
COB-ID
Transmit PDO
PDO_1800
385 SYNC
IB O 0
I len.
Add to
Read only
0
0
O
80
O
O len. Read/Write
PDO Contents Mapping
O2 O
I
Add to Configured Objects
CO I
I
PDO Contents
Read/
PDO Characteristics
Transmit PDO515
PDO_1801 641
IB QB
0 0 1 0
PDO
Transmit PDO771
PDO_1802 897
IB
0
0
New receive PDO
387
Configured
objects
automatically
Define
sequence
new
Transmit PDO
PDO_1803
1153
IB
0 written
0 during node startup
New Transmit PDO
Obj.PDO_1804
Idx. Sub. Idx. Settings
Transmit PDO
1664 IB
0
0
Selected
value Dialog
Define
new
1
Transmit PDO
1016
PDO_1805
Consumer
1664 IB
Heartbeat
0 Time
0
7F012C
X Delete configured PDO
1017
1800
1800
0
1
2
Producer Heartbeat Time
COB-ID
Transmission type
C8
181
FF
1800
1800
3
5
Inhibit Time
Event timer
0
0
Delete
X
Symbolic Names
X
Symbolic
X
X
X
Delete Configured Object
This window is used to configure the default values of the configured objects that
will be sent to the device the next time the node is powered up.
For further information on the various objects see The Object Dictionary, p. 131
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7
Select the objects to be sent to the device, click on "Add to Configured Objects"
then click OK.
8
Select "File/Save": A *.CO configuration file is created, which contains the
complete network architecture and the initial configuration of each node. This file
is used by PLC programming software (e.g. PL7, Unity, etc.).
113
Software Tools
6.4
PLC Programming
Presentation
Introduction
This chapter describes how to integrate the CANopen network configuration file and
configuring under PL7.
What's in this
Section?
This section contains the following topics:
114
Topic
Page
Integration and Use under PL7
115
Examples of SDO Requests
120
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Software Tools
Integration and Use under PL7
Configuration
Follow the steps below:
Steps
1
Actions
In the master configuration window, select the network configuration file
generated with SYCON:
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL 1
TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen
MAST
Bus startup
Inputs
Outputs
No. of words (%MW) 500
No. of words (%MW) 500
Semi-automatic (bus only)
By program
Index of 1st %MW
1000
Select Database
Watchdog
D:\document\QSF\CanOpen\travail\pro
Enabled
Open
Configuration size
PL7
Transmission Speed
COB-ID Message SYNC
SYNC Message Period
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1500
Index of 1st %MW
Configuration loading mode
Auto-Clear
Reset
Maintain
Automatic
5223 words
Look in:
conf SyCon
can
ana
1 Mbits/s
speeds ftm_I
128
ana.co
1000 ms
island_v0_01.co
0
island_v0_03.co
island_v0_04.co0_04.co
Bus configuration
?
Disabled
SyCon Tool
File name:
island_v0_04.co
File type:
CANopen FILE (*.co)
Open
Cancel
115
Software Tools
Steps
2
Actions
Complete the fields of the "Input" boxes (input data exchange area) and
"Output" boxes (output data exchange area):
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL 1
TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen
MAST
Bus startup
Inputs
Outputs
Reset
Maintain
Automatic
No. of words (%MW) 500
No. of words (%MW) 500
Semi-automatic (bus only)
By program
Index of 1st %MW
1200
Index of 1st %MW
Configuration loading mode
1700
Watchdog
D:\document\QSF\CanOpen\travail\pro
Select Database
Enabled
Configuration size
5223 words
Disabled
PL7
SyCon
Transmission Speed
1 Mbits/s
COB-ID Message SYNC
128
SYNC Message Period
1000 ms
Auto-Clear
0
SyCon Tool
Bus configuration
116
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Software Tools
Steps
3
Actions
Click on the "Bus Configuration" button:
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL
CANopen
configuration
TSX CCP bus
100-110
CAN OPEN PCMCIA CARD
Inputs
MAST
Add
Device Name
Act. Life T.
Parameter
Symbol
000
APP-1CCO2
1
400 Outputs %MW1200
Bus startup
Inputs
000
FTM 1CN10
0
400
%MW1201
Reset
Maintain
000
FTM 1CN10
0
400
%MW1202
Automatic
No. of1CN10
words
500
000
FTM
0
400
%MW1203
500
Semi-automatic (bus
only)
001
REFERENCE
1
400 No. of words
Outputs
Index of 1st %MW 1000
002 FTB 1CN12E04SP0
1
400
By program
Index of 1st %MW 1500
003 FTB 1CN08E08SP0 1
400
Parameter
Symbol
004
FTB 1CN16CP0
1
400
%MW1700
Configuration loading mode
Watchdog
009
FTM 1CN10
1
400
%MW1701
009
FTM
1CN10
1
400
%MW1702
Select Database
D:\document\QSF\CanOpen\travail\pro
009
FTM 1CN10
0
400
%MW1703
Enabled
Configuration size
5223 words
CANopen device details
CANopen
CANopen slaves
Disabled
SyCon Device Name : REFERENCE
PL7
Transmission Speed
1 Mbits/s
COB-ID Message SYNC
Total
128
No. of slaves 1000
No. Input
SYNC Message Period
ms%MW
0011
Auto-Clear
0 83
Vendor Name:
Telemecanique
SyCon Tool
No. Output %MWs
Description:
TEST
COB-ID:
EMCY= 224, TxPDO= 768
113
Close
Bus configuration
The bus configuration window is used to display the exact address of the data
associated with the devices.
The start address of each PDO is defined by the start address of the exchange
area configured using PL7, to which the PDO offset defined using SyCon is
added.
4
1606218 02 08/2006
Execute the required SDO requests (either from the debug screen, or with a
program).
117
Software Tools
SDO Request
from the Debug
Screen
Follow the steps below:
Step
1
Action
Click on the "Enter request" button in the bottom-right of the debug screen:
TSX 57353 [RACK 0 POSITION 1]
Debugging
Designation: TSX P 57353 PROCESSOR Version: 5.0
DIAG…
CHANNEL 1:
CHANNEL 1
TSX CCP 100-110 CAN OPEN PCMCIA CARD
CANopen
MAST
CANopen slave status
Addr.
Addr
Device Name
Act. Life T.
000
APP-1CCO2
1
400
000
FTM 1CN10
0
400
000
FTM 1CN10
0
400
000
FTM 1CN10
0
400
001
REFERENCE
1
400
002 FTB 1CN12E04SP0
1
400
003 FTB 1CN08E08SP0
1
400
004
FTB 1CN16CP0
1
400
009
FTM 1CN10
1
400
009
FTM 1CN10
1
400
009
FTM 1CN10
0
400
DIAG…
Slave data
Inputs
Parameter
%MW1210
%MW1212
%MW1213
Symbol
8
0
0
Output value
Base
OK
Outputs
Parameter
%MW1712
%MW1713
Value
Bin
Symbol
Dec
Hex
Value
0
0
Slave information
Node 10: Status=08h, AddInfo=0001h, Profile=401, NodeStat
Total
No. of slaves
0011
118
No. Input %MW
83
No. Output %MWs
113
Request to be sent
Enter request
Received response
1606218 02 08/2006
Software Tools
Step
2
Action
Complete the fields:
Request: "Write SDO" or "Read SDO"
Node: address of the device on the CANopen network
Index: index of the object to read or write
Sub-index: sub-index of the object to read or write
Value: entry area for the data to be sent, for write only
Click "Send".
Here is an example of how to configure the Inhibit Time to 1000 ms:
Enter CANopen Request
Request:
Write SDO
Node:
1
Index:
16# 1800
Sub-index:
16# 3
Value:
(120 bytes max.)
16# 10 27 00 00
Send
Cancel
The value "10 27 00 00" corresponds to the number 2710 in hexadecimals, which
is 1000 ms (see Inhibit Time and Event Timer, p. 60).
3
After a "Read SDO", read the value given in the "Received response" area in the
bottom-right of the debug screen:
Slave information
Node 10: Status=08h, AddInfo=0001h,
Total
No. of slaves No. Input %MW No. Output %MWs Request to be sent
Received response
0011
83
113
Enter
request
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119
Software Tools
Examples of SDO Requests
Programmed
SDO Request:
Example 1
This example gives the program for reading object 1000H. After a request is made,
the data obtained is read in the table Diag0:120 (defined below).
Variables used and parameters of the function
Variable
Type
Description
Read_sdo
Boolean
Request launch bit.
Index
Word
Index of the object to poll (LSB of the double word
"Index_dw").
Sub-index
Word
Sub-index of the object to poll (MSB of the double
word "Index_dw").
Slave_add
Word
Address of the slave to poll.
Diag0:120
Word table
Data exchange area.
Status0:4
Word table
Control and exchange status words.
ADR#y.SYS
Immediate value
Master board address.
‘SDO’
Character string
Type of SDO object (SDO always in upper case).
Index_dw
Double word
MSB = sub-index.
LSB = index.
Node_Id
Word
Word or value identifying the destination device
on the CANopen bus.
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1000; (*index 1000H*)
Sub_index:=0; (*sub-index 0*)
IF Read_sdo THEN
(*clear control*)
Read_sdo:=FALSE;
(*Parameter update*)
Node_Id:=Slave_add; (*Slave address*)
Diag0:120:=16#FFFF; (*Clear diagnostics receive table*)
Status2:=0; (*Clear exchange report*)
Status3:=6; (*Time-out*)
120
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Software Tools
(*request*)
READ_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:120,Status1:4);
END_IF;
Programmed
SDO Request:
Example 2
This example shows the program for saving parameters with object 1010H. The data
to be sent is contained in the table Diag0:4 (defined below).
Variables used and parameters of the function
Variable
Type
Description
Write_sdo
Boolean
Request launch bit.
Index
Word
Index of the object to poll (LSB of the double word
"Index_dw").
Sub-index
Word
Sub-index of the object to poll (MSB of the double
word "Index_dw").
Slave_add
Word
Address of the slave to poll.
Diag0:120
Word table
Data exchange area.
Status0:4
Word table
Control and exchange status words.
ADR#y.SYS
Immediate value
Master board address.
‘SDO’
Character string
Type of SDO object (SDO always in upper case).
Index_dw
Double word
MSB = sub-index.
LSB = index.
Node_Id
Word
Word or value identifying the destination device
on the CANopen bus.
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1000; (*index 1000H*)
Sub_index:=0; (*sub-index 0*)
Diag0:=16#6173; (*'as'*)
Diag0[1]:=16#6576; (*'ev'*)
IF write_sdo THEN
(*clear control*)
write_sdo:=FALSE;
(*Parameter update*)
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121
Software Tools
Node_Id:=Slave_add; (*Slave address*)
Status2:=0; (*Clear exchange report*)
Status3:=6; (*Time-out*)
(*request*)
WRITE_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:4,Status1:4);
END_IF;
122
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Diagnostics
7
Presentation
Introduction
Diagnostics information simplifies installation and accelerates diagnostics
operations.
This chapter provides the information required for analyzing errors and faults. This
analysis is done either by:
LED display or
CANopen object analysis
What's in this
Chapter?
1606218 02 08/2006
This chapter contains the following topics:
Topic
Page
Power Supply Diagnostics
124
Field Bus Status Diagnostics LED
125
LED Status Diagnostics for I/O
126
CANopen Objects Diagnostics
127
Behavior in the Event of Short-circuit / Overload / Under-voltage
130
123
Diagnostics
Power Supply Diagnostics
Description
The power supply status for the splitter, actuators and sensors is displayed on the
splitter box's front panel, by the DO and DI POWER LEDs as indicated in the
following diagram (on the left: Plastic unit, on the right: Metal unit).
D0
RUN ERR
D0 DI
DI
PWR
RUN ERR
PWR
The color of the LED depends on the power supply status, as indicated in the
following table:
LED
Description
LED status
DI PWR
Sensor and splitter power supply is unavailable
Off
Power supply for sensor and splitter OK
Green
Undervoltage in sensor and splitter power supply
Red
DO PWR
124
Actuator power supply unavailable
Off
Actuator power supply is OK
Green
Under-voltage in actuator power supply
Red
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Diagnostics
Field Bus Status Diagnostics LED
Description of
the Display
The CANopen DR 303-3 standard defines the functions of the RUN and ERR LEDs
(on the left: Plastic unit, on the right: Metal unit):
D0
RUN ERR
D0 DI
DI
PWR
RUN ERR
PWR
ERR LED
BUS status
Description
LED status
Auto-Baud
Automatic search for transmission speed in
progress
Rapid flashing
No error
Device is operating normally (OK)
Off
Warning limit
reached
One of the internal error counters has
reached the limit threshold (Error frame)
1 flash
Error control
event
Guarding (slave or master) or Heartbeat
(user) error
2 flashes
Synchronization
error
SYNC signal not received in the SYNC period 3 flashes
Bus is deactivated
Splitter status: Bus off
Permanently switched
on
BUS status
Description
LED status
RUN LED
1606218 02 08/2006
Auto-Baud
Automatic recognition of transmission speed
Rapid flashing
Stop
Device status: Stopped
1 flash
Pre-operational
Device status: Pre-Operational
Slow flashing
Operational
Device status: Operational
Permanently switched
on
125
Diagnostics
LED Status Diagnostics for I/O
Status LED for I/
Os on the M12
Connectors
One LED is associated with each splitter channel. The LED status depends on the
channel configuration and its level (0 or 24 VDC).
The following figure shows the DEL addressing which correspond to the I/Os for
plastic units (on left) and metal units (on right):
1
LED Behavior
Element
Function
1
LED
2
LED number on the plastic unit
3
Pin number displayed on the metal unit
4
Connector number for the metal unit
LED Behavior according to Settings and Channel Status
Channel configuration
Input closing function
Input opening function
Input diagnostics
Output
126
Input voltage
Logical value
LED status
0 VDC
0
Off
24 VDC
1
Yellow
Channel error
-
Red
0 VDC
1
Off
24 VDC
0
Yellow
Channel error
-
Red
0 VDC
1
Red
24 VDC
0
Off
0 VDC
0
Off
24 VDC
1
Yellow
Channel error
-
Red
1606218 02 08/2006
Diagnostics
CANopen Objects Diagnostics
Description
When an error is detected by the FTB splitter box, the following objects are updated.
These objects are described in more detail in the "object dictionary" chapter:
The object 1001H, Error Register displays the generic errors. See Objects
dictionary (see Object 1001H: Error Register, p. 136)
The object 1002H Manufacturer Status Register displays the errors specific to
the FTB splitter box. Objects dictionary (see Object 1002H: Manufacturer Status
Register, p. 137)
The object 1003H, Pre-defined Error Field saves the latest error codes
transmitted by the FTB splitter box. Objects dictionary (see Object 1003H: Predefined Error Field , p. 138)
The object 3000H, Manufacturer Specific Diagnostic provides information
about the status of the FTB splitter box. Objects dictionary (see Object 3000H:
Manufacturer Specific Diagnostic, p. 174)
EMCY Message
Structure
For each error, the EMCY message is sent by the splitter box that detected the fault
via the network (see table structure below).
Once the error has been cleared an EMCY message is sent again, incorporating an
"Error code" = 0.
The EMCY message consists of 8 data bytes outlined in the following table:
Byte
0-1
2
3-4
5
6
7
Contents
Error code
Error register
Reserve
d
Channel 10 to
17 diagnostics
Channel 00 to
07 diagnostics
Manufacturer
status register
Corresponding
object
1003H
1001H
-
Depends on the type of error. See Channel
diagnostics (see Channel Diagnostics (EMCY
Bytes 5-6-7), p. 129)
Note: For default configuration and where the user has activated it, the 1805H
PDO includes the diagnostics information.
1606218 02 08/2006
127
Diagnostics
Error Codes
(EMCY bytes
0&1)
128
The table below lists the error codes and their meanings:
Error
code
Diagnostics
Description
0000H
ERROR_RESET_OR_NO_ERROR
Clearing of one, or all, errors
1000H
GENERIC_ERROR
Internal communication error
2100H
CURRENT_DEVICE_INPUT_SIDE
Detector power supply short-circuit
(M12 connector)
2320H
SHORT_CIRCUIT_AT_OUTPUTS
Output short-circuit
3100H
MAINS_VOLTAGE
Splitter power supply voltage < 18V
3120H
INPUT_VOLTAGE_TOO_LOW
Sensor power supply voltage < 18V
3310H
OUTPUT_VOLTAGE_TO_HIGH
Actuator power supply voltage > 30V
3320H
OUTPUT_VOLTAGE_TO_LOW
Actuator power supply voltage < 18V
6101H
SOFTWARE_RX_QUEUE_OVERRUN The receive buffer has exceeded its
internal memory capacity
6102H
SOFTWARE_TX_QUEUE_OVERRUN The transmit buffer has exceeded its
internal memory capacity
8100H
COMMUNICATION
8120H
CAN_IN_ERROR_PASSIVE_MODE
CAN controller interrupted
8130H
LIFE_GUARD_ERROR
Node-Guarding error
8140H
BUS_OFF
The transmit error counter has
exceeded its capacity
9000H
EXTERNAL_ERROR
Detection of wire cut on sensor
F000H
ADDITIONAL_FUNCTION
Actuator voltage < 12VDC
Synchronization, transmit/receive error
counter > 96
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Diagnostics
Status Register
(EMCY Byte 2)
Channel
Diagnostics
(EMCY Bytes 5-67)
The object 1001H (Error Register) is a byte used by the device to display internal
errors when an error is detected:
Bit
Description
Comments
0
Generic error
See Object 1003H
1
Current fault (overload or short-circuit)
See Object 1003H
2
Voltage fault
See Object 1003H
3
Temperature
Unchecked
4
Communication error
See Object 1003H
5
Reserved
Unchecked
6
Reserved
Unchecked
7
Specific to the manufacturer
Detection of wire cut on sensor
Data returned in bytes 5 and 6 is the image of channels with the error defined by
EMCY byte 7 (manufacturer status register):
Byte
6 (channels 0 to 7)
5 (channels 10 to
17)
7
Contents
Faulty channels
Faulty channels
Types of faults
The following table indicates the assignment of all EMCY byte 7 bits:
1606218 02 08/2006
Bit
Description
Comments
0
Sensor under voltage
< 18V
1
No voltage in sensor
< 12V
2
Actuator under voltage
< 18V
3
No voltage in actuator
< 12V
4
Sensor power supply short-circuit
< 12V
5
Actuator short-circuit
only where output is set-up
6
Actuator overload
only where output is set-up
7
Detection of wire cut on sensor
-
129
Diagnostics
Behavior in the Event of Short-circuit / Overload / Under-voltage
Power Supply for
Splitter Boxes
and Sensors
Short-circuit / overload
The following consequences on the FTB splitter box occur when the sensor power
supply experiences a short-circuit or overload:
The diagnostics LED on the corresponding M12 connector lights up red,
corresponding diagnostics data is transmitted to the master via the bus,
all other inputs and outputs will continue to operate correctly.
Disconnecting the M12 connector of the faulty channel results in LED and
diagnostics data re-initialization.
Under-voltage / no voltage
There are three under-voltage detection levels:
12 VDC ≤ U < 18 VDC: in this case, the splitter box still operates, however:
the DI-POWER LED is red,
appropriate diagnostics data is sent to the master via the bus
7 VDC ≤ U < 12 VDC: in this case, the I/Os no longer operate, however bus
communication remains operational:
the DI-POWER LED is switched off,
the relevant diagnostics data is sent to the master via the bus.
U < 7 VDC : in this case, the splitter no longer operates.
Note: Power supply to the sensor and the Advantys FTB splitter box is provided by
the M12 connectors between pins 1 (+24 VDC) and 3 (0 VDC).
Actuators
Short-circuit / overload
The following consequences on the FTB splitter box occur when an output
experiences a short-circuit or overload:
The diagnostics LED on the corresponding M12 connector lights up red,
the output status LED lights up red.
the corresponding diagnostics data is transmitted to the master via the bus.
To be re-activated, a default output must be set to 0 after clearing the error.
Under-voltage / no voltage
There are two under-voltage detection levels:
12 VDC ≤ U < 18 VDC: in this case, the splitter box still operates, however:
the DO-POWER LED is red,
the relevant diagnostics data is sent to the master via the bus.
U < 12 VDC:
the DO-POWER LED switches off,
the relevant diagnostics data is sent to the master via the bus.
130
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The Object Dictionary
8
Presentation
Introduction
This chapter provides a description of the object dictionary, the list of objects
concerning the communication profile, the hardware profile and the specific
manufacturer zone, with a detailed description of each.
What's in this
Chapter?
This chapter contains the following sections:
Section
8.1
1606218 02 08/2006
Topic
The Object Dictionary
Page
133
8.2
Objects of the Communication Profile 1000H to 1FFFH
134
8.3
Manufacturer-specific Zone Objects 2000H to 5FFFH
171
8.4
Hardware Profile Objects 6000H to 9FFFH
175
131
The Object Dictionary
132
1606218 02 08/2006
The Object Dictionary
8.1
The Object Dictionary
The Object Dictionary
Index Ranges
There are three zones in the object dictionary:
Index
Zone
(hexadecimal)
Function
Documentation
1000-1FFF
Communication
profile zone
Communication
capacities
Objects of the
Communication Profile
1000H to 1FFFH , p. 134
2000-5FFF
Manufacturerspecific zone
Diagnostics information,
some I/O data
Manufacturer-specific Zone
Objects 2000H to 5FFFH,
p. 171
6000-9FFF
Device-specific
profile zone
I/O data
Hardware Profile Objects
6000H to 9FFFH , p. 175
It is possible to map manufacturer-specific and device-specific objects in the PDO
objects, which are then sent via the product.
1606218 02 08/2006
133
The Object Dictionary
8.2
Objects of the Communication Profile 1000H to
1FFFH
At a Glance
Introduction
This section lists the objects relating to the communication profile. Each object, with
all its technical characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
134
Topic
Page
Object 1000H: Device Type
135
Object 1001H: Error Register
136
Object 1002H: Manufacturer Status Register
137
Object 1003H: Pre-defined Error Field
138
Object 1005H: COB-ID SYNC Message
140
Object 1006H: Communication Cycle Period
141
Object 1008H: Manufacturer Device Name
142
Object 100AH: Manufacturer Software Version (MSV)
143
Object 100CH: Guard Time
144
Object 100DH: Life Time Factor
145
Object 1010H: Store Parameters
146
Object 1011H: Restore Default Parameters
148
Object 1014H: COB-ID Emergency Message (EMCY)
150
Object 1016H: Consumer Heartbeat Time
151
Object 1017H: Producer Heartbeat Time
152
Object 1018H: Identity Object
153
Object 1200H: Server SDO Parameter
154
Object 1400H: 1st Receive PDO Communication Parameter
155
Object 1405H: 2nd Receive PDO Communication Parameter
156
Object 1600H: 1st Receive PDO Mapping Parameter
157
Object 1605H: 2nd Receive PDO Mapping Parameter
159
Object 1800H: 1st Transmit PDO Communication Parameter
161
Object 1805H: 2nd Transmit PDO Communication Parameter
164
Object 1A00H: 1st Transmit PDO Mapping Parameter
167
Object 1A05H: 2nd Transmit PDO Mapping Parameter
169
1606218 02 08/2006
The Object Dictionary
Object 1000H: Device Type
Description
This object indicates the device type and its functionalities.
The least significant word indicates the profile number (401 or 191H, for CANopen
standard inputs / outputs).
The most significant word is known as the "additional information" and provides
details of the device's functionalities:
Bit
Valid if bit = 1
0
The device has discrete inputs
1
The device has discrete outputs
2
The device has analog inputs
3
The device has analog outputs
Splitter box
Characteristics
Hexadecimal code Decimal code
FTB 1CN16EP0
010191H
65 937
FTB 1CN16EM0
010191H
65 937
FTB 1CN16CP0
030191H
197 009
FTB 1CN16CM0
030191H
197 009
FTB 1CN08E08SP0
030191H
197 009
FTB 1CN08E08CM0
030191H
197 009
FTB 1CN12E04SP0
030191H
197 009
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
-
-
UNSIGNED32
See list
ro
no
no
1606218 02 08/2006
135
The Object Dictionary
Object 1001H: Error Register
Description
This object is used by the device to display internal faults. When a fault is detected,
the corresponding bit is therefore activated.
The following faults can be displayed:
Characteristics
Bit
Meaning
Comments
0
Generic error
-
1
Current fault (overload or short- circuit)
2
Voltage fault
-
3
Temperature
Unchecked
4
Communication error
-
5
Reserved
Unchecked
6
Reserved
Unchecked
7
Specific to the manufacturer
Detection of wire cut
The characteristics of this object are given in the following FTB splitter box table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping Backed up
-
-
UNSIGNED8
-
ro
no
136
no
1606218 02 08/2006
The Object Dictionary
Object 1002H: Manufacturer Status Register
Description
The diagnostics data is saved in this 32-bit field.
The least significant word (LSW) contains the error code.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
0
-
UNSIGNED32 80H (see note)
Acces PDO
s
Mapping
Backed up
ro
no
no
Note: At initial start-up, channels 10 to 17 are configured as "diagnostics inputs"
by default.
Assignment of
Bits
Note: Bit Values:
0: no fault
1: fault
The following table indicates the assignment of the 32 bit set:
Bit
Meaning
0
Sensor under voltage < 18V
1
No voltage in sensor < 12V
2
Actuator under voltage < 18V
3
No voltage in actuator < 12V
4
Sensor power supply short-circuit in M12
5
Actuator short-circuit
Only where output is set-up
6
Actuator warning
Only where output is set-up
7
Detection of wire cut
8 to 31
Reserved
1606218 02 08/2006
Notes
137
The Object Dictionary
Object 1003H: Pre-defined Error Field
Description
This object is a double word used to store the most recent faults, as well as their
characteristics:
The Error Code is stored to the least significant word.
The sub-index 0 contains the number of stored errors.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access
PDO Mapping
Backed up
0
Number of stored
errors
UNSIGNED8
0
rw
no
no
1
Most recent error
UNSIGNED32
-
ro
no
no
2
Second to last
error
UNSIGNED32
-
ro
no
no
...
10
Appearance of a
New Fault
When a new fault appears, the codes already present are moved into the upper level
sub-indexes: the fault in sub-index 1 is moved to sub-index 2, the fault in sub-index
2 is moved to sub-index 3, the fault in sub-index 10 disappears.
Clearing Faults
The fault code history can only be cleared by writing the value 0 in the sub-index 0
of object 1003H.
Note: Clearing a fault does not delete the error code from the Predefined Error
Field (PEF).
Indicating Faults
138
All faults are indicated by the sending of an "Emergency" message (EMCY
message). Once the source of the fault has been cleared, an EMCY message with
the No-error content is sent (Error-Code 0000H).
1606218 02 08/2006
The Object Dictionary
Error Code
Meanings
The table below lists the error codes and their meanings:
Error
code
Diagnostics
Meaning
0000H
ERROR_RESET_OR_NO_ERROR
Clearing of one, or all, errors
1000H
GENERIC_ERROR
Internal communication error
2100H
CURRENT_DEVICE_INPUT_SIDE
Sensor power supply short-circuit
(M12 connector)
2320H
SHORT_CIRCUIT_AT_OUTPUTS
Output short-circuit
3100H
MAINS_VOLTAGE
Sensor/splitter box voltage is lower
than approximately 12V
3120H
INPUT_VOLTAGE_TOO_LOW
Splitter box has detected undervoltage in the sensor
3310H
OUTPUT_VOLTAGE_TOO_HIGH
Splitter box has detected overvoltage in the actuator
3320H
OUTPUT_VOLTAGE_TOO_LOW
The splitter box has detected undervoltage in the actuator (see note)
6101H
SOFTWARE_RX_QUEUE_OVERRUN
The receive buffer has exceeded its
internal memory capacity
6102H
SOFTWARE_TX_QUEUE_OVERRUN
The transmit buffer has exceeded its
internal memory capacity
8100H
COMMUNICATION
Synchronization, transmit/receive
error counter > 96
8120H
CAN_IN_ERROR_PASSIVE_MODE
CAN controller interrupted
8130H
LIFE_GUARD_ERROR
Node-Guarding error
8140H
BUS_OFF
The CAN frame error counter has
exceeded its capacity
9000H
EXTERNAL_ERROR
Detection of wire cut
F000H
ADDITIONAL_FUNCTION
Actuator voltage is lower than
approximately 12V
Note: When there are no set outputs, there are no associated messages. The state
of the DO POWER LED is not significant. CANopen Objects Diagnostics, p. 127
1606218 02 08/2006
139
The Object Dictionary
Object 1005H: COB-ID SYNC Message
Description
This object contains the synchronization message identifier.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access
PDO
Backed up
Mapping
0
-
UNSIGNED32
80H
rw
no
140
yes
1606218 02 08/2006
The Object Dictionary
Object 1006H: Communication Cycle Period
Description
This object describes the time interval between two SYNC signals in microseconds.
This interval must be at least 10 ms with a minimum increment of 1ms. The entry
must be a double word.
If a value between 10,000 and 10,000,000 is entered, the splitter must receive a
SYNC signal within this time interval. If not, it switches to "Pre-Operational" status.
Maximum tolerance is 1% of the configured value. Monitoring of elapsed times starts
when the first SYNC signal is received.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
-
UNSIGNED32
0
ro
no
no
Note: It is not advisable to use this object as it can create communication errors in
slow speed.
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141
The Object Dictionary
Object 1008H: Manufacturer Device Name
Description
This object contains the device name.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description Data type
Default value
Access PDO Mapping
Backed up
0
-
See the table below
ro
no
STRING
no
The default value depends on the splitter box reference:
Splitter box references
Default values
FTB 1CN08E08SP0
FTB1CN08E08SP0
FTB 1CN12E04SP0
FTB1CN12E04SP0
FTB 1CN16EP0
FTB1CN16EP0
FTB 1CN16EM0
FTB1CN16EM0
FTB 1CN16CP0
FTB1CN16CP0
FTB 1CN16CM0
FTB1CN16CM0
FTB 1CN08E08CM0
FTB1CN08E08CM0
(see Splitter Box Inputs and Outputs, p. 12)
142
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The Object Dictionary
Object 100AH: Manufacturer Software Version (MSV)
Description
This object contains details of the device software version, in the form 'SWxx.yy'.
Object
Characteristics
The characteristics of this object are outlined in the following table:
1606218 02 08/2006
Sub-index
Description Data type Default
value
Access PDO
Mapping
Backed up
0
-
ro
no
STRING
Depending
on the
splitter box
version
no
143
The Object Dictionary
Object 100CH: Guard Time
Description
The object 100CH contains the ''Guard-Time'' parameter expressed in milliseconds.
See "Node-Guarding" and "Life-Guarding" Monitoring Protocols, p. 62.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
-
UNSIGNED16
0
rw
no
yes
Common typical values for the "Guard-Time" parameter lie between 250 ms and 2s.
144
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The Object Dictionary
Object 100DH: Life Time Factor
Description
This object contains the "Life-Time-Factor" parameter. It is used to calculate the
"Life-Time".
Object
Characteristics
The characteristics of this object are outlined in the table below: "Node-Guarding"
and "Life-Guarding" Monitoring Protocols, p. 62
Sub-index
Description Data type
Default
value
Access
PDO
Backed up
Mapping
0
-
0
rw
no
Reliable
Operation
UNSIGNED8
yes
To enable reliable and secure operation, the user must enter a "Life-Time-Factor"
with a minimum value of 2.
When the value 1 is used, should a delay occur due to the processing of high priority
messages or internal processing on the "Node-Guarding" master, the splitter
switches back to the "Pre-Operational" default state without generating any errors.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
Set the "Life-Time-Factor" to a minimum value of 2 to prevent any inadvertent
change of state to "Pre-Operational" state. Depending on the I/O configuration, an
inadvertent change of state may result in unintended device operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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The Object Dictionary
Object 1010H: Store Parameters
Description
This object is used to store the parameters of the splitter box in backed up memory.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Acces
s
PDO
Mapping
Backed up
0
Sub-index number
UNSIGNED8
4
ro
no
no
1
Store all parameters
UNSIGNED32
-
rw
no
no
2
Store communication
parameters (1000H–
1FFFH)
UNSIGNED32
-
rw
no
no
3
Store standardized
application parameters
(6000H–9FFFH)
UNSIGNED32
-
rw
no
no
4
Store manufacturerspecific application
parameters (2000H–
5FFFH)
UNSIGNED32
-
rw
no
no
Operation
To save the parameters, the "save" ASCII character string (6576 6173H) must be
written to the corresponding sub-index:
Most significant word Least significant
word
Hex value
65H
76H
61H
73H
ISO 8859 (ASCII)
signature
e
v
a
s
The read result of a sub-index is always 0000 0001H.
146
1606218 02 08/2006
The Object Dictionary
Back-up
Behavior
Writing a valid value
The device stores the parameters, and then confirms SDO transmission
(downloading initialization response).
Note: When storage fails, the splitter box returns an Abort SDO Transfer (Abort
Code:0606 0000H).
Writing an invalid value
The device refuses storage and replies with an "Abort SDO Transfer" (Abort
Code:0800 002xH with x=0...F).
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
The splitter box must be switched to the "Pre-Operational" state to save its
configuration. The saving process takes 1 to 2 seconds. If the save takes place in
the "Operational" state, the outputs will not be updated during the saving process.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Storage Function
1606218 02 08/2006
During read access to an appropriate sub-index, the splitter box transmits
information on its storage function, in the following format:
Bit
32 to 2
1
0
Meaning if bit
=0
Reserved
The splitter box does not store
parameters autonomously
The splitter box does not store
parameters when it receives a
command
Meaning if bit
=1
Reserved
The splitter box stores
parameters autonomously
The splitter box stores
parameters when it receives a
command
147
The Object Dictionary
Object 1011H: Restore Default Parameters
Description
This object is used to restore the FTB splitter box's "factory" settings.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Acce
ss
PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
4
ro
no
no
1
Restore all default
parameters.
UNSIGNED32
-
rw
no
no
2
Restore default
communication
parameters (1000H–
1FFFH).
UNSIGNED32
-
rw
no
no
3
Restore default
standardized application
parameters (6000H–
9FFFH).
UNSIGNED32
-
rw
no
no
4
Restore default
manufacturer-specific
application parameters
(2000H–5FFFH).
UNSIGNED32
-
rw
no
no
Operation
To restore the parameters, the "load" ASCII character string (64616F6CH) must be
written to the corresponding sub-index:
Most significant word Least significant
word
ISO 8859
(ASCII)
signature
d
a
o
l
Hex value
64H
61H
6FH
6CH
The read result of a sub-index is always 0000 0001H.
148
1606218 02 08/2006
The Object Dictionary
Restoration
Behavior
Writing a valid value
The device stores the default parameters, and then confirms SDO transmission
(downloading initialization response).
Writing an invalid value
The device refuses storage and replies with an Abort SDO Transfer (abort
code:0800 002xH in which x=0...F).
The default values are actually only used when:
the splitter box has been reset
the reset node command has been launched (after initialization by sub-indexes
1, 3 or 4)
the reset communication command has been launched (after initialization by subindex 2)
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149
The Object Dictionary
Object 1014H: COB-ID Emergency Message (EMCY)
Description
This object contains the EMCY emergency message identifier.
Object
Properties
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping Backed up
0
-
UNSIGNED32
80H + NODE-ID
rw
no
150
yes
1606218 02 08/2006
The Object Dictionary
Object 1016H: Consumer Heartbeat Time
Description
This object is used to monitor the communication of another product on the network.
It is particularly used to monitor the master. The value of this object defines the time
interval within which the monitored product must send a Heartbeat message.
The splitter box is designed in such a way that it can only monitor one product at a
time.
The value of this object must be greater than the value of object 1017H of the
monitored product.
The time must be a multiple of 1 ms.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
Sub-index
number
UNSIGNED8
1
ro
no
yes
1
Consumer
heartbeat time
UNSIGNED32
0
rw
no
yes
Content of
Variable
The content of sub-index 1 is as follows:
Bit
31 to 24
Value
0H (Reserved) Address of the monitored splitter
box
23 to 16
15 to 0
Monitoring time in ms
If the value of the sub-index is 0, no splitter box is monitored.
"Node-Guarding" and "Life-Guarding" Monitoring Protocols, p. 62
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151
The Object Dictionary
Object 1017H: Producer Heartbeat Time
Description
This object is used to configure the time interval in ms within which the module must
produce the Hearbeat message.
The default monitoring method of the splitter is "Node Guarding". If a non-zero value
is written in this object the Heartbeat mechanism is used.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO
Mapping
Backed up
0
-
UNSIGNED16
0H
rw
no
yes
If the Heartbeat error monitoring protocol is selected, the splitter box sends a
Heartbeat message periodically, depending on the "Producer Heartbeat Time"
parameter. The products responsible for monitoring this message (Heartbeat
Consumer) generate a Heartbeat event if the message is not received within the
configured time (Consumer Heartbeat Time) in their object 1016H. "NodeGuarding" and "Life-Guarding" Monitoring Protocols, p. 62
152
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The Object Dictionary
Object 1018H: Identity Object
Description
This object contains information about the splitter box. It indicates the
manufacturer's CiA identifier (vendor ID), the product code and the splitter box
revision numbers (revision number).
The revision information is coded in two parts:
the major revision part (most significant word) indicates an evolution in CANopen
functionalities,
the minor revision part (least significant word) indicates an evolution in splitter
functionalities only.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO
Mapping
Backed up
0
Sub-index
number
UNSIGNED8
3H
ro
no
no
1
Vendor ID
UNSIGNED32
0500 005AH
ro
no
no
2
Product code
UNSIGNED32
See the table
below
ro
no
no
3
Revision
number
UNSIGNED32
-
ro
no
no
Default Value of
Sub-index 2
1606218 02 08/2006
The default values of sub-index 2 are given in the table below:
Reference
Object code
FTB 1CN16EP0
9D4FH
FTB 1CN16EM0
E174H
FTB 1CN08E08CM0
E175H
FTB 1CN08E08SP0
9D51H
FTB 1CN12E04SP0
9D50H
FTB 1CN16CP0
CA49H
FTB 1CN16CM0
E176H
153
The Object Dictionary
Object 1200H: Server SDO Parameter
Description
This object contains the message identifiers for SDO communication.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping
Backed up
0
Sub-index
number
UNSIGNED8
2H
ro
no
no
1
Client to
Server
UNSIGNED32
600H + Node ID
ro
no
no
2
Server to
Client
UNSIGNED32
580H + Node ID
ro
no
no
154
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The Object Dictionary
Object 1400H: 1st Receive PDO Communication Parameter
Description
This object contains the receive PDO identifier.
Object
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Acces
s
PDO
Mapping
Backed up
0
Sub-index number
UNSIGNED8
2H
ro
no
yes
1
COB-ID
UNSIGNED32
0000 0200H + Node ID
rw
no
yes
2
Transmission mode
UNSIGNED8
FFH (255 Dec)
rw
no
yes
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Dec.
Hex.
Cyclic
0
0
1 to 240
1 to F0
241 to 251 F1 to FB
x
Notes
Acyclic
Synchrono
us
Asynchrono
us
x
x
Send PDO on first SYNC message
following an event
x
Send PDO every x SYNC
messages
Reserved
-
252 to 253 FC to FE Reserved
-
254 to 255 FE to FF
x
Send PDO on event
Note: For modes 254 and 255, the event triggering the send is defined by the
message producer.
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155
The Object Dictionary
Object 1405H: 2nd Receive PDO Communication Parameter
Description
This object contains the receive PDO identifier.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO
Mapping
Backed up
0
Sub-index
number
UNSIGNED8
2H
ro
no
yes
1
COB-ID
UNSIGNED32 0000 0300H + Node-ID
rw
no
yes
2
Transmission
mode
UNSIGNED8
rw
no
yes
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Dec.
Hex.
Cyclic
0
0
1 to 240
1 to F0
241 to 251 F1 to FB
FFH (255 Dec)
x
Notes
Acyclic
Synchrono
us
Asynchron
ous
x
x
Send PDO on first SYNC
message following an event
x
Send PDO every x SYNC
messages
Reserved
-
252 to 253 FC to FE Reserved
254 to 255 FE to FF
x
Send PDO on event
Note: For modes 254 and 255, the event triggering the send is defined by the
message producer.
156
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The Object Dictionary
Object 1600H: 1st Receive PDO Mapping Parameter
Description
This object is used to describe the objects that will be transported by the first PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping Backed up
0
Sub-index
number
UNSIGNED8
See table
rw
no
yes
1
1st object in
the PDO
UNSIGNED32
See table
rw
no
yes
2
2nd object in
the PDO
UNSIGNED32
See table
rw
no
yes
Most recent
object in PDO
UNSIGNED32
See table
rw
no
yes
...
8
Sub-index
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16 (MSB)
15 to 8
7 to 0 (LSB)
Data
Index number of
object to be
transported
Sub-index number of
object to be
transported
Length of object to be
transported
Example
6200H
01H
08H
Note:
The maximum total length of data that can be transported (08H maximum) by
the PDO is 8 bytes.
By default, object 1600H is always configured on object 6200H. By default, the
first PDO transports object 6200H.
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157
The Object Dictionary
Default Values
The following table gives the default value of object 1600H depending on the splitter
reference:
Product references
Sub-index
Default value
FTB 1CN08E08SP0
FTB 1CN08E08CM0
FTB 1CN12E04SP0
0
1
1
6200 0108H
FTB 1CN16C•0
FTB 1CN16E•0
158
0
2
1
6200 0108H
2
6200 0208H
0
-
1606218 02 08/2006
The Object Dictionary
Object 1605H: 2nd Receive PDO Mapping Parameter
Description
This object is used to describe the objects that will be transported by the second
PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping Backed up
0
Sub-index
number
UNSIGNED8
See table
rw
no
yes
1
1st object in
the PDO
UNSIGNED32
See table
rw
no
yes
2
2nd object in
the PDO
UNSIGNED32
See table
rw
no
yes
Most recent
object in PDO
UNSIGNED32
See table
rw
no
yes
...
8
Sub-index
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16 (MSB)
15 to 8
7 to 0 (LSB)
Data
Index number of
object to be
transported
Sub-index number of
object to be
transported
Length of object to be
transported
Example
2000H
01H
08H
Note:
The maximum total length of data that can be transported by the PDO is 8 bytes.
By default, the 2nd PDO transports objects 2000H and 2001H for the
configurable splitters.
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159
The Object Dictionary
Default Values
The following table gives the default value of object 1605H depending on the splitter
reference:
Product references
Sub-index
Default value
FTB 1CN08E08SP0
FTB 1CN12E04SP0
FTB 1CN16•0
0
1
1
2000 0108H
FTB 1CN08E08CM0
0
2
1
2000 0108H
2
2001 0108H
0
3
1
2000 0108H
2
2001 0108H
3
2001 0208H
FTB 1CN16CP0
FTB 1CN16CM0
160
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The Object Dictionary
Object 1800H: 1st Transmit PDO Communication Parameter
Description
This object contains the PDO transmit identifier.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access PDO
Mapping
Backed up
0
Sub-index
number
UNSIGNED8
5H
ro
no
yes
1
COB-ID
UNSIGNED32
0000 0180H + Node ID
rw
no
yes
2
Transmission
mode
UNSIGNED8
FFH (255 dec.)
rw
no
yes
3
Inhibit Time
UNSIGNED16
0
rw
no
yes
4
Not available
5
Event Timer
UNSIGNED16
0
rw
no
yes
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161
The Object Dictionary
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Dec.
Hex.
Cyclic
Notes
0
0
1 to 240
1 to F0
x
241 to 251
F1 to FB
Reserved
252
FC
253
FD
x
254 to 255
FE to FF
x
Acyclic
Synchron
ous
Asynchro
nous
RTR only
x
x
Send PDO on first SYNC
message following an
event
x
Send PDO every x SYNC
messages
-
x
x
Receive SYNC message
and send PDO on
Remote Request
x
Update data and send
PDO on Remote Request
Send PDO on event
(Change of state mode)
Note: For transmission modes corresponding to transfer codes 254 and 255, the
events that trigger a TPDO transmission are:
modification of transported data status,
the Event Timer has elapsed.
COB-ID
Structure
162
The structure of a COB-ID for CAN2.0 is shown in the following table:
Bit No.
Value
Meaning
31 (MSb)
0
The PDO object exists
1
The PDO object does not exist
30
0
RTR mechanism authorized
1
RTR mechanism not authorized
29
0
11-Bit ID (CAN 2.0A)
28 - 11
0
if bit 29 = 0
10 - 0 (LSb)
X
Bit 10 - 0 of the identifier
1606218 02 08/2006
The Object Dictionary
Inhibit Time
(Sub-index 3)
In the case of PDO transmission (Transmit PDO), the Inhibit Time can be entered in
this 16-bit field. After data has been changed, the PDO sender checks that an Inhibit
Time has expired since the last transmission. A new PDO transmission can only
take place if the Inhibit Time has expired. The Inhibit Time is useful for asynchronous
transmission (transmission mode 255), to avoid overloads on the CANopen bus.
The "Inhibit Time" is a multiple of 100 μs of the value written in sub-index 3 of objects
1800H and 1805H.
The following table gives some examples of values.
Value
Event Timer
(Sub-index 5)
Inhibit Time in ms
Dec.
Hex.
0000
0000
0
100
0064
10
1000
03E8
100
5000
1388
500
10000
2710
1000
65535
FFFF
6553.5
The Event Timer only works in asynchronous transmission mode (transmission
mode 255). If data changes before the Event Timer expires, a TPDO is sent. If a
value higher than 0 is written in the 16-bit field, the TPDO is sent after the Event
Timer expires. The value written in sub-index 5 of objects 1800H and 1805H
corresponds to the Event Timer in milliseconds. The data transfer takes place even
if there is no change to data.
The following table gives some examples of values.
Value
1606218 02 08/2006
Event Timer in ms
Dec.
Hex.
0000
0000
0
100
0064
100
1000
03E8
1000
5000
1388
5000
10000
2710
10000
65535
FFFF
65535
163
The Object Dictionary
Object 1805H: 2nd Transmit PDO Communication Parameter
Description
This object contains the Transmit PDO identifier.
Properties
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Acces
s
PDO
Mapping
Backed up
0
Sub-index
number
UNSIGNED8
05H
ro
no
yes
1
COB-ID
UNSIGNED32
0000 0280H + Node ID
rw
no
yes
2
Transmission
mode
UNSIGNED8
FFH (255 Dec
rw
no
yes
3
Inhibit Time
UNSIGNED16
0
rw
no
yes
4
Not available
5
Event Timer
UNSIGNED16
0
rw
no
yes
164
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The Object Dictionary
Transmission
mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Dec.
Hex.
Cyclic
Notes
0
0
1 to 240
1 to F0
x
241 to 251
F1 to FB
Reserved
252
FC
253
FD
x
254 to 255
FE to FF
x
Acyclic
Synchrono Asynchron
us
ous
RTR only
x
x
Send PDO on first
SYNC message
following an event
x
Send PDO every x
SYNC messages
-
x
x
Receive SYNC
message and send
PDO on Remote
Request
x
Update data and send
PDO on Remote
Request
Send PDO on event
(Change of state
mode)
Note: For transmission modes corresponding to transfer codes 254 and 255, the
events that trigger a TPDOtransmission are:
modification of transported data status,
the Event Timer has elapsed.
COB-ID
Structure
1606218 02 08/2006
The structure of a COB-ID for CAN2.0 is shown in the following table:
Bit No.
Value
Meaning
31 (MSb)
0
The PDO object exists
1
The PDO object does not exist
30
0
RTR mechanism authorized
1
RTR mechanism not authorized
29
0
11-Bit ID (CAN 2.0A)
28 - 11
0
if bit 29 = 0
10 - 0 (LSb)
X
Bit 10 - 0 of the identifier
165
The Object Dictionary
Inhibit Time
(Sub-index 3)
In the case of PDO transmission (Transmit PDO), the Inhibit Time can be entered in
this 16-bit field. After data has been changed, the PDO sender checks that an Inibit
Time has expired since the last transmission. A new PDO transmission can only
take place if the Inhibit Time has expired. The Inhibit Time is useful for asynchronous
transmission (transmission mode 255), to avoid overloads on the CAN bus. The
Inhibit Time is a multiple of 100 μs of the value written in sub-index 3 of objects
1800H and 1805H.
The following table gives some examples of values.
Value
Event Timer
(Sub-index 5)
Inhibit Time in ms
Dec.
Hex.
0000
0000
0
100
0064
10
1000
03E8
100
5000
1388
500
10000
2710
1000
65535
FFFF
6553.5
The Event Timer only works in asynchronous transmission mode (transmission
mode 255). If data changes before the Event Timer expires, a TPDO is sent. If a
value higher than 0 is written in this 16-bit field, the TPDO is sent after the Event
Timer expires. The value written in sub-index 5 of objects 1800H and 1805H
corresponds to the Event Timer in milliseconds. The data transfer takes place even
if there is no change to data.
The following table gives some examples of values.
Value
166
Event Timer in ms
Dec.
Hex.
0000
0000
0
100
0064
100
1000
03E8
1000
5000
1388
5000
10000
2710
10000
65535
FFFF
65535
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The Object Dictionary
Object 1A00H: 1st Transmit PDO Mapping Parameter
Description
This object describes the objects that will be transported by the PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
Sub-index
number
UNSIGNED8
See table
rw
no
yes
1
1st object in the
PDO
UNSIGNED32
See table
rw
no
yes
2
2nd object in the
PDO
UNSIGNED32
See table
rw
no
yes
Most recent
object in PDO
UNSIGNED32
-
rw
no
yes
...
8
Data Field
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16
15 to 8
7 to 0
Data
Index number of object
to be transported
Sub-index number of
object to be transported
Length of object to be
transported
Example
6000H
01H
08H
Note:
The maximum total length of data that can be transported by the PDO is 8 bytes.
By default, the 1st Transmit PDO transports object 6000H.
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167
The Object Dictionary
Default Values
The following table gives the default value of object 1A00H depending on the splitter
reference:
Product references
Sub-index
Default value
FTB 1CN08E08SP0
0
1
1
6000 0108H
0
2
1
6000 0108H
2
6000 0208H
FTB 1CN08E08CM0
FTB 1CN12E04SP0
FTB 1CN16E•0
FTB 1CN16C•0
168
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The Object Dictionary
Object 1A05H: 2nd Transmit PDO Mapping Parameter
Description
This object describes the objects that will be transported by the PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO Mapping Backed up
0
Sub-index
number
UNSIGNED8
See table
rw
no
yes
1
1st object in
the PDO
UNSIGNED32
See table
rw
no
yes
2
2nd object in
the PDO
UNSIGNED32
See table
rw
no
yes
Most recent
object in PDO
UNSIGNED32
See table
rw
no
yes
...
8
Data Field
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16 (MSB)
15 to 8
7 to 0 (LSB)
Data
Index number of
object to be
transported
Sub-index number of
object to be
transported
Length of object to be
transported
Example
3000H
01H
08H
Note:
The maximum total length of data that can be transported by the PDO is 8 bytes.
By default, object 1A05H is configured on object 3000H (see the table below).
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169
The Object Dictionary
Default Values
The following table gives the default value of object 1A05H depending on the splitter
reference:
Product references
Sub-index
Default value
FTB 1CN16E•0
0
2
1
3000 0108H
2
3000 0208H
0
4
1
3000 0108H
2
3000 0208H
3
3000 0308H
4
3000 0508H
0
6
1
3000 0108H
2
3000 0208H
3
3000 0308H
4
3000 0408H
5
3000 0508H
6
3000 0608H
FTB 1CN08E08CM0
FTB 1CN12E04SP0
FTB 1CN08E08SP0
FTB 1CN16C•0
170
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The Object Dictionary
8.3
Manufacturer-specific Zone Objects 2000H to
5FFFH
At a Glance
Introduction
This section lists the objects from the manufacturer-specific zone. Each object, with
all its technical characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
Topic
Object 2000H: Input / Diag Parameter
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Page
172
Object 2001H: Input/Output Parameter
173
Object 3000H: Manufacturer Specific Diagnostic
174
171
The Object Dictionary
Object 2000H: Input / Diag Parameter
Description
For channels 10 to 17 (connector pin 2) this object is used to select the "input" or
"diagnostics input" function.
Channels 10 to 17 are configured as "diagnostics input" by default.
The diagnostics inputs enable the use of sensors integrating a wire cut detection
function.
Note: For configurable channels, this object's status is taken into account only if
the input channel is configured by the 2001H object.
The following table shows the configuration of channels 10 to 17 according to their
sub-index bit value:
Characteristics
Status
Description
0
Discrete input
1
Diagnostics input
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Input parameter/
diagnostics input
UNSIGNED8
FFH
rw
no
yes
Note: Channels 10 to 17 are configured as "diagnostics inputs" by default.
172
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The Object Dictionary
Object 2001H: Input/Output Parameter
Description
This object may only be used for Advantys splitter boxes with configurable channels:
Status
Description
0
Input
1
Output
Note: This object takes priority over the 2000H object.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
2
ro
no
yes
1
Parameter for input/output UNSIGNED8
pin 4 (channels 00-07)
0
rw
no
yes
2
Parameter for input/output UNSIGNED8
pin 2 (channels 10-17)
0
rw
no
yes
Note: All channels are configured as "diagnostics input" by default.
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173
The Object Dictionary
Object 3000H: Manufacturer Specific Diagnostic
Description
This object provides information on the status of the Advantys FTB CANopen splitter
box.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
7
ro
no
no
1
Common diagnostics (8
UNSIGNED8
least significant MSR bits,
object 1002H)
-
ro
yes
no
2
Sensor short-circuit (0-7
connectors)
UNSIGNED8
-
ro
yes
no
3
Actuator stopped
(channels 00 - 07)
UNSIGNED8
-
ro
yes
no
4
Actuator stopped
(channels 10 - 17)
UNSIGNED8
-
ro
yes
no
5
Actuator overload
(channels 00-07)
UNSIGNED8
-
ro
yes
no
6
Actuator overload
(channels 10-17)
UNSIGNED8
-
ro
yes
no
7
Diagnostics inputs
UNSIGNED8
-
ro
yes
no
Note: The sub-indexes are only present in the 3000H object if the Advantys FTB
splitter box offers the corresponding functions.
174
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The Object Dictionary
8.4
Hardware Profile Objects 6000H to 9FFFH
At a Glance
Introduction
This section lists the objects relating to the hardware profile. Each object, with all its
technical characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
1606218 02 08/2006
Topic
Page
Object 6000H: Read Inputs 8 Bits
176
Object 6100H: Read Input 16 Bits
177
Object 6102H: Polarity Input
178
Object 6103H: Filter Constant Input 16 Bits
179
Object 6200H: Write Outputs 8 Bits
180
Object 6300H: Write Outputs 16 Bits
181
Object 6302H: Polarity Outputs 16 Bits
182
Object 6306H:Fallback Mode 16 Bits
183
Object 6307H: Fallback Value 16 Bits
184
Object 6308H: Filter Mask Output 16 Bits
185
175
The Object Dictionary
Object 6000H: Read Inputs 8 Bits
Description
This object contains the status of discrete inputs in 8 bit format.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
2
ro
no
no
1
Read input pin 4
(channels 00-07)
UNSIGNED8
-
ro
yes
no
2
Read input pin 2
(channels 10-17)
UNSIGNED8
-
ro
yes
no
The meaning of each bit is given in the following table:
176
Bit No.
Sub-index 1
Sub-index 2
0
Read input pin 4 channel 00
Read input pin 2 channel 10
1
Read input pin 4 channel 01
Read input pin 2 channel 11
2
Read input pin 4 channel 02
Read input pin 2 channel 12
3
Read input pin 4 channel 03
Read input pin 2 channel 13
4
Read input pin 4 channel 04
Read input pin 2 channel 14
5
Read input pin 4 channel 05
Read input pin 2 channel 15
6
Read input pin 4 channel 06
Read input pin 2 channel 16
7
Read input pin 4 channel 07
Read input pin 2 channel 17
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The Object Dictionary
Object 6100H: Read Input 16 Bits
Description
This object contains the status of discrete inputs in 16 bit format.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO
Mapping
Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
no
1
Read input 16 bits
UNSIGNED16
-
ro
yes
no
The meaning of each bit is given in the following table:
1606218 02 08/2006
Bit No.
Least significant meaning Bit No.
Most significant meaning
0
Read channel 00
8
Read channel 10
1
Read channel 01
9
Read channel 11
2
Read channel 02
10
Read channel 12
3
Read channel 03
11
Read channel 13
4
Read channel 04
12
Read channel 14
5
Read channel 05
13
Read channel 15
6
Read channel 06
14
Read channel 16
7
Read channel 07
15
Read channel 17
177
The Object Dictionary
Object 6102H: Polarity Input
Description
Characteristics
This object is used to define the polarity of inputs.
Value
Input type
0
not reversed
1
reversed
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default
value
Access PDO
Mapping
Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Polarity of inputs
UNSIGNED16
0
rw
no
yes
178
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The Object Dictionary
Object 6103H: Filter Constant Input 16 Bits
Description
Characteristics
This object is used to configure the mask for inputs.
Value
Input type
0
Input read
1
Ignored input
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default
value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Filtering constant
UNSIGNED16
0
rw
no
yes
Note: Important notes
By entering the value 1, no input update is implemented.
Once the filter is enabled, the input no longer changes even if the polarity is
changed.
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179
The Object Dictionary
Object 6200H: Write Outputs 8 Bits
Description
This object is used to command outputs per byte.
Note: The bits corresponding to a configured input channel are not used.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
2
ro
no
yes
1
Write outputs 8 bits pin 4
(channels 00-07)
UNSIGNED8
0
rw
yes
yes
2
Write outputs 8 bits pin 2
(channels 10-17)
UNSIGNED8
0
rw
yes
yes
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
It is not advisable to use the 6200H and 6300H objects simultaneously.
Where both these objects are used, the Advantys FTB splitter box executes the
most recent command received.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
180
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The Object Dictionary
Object 6300H: Write Outputs 16 Bits
Description
This object is used to command the state of discrete outputs.
Note: The bits corresponding to a configured input channel are ignored.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index Description
Data type
Default value
Access PDO
Mapping
Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Write outputs 16 bits
UNSIGNED16
0
rw
yes
yes
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
It is not advisable to use the 6200H and 6300H objects simultaneously.
Where both these objects are used, the Advantys FTB splitter box executes the
most recent command received.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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181
The Object Dictionary
Object 6302H: Polarity Outputs 16 Bits
Description
This object is used to define the polarity of an output.
Characteristics
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Output polarity
UNSIGNED16
0
rw
no
yes
Polarity
182
Value
Output type
0
Not reversed
1
Reversed
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The Object Dictionary
Object 6306H:Fallback Mode 16 Bits
Description
This object is used to define discrete output status value in the event of an error. This
value is either that defined by the 6307H object, or the most recent value received
before error occurrence (maintain mode).
Value
Characteristics
State of value
0
Maintain
1
Fallback (see object 6307H)
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Fallback mode
UNSIGNED16
FFFFH
rw
no
yes
Note: When the value of object 6306H is FFFFH, all discrete outputs take the
fallback value defined by object 6307H in the event of a fault.
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183
The Object Dictionary
Object 6307H: Fallback Value 16 Bits
Description
Characteristics
The value defined in this object is the value taken by the discrete output in the event
of an error, where the bit corresponding to the 6306H object is at 1.
Value
Output value in the event of a fault.
0
Set to 0
1
Set to 1
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO
Mapping
Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Fallback value
UNSIGNED16
0
rw
yes
yes
184
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The Object Dictionary
Object 6308H: Filter Mask Output 16 Bits
Description
Characteristics
This object is used to configure the mask for outputs.
Status
Description
0
Current output value is frozen
1
Authorizes writing output (see objects
6200H and 6300H)
The characteristics of this object are outlined in the following table:
Subindex
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index number
UNSIGNED8
1
ro
no
yes
1
Output mask filter
UNSIGNED16
FFFFH
rw
no
yes
Note: When the value of object 6308H is FFFFH, all discrete outputs have write
authorization.
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185
The Object Dictionary
186
1606218 02 08/2006
Appendices
At a Glance
Introduction
This appendix provides information on common IEC symbols used in this manual.
What's in this
Appendix?
The appendix contains the following chapters:
Chapter
A
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Chapter Name
IEC Symbols
Page
189
187
Appendices
188
1606218 02 08/2006
IEC Symbols
A
Glossary of Symbols
Introduction
1606218 02 08/2006
This section contains illustrations and definitions of common IEC symbols used in
describing wiring schematics.
189
IEC Symbols
Symbols
Common IEC symbols are illustrated and defined in the table below:
Fuse
Load
L
AC power
+
~
_
_
+
DC power
Digital sensor/input, for example, contact, switch, initiator, light
barrier, and so on.
Earth ground
2-wire sensor
_
_
+
+
Thermocouple element
190
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Glossary
C
CAL
CAN Application Layer. 'Application' Layer (ISO/OSI layer 7 for systems interconnection model) defined by CAN in Automation (CiA).
CAN
Controller Area Network.
CE
European Community
CiA
CAN in Automation (declared association); CAN bus manufacturers and users
organization.
CiA Draft
Standard 102
Description of the CAN physical communication (layer 2) for industrial applications.
CiA Draft
Standard 301
Description of the CAN physical communication (layer 2) for industrial applications.
CiA Draft
Standard 302
Description of the communication profile for industrial systems.
CiA Draft
Standard 401
Description of the CAN physical communication (layer 2) for industrial applications.
CMS
CAN Message Specification. 'Application' layer service for object usage and
management.
COB
Communication Object. Messages are sent in COBs in a network, and are
considered as communication objects.
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191
Glossary
COB-ID
COB-Identifier. Each communication object is clearly identified by the COB-ID
identifier, which determines the object's priority.
CSMA/CA
Carrier Sense Multiple Access / Collision Avoidance (Multiple access using carrier
sensing with collision notification).
D
DBT
COB-ID Distributor. 'Application' layer service, used to assign COB-ID identifiers to
communication objects in CMS services.
DESINA
Standard relating to the connector technology of sensors and actuators, established
by a German association of machine manufacturers.
DI
Digital Input (discrete input)
DIN
German standards institute
DO
Digital Output (discrete output)
E
EDS
An Electronic Data Sheet is a file in standard ASCII format containing information on
a communication functionality of a network device and the content of its object
dictionary. The EDS also defines device-specific and manufacturer-specific objects.
EN
European standard
F
FTB
192
Advantys IP67 monobloc input/output splitter box.
1606218 02 08/2006
Glossary
I
IEC
International Electrotechnical Commission.
Island
On the Advantys Configuration Tool interface, the Advantys IP67 monobloc input/
output splitter box is referred to as "island".
ISO
International Standard Organization
L
LED
Light Emitting Diode
LMT
Layer Management. Parameter definition concerning different layers for a bus head.
LSB
Least Significant Byte. The part of a number, address or field that is written as the
value furthest to the right in conventional hexadecimal or binary notation.
LSb
Least Significant Bit. The part of a number, address or field that is written as the
value furthest to the right in conventional hexadecimal or binary notation.
M
MNS
Module-Network-Status
MSB
Most Significant Byte. The part of a number, address or field that is written as the
value furthest to the left in conventional hexadecimal or binary notation.
MSb
Most Significant Bit. The part of a number, address or field that is written as the value
furthest to the left in conventional hexadecimal or binary notation.
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193
Glossary
N
NMT
Network Management Telegram. NMT protocols offer services for network
initialization, error checking and checking device states.
O
OSI
Open Systems Interconnection
P
PDO
Process Data Object. On networks based on CAN technology, PDOs (Process Data
Objects) are transmitted as broadcast messages without confirmation or sent from
a producer device to a consumer device.
PLC
Programmable Logic Controller
R
ro
Read-only.
rw
Read-write
S
SDO
Service Data Object. On networks based on CAN technology, the field bus master
uses SDO (Service Data Object) messages for access (read/write) to the network
node object dictionaries.
Splitter box
Advantys IP67 monobloc input/output splitter box.
194
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Glossary
String
ASCII character string
SYNC
Synchronization object
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195
Glossary
196
1606218 02 08/2006
B
AC
Index
B
G
Boot-Up, 53
Ground Electrode
Connection, 21
Position, 21, 22
Guard Time, 144
C
CAN bus line, 49
CAN-H, 49
CAN-L, 49
CANopen
Description, 49
The Protocol, 49
Characteristics
Inputs, 29
outputs, 29
Splitter box, 29
E
EDS
EDS File, 102
Existing EDS File, 103
EMC Compatibility, 23
Environment
environment, 28
Error Codes, 128
F
Field Bus Status Diagnostics, 125
FTB, 12
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H
Heartbeat Time, 65
I
I/O Status Diagnostics, 126
IEC symbols, 189
Installation, 17
Introduction to Wiring, 38
L
Life Guarding, 62
Life Time Factor, 145
Life-Time, 62
M
M12 Connectors
Assignment of Pins for a Field Bus, 44
Pin Assignment for Actuators and
Sensors, 30
Mini-Style 7/8" Connector, 32
197
Index
Mode
Operational, 55
Pre-Operational, 55
N
Node Guarding, 62
Node-ID
Configuration, 46
O
Object Dictionary, 133
index ranges, 133
Overview, 16
P
PDO Object
mapping, 133
Physical layer, 49
CAN bus line, 49
Properties, 28
S
Software Diagnostics, 127
SUB-D Connectors
Assignment of Pins, 45
Symbols, 189
T
Tap-off, 40
The Device Profile, 52
Transmission Speed
Configuration, 46
U
Unit
Dimensions, 18, 19
198
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