Schneider Electric Ip67 Users Manual FTB CANopen EN

IP67 to the manual 99a66ab1-f4a0-4d88-a477-e477ab9bc537

2015-02-06

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1606218 02
www.telemecanique.com
Advantys FTB CANopen
IP67 monobloc input/output
splitter box
User guide
1606218 02 eng 3.0
21606218 02 08/2006
1606218 02 08/2006 3
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Installing the Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Grounding of the Advantys FTB Splitter Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
EMC Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Chapter 3 Splitter Box Characteristics and Wiring . . . . . . . . . . . . . . . . . . 27
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Advantys FTB Splitter Box Environment Properties . . . . . . . . . . . . . . . . . . . . . . 28
Electrical Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Connecting the Actuators and Sensors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Power Supply Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Chapter 4 CANopen Network Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1 Wiring on the CANopen Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
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
4.2 General Principles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
About CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
The Device Profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
41606218 02 08/2006
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
4.3 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
Chapter 5 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 Software Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
6.1 Introduction to Software Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
6.2 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
6.3 Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Setting the Network Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
6.4 PLC Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Integration and Use under PL7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Examples of SDO Requests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Chapter 7 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Presentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Power Supply Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Field Bus Status Diagnostics LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
LED Status Diagnostics for I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
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CANopen Objects Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Behavior in the Event of Short-circuit / Overload / Under-voltage. . . . . . . . . . . 130
Chapter 8 The Object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131
Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.1 The Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
The Object Dictionary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.2 Objects of the Communication Profile 1000H to 1FFFH . . . . . . . . . . . . . . . . . 134
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
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
8.3 Manufacturer-specific Zone Objects 2000H to 5FFFH . . . . . . . . . . . . . . . . . . . 171
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Object 2000H: Input / Diag Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Object 2001H: Input/Output Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Object 3000H: Manufacturer Specific Diagnostic . . . . . . . . . . . . . . . . . . . . . . . 174
8.4 Hardware Profile Objects 6000H to 9FFFH . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
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
61606218 02 08/2006
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
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
1606218 02 08/2006 7
§
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 indicates an imminently hazardous situation, which, if not avoided,
will result in death or serious injury.
DANGER
WARNING indicates a potentially hazardous situation, which, if not avoided, can
result in death, serious injury, or equipment damage.
WARNING
CAUTION indicates a potentially hazardous situation, which, if not avoided, can
result in injury or equipment damage.
CAUTION
Safety Information
81606218 02 08/2006
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.
1606218 02 08/2006 9
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).
About the Book
10 1606218 02 08/2006
Related
Documents
User Comments We welcome your comments about this document. You can reach us by e-mail at
techpub@schneider-electric.com
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
1606218 02 08/2006 11
1
Introduction
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)
What's in this
Chapter?
This chapter contains the following topics:
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.
Topic Page
Presentation of the CANopen Advantys FTB I/O Splitter Box Range 12
Overview of the Accessories Range 13
Introduction
12 1606218 02 08/2006
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:
CANopen plastic unit
CANopen metal unit
Configurable
Connectors
Each CANopen Advantys FTB splitter box contains eight connectors used to link the
sensors or actuators.
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
/ diagnostics channels
Plastic 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
Metal FTB 1CN08E08CM0
Introduction
1606218 02 08/2006 13
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
FTB 1CN
6
3 2
5
8
7
9
24 V
1
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.
Introduction
14 1606218 02 08/2006
1606218 02 08/2006 15
2
Installation
Presentation
Introduction This chapter provides all required information for installing an FTB splitter box on a
field bus.
What's in this
Chapter?
This chapter contains the following topics:
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.
Topic Page
Overview 16
Installing the Unit 17
Grounding of the Advantys FTB Splitter Box 21
EMC Compatibility 23
Installation
16 1606218 02 08/2006
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.
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
3
4
5
6
9
7
8
1
2
1
3
4
5
6
9
7
8
1
2
1
Installation
1606218 02 08/2006 17
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.
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: 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.
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.
Installation
18 1606218 02 08/2006
Plastic Unit
Dimensions
The dimensions of the plastic unit (front and side views) are given in the following
illustrations:
Installation
1606218 02 08/2006 19
Metal Unit
Dimensions
The dimensions of the metal unit (front and side views) are given in the following
illustrations:
Installation
20 1606218 02 08/2006
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.
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.
CAUTION
Installation
1606218 02 08/2006 21
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.
Position of the
Ground
Electrode on the
Plastic Unit
The following figure shows the position of the ground electrode on the plastic boxes.
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.
WARNING
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).
Installation
22 1606218 02 08/2006
Method for
Plastic Units
Follow the steps below to connect the ground to the unit:
Position of the
Ground
Electrode on the
Metal Unit
The following figure shows the position of the ground electrode on the metal boxes.
Method for Metal
Units
Follow the steps below to connect the unit to the ground electrode:
Mounting the
Metal Unit
Once these steps have all been completed (see table above), the product can be
mounted on its support.
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.
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).
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).
Installation
1606218 02 08/2006 23
EMC Compatibility
Product
Compliance
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.
e
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.
WARNING
Installation
24 1606218 02 08/2006
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.
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.
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.
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.
WARNING
Installation
1606218 02 08/2006 25
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
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.
Varistor
Inductive load
e.g. electromagnetic
valve
Installation
26 1606218 02 08/2006
1606218 02 08/2006 27
3
Splitter Box Characteristics and
Wiring
Presentation
Introduction This chapter provides an overall description of all Advantys FTB splitter boxes.
What's in this
Chapter?
This chapter contains the following topics:
Note: The "-" in the tables corresponds to values that are not applicable.
Topic Page
Advantys FTB Splitter Box Environment Properties 28
Electrical Characteristics 29
Connecting the Actuators and Sensors 30
Power Supply Connection 32
Splitter Box Characteristics and Wiring
28 1606218 02 08/2006
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 Hzf57 Hz
Constant acceleration: 5.0 gn
57 Hzf150 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 f70 Hz
Constant acceleration: 15 gn
70 Hz f500 Hz
According to IEC 68-2-6, Fc
test
Shock resistance capacity for
plastic units
30 gn, duration: 11 ms According to IEC 68-2-27, Fc
test
Shock withstand capacity for
metal units
50 gn, duration: 11 ms -
Resistance capacity for
electrostatic discharges
Contact: +/- 4 kV
Air: +/- 8kV
According to IEC 61000-4-2
Withstand capacity for
radiated fields
10 V/m (3.05 V/ft) 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 -
Splitter Box Characteristics and Wiring
1606218 02 08/2006 29
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 8 A
Actuator supply current 8 A
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 short-
circuit 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 yes
Splitter Box Characteristics and Wiring
30 1606218 02 08/2006
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).
Assignment of
M12 Connector
Pins
The following diagram shows the front view of a 5-pin M12 connector and the
convention for numbering the pins:
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.
WARNING
Pin Assignment
1 +24 VDC
2 Channel 10 to 17: diagnostics input or functional input or output
30 VDC
4 Channel 00 to 07: functional input or output
5 Ground
Splitter Box Characteristics and Wiring
1606218 02 08/2006 31
Allocation of the
M12 Connectors
to the I/Os
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
Splitter Box Characteristics and Wiring
32 1606218 02 08/2006
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.
Assembling the
Power Supply
Cable
The following diagram gives a view of the shape and size of the connection cable
connector:
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.
CAUTION
Splitter Box Characteristics and Wiring
1606218 02 08/2006 33
Pin Assignment The following diagram shows a front view of the PWR IN and PWR OUT connectors:
Recommen-
dations 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.
This configuration provides maximum protection against any disturbance on the
outputs (short circuits).
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).
Pin Assignment
10 VDC
20 VDC
3Ground
4 Splitter box sensor and power supply
5 Actuator power supply
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.
WARNING
Splitter Box Characteristics and Wiring
34 1606218 02 08/2006
Method Follow the steps below:
Phaseo Power
Supply
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.
Step Action
1 Disconnect all power to the system.
2On 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.
3On 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.
1606218 02 08/2006 35
4
CANopen Network Interface
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 Topic Page
4.1 Wiring on the CANopen Bus 37
4.2 General Principles 48
4.3 Behavior of FTB CANopen Splitter boxes 66
CANopen Network Interface
36 1606218 02 08/2006
CANopen Network Interface
1606218 02 08/2006 37
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:
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
CANopen Network Interface
38 1606218 02 08/2006
Introduction to Wiring on the CANopen Bus
Introduction 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):
Description Function See
1 7/8" connector Power supply connection (PWR IN) Power Supply
Connection, p. 32
2 7/8" connector Power supply connection (PWR OUT)
3 Rotary switch Selecting transmission speed Configuring the
Address and
Transmission
Speed, p. 46
4 Rotary switches Selecting the splitter box address
5 M12 Connector CANopen bus connector (Bus OUT) Connecting the
Field Bus, p. 44
6 M12 Connector CANopen bus connector (Bus IN)
1
2
4
6
5
3
1
2
4
6
5
3
CANopen Network Interface
1606218 02 08/2006 39
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:
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.
1
2
4 4
3
6
5
6
5
3
Lmax
Min. interval
6 6
7
88
CANopen Network Interface
40 1606218 02 08/2006
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 Min. interval
0.6xΣL local
ΣLGmax
1 Mbits/s 0.3 m (0.98 ft) 0.6 m (1.96 ft) 1.5 m (4.9 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)
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.
CANopen Network Interface
1606218 02 08/2006 41
Example The following illustration shows the calculation of the length of a cable located
between two tap junction boxes.
The table below describes the components of a CANopen network:
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
5m (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
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.
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)
ΣL=5 m (16 ft)
Min interval > 0.6 * 7 m (23 ft)
1
2
4
3
1 m
(3 ft)
1 m
(3 ft)
3 m
(10 ft)
ΣL=7 m (23 ft)
1 m
(3 ft)
3 m
(10 ft)
3 m
(10 ft)
Min interval > 4.2 m (13.8 ft)
CANopen Network Interface
42 1606218 02 08/2006
Choice of system cables
Transmission
Speed
The maximum allowable transmission speeds are given in the following table:
Specific
Resistance
The specific resistances and AWG cable sections are shown 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)
Maximum speed Cable length Specific resistance of
cables
Cable sections
Kbits/s m ft mΩ/m m
Ω
/ft mm2AWG
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.
CANopen Network Interface
1606218 02 08/2006 43
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.
What types of
cables can be
used?
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.
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
5mΩ 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.
WARNING
CANopen Network Interface
44 1606218 02 08/2006
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:
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 0 V
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.
32
14
5
BUS
OUT
32
14
5
BUS
IN
CANopen Network Interface
1606218 02 08/2006 45
Correspondence
between 9-pin
SUB-D
Connectors and
M12 5-pin
Connectors
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:
Method Follow the steps below:
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.
CAUTION
9-pin SUB-D
connector
SUB-D
pin
Signal Meaning M12 pin 5-pin M12
connector
1 - Reserved -
2 CAN_L CAN_L bus line 5
3 CAN_GND 0 V 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 -
5
2
9
6
1
7
8
4
3
32
14
5
Step 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.
CANopen Network Interface
46 1606218 02 08/2006
Configuring the Address and Transmission Speed
Method Follow the steps below:
Illustration of the
Rotary Switches
Assignment of
the Address on
the Network
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.
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.
Element Function
1 Sets the transmission speed
2 Node-ID x 10
3 Node-ID x 1
2 3
DATA
RATE
NODE ADDRESS
X10 X1
1
0
1
2
3
4
5
6
8
9
7
0
1
2
3
4
5
6
8
9
7
0
1
2
3
4
5
6
8
9
7
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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1606218 02 08/2006 47
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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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 Page
About CANopen 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
CANopen Network Interface
1606218 02 08/2006 49
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:
1 CAN_H wire
2 CAN_L wire
3 Potential difference between CAN-H/CAN-L signals
4 Line terminator 120 Ω
5 Connected devices,
The bus wires can be routed in parallel, twisted or shielded form in accordance with
electromagnetic compatibility requirements.
3
555
1
2
44
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50 1606218 02 08/2006
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:
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).
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.
CANopen Network Interface
1606218 02 08/2006 51
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.
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 "Pre-
operational" 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.
Note: To find out more about CANopen standard specifications and mechanisms,
please visit the CiA home page (http//www.can-cia.de).
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52 1606218 02 08/2006
The Device Profile
List of Functions The list of functions supported and their coding are given in the following table:
Function 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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1606218 02 08/2006 53
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:
Legend
NMT : Network Management Telegram
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
1
2
4
3
3
5
5
4
6
6
6
7
7
Reset Application
Reset Communication
Init
Pre-Operational
Operational
Stopped
Initialisation
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54 1606218 02 08/2006
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:
"Reset
Application"
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.
Initialisation Pre-Operational Operational Stopped
PDO object: X
SDO object: X X
Emergency X X
Boot-Up X
NMT X X X
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1606218 02 08/2006 55
"Pre-
Operational"
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 ("Node-
Guarding" 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.
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.
WARNING
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56 1606218 02 08/2006
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 Notes
Dec. Hex. Cyclic Acyclic Synchron
ous
Asynchro
nous
only RTR
0 0 x x Send PDO on first SYNC
message following an
event
1 to 240 1 to F0 x x Send PDO every x SYNC
messages
241 to 251 F1 to FB Reserved -
252 FC x x Receive SYNC message
and send PDO on
Remote Request
253 FD x x Update data and send
PDO on Remote Request
254 to 255 FE to FF x Send PDO on event
(Change of state mode)
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Producer
Producer
Producer
Consumer(s)
Consumer(s)
Consumer(s)
Synchronous object
Remote frame
Synchronous object
(cyclic, acyclic)
Remote Transmission
Request
Change of state
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58 1606218 02 08/2006
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.
Synchronous
RTR (mode 252)
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)
In mode 253, the TPDOs are transmitted once the RTR message is received.
SYNC SYNC SYNC
Synchronous
window length
Communication cycle
Current input data
Set point
Output
Data
Input search in each SYNC
message
Actuation based on outputs
at next SYNC message
CANopen Network Interface
1606218 02 08/2006 59
"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).
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.
WARNING
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60 1606218 02 08/2006
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 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.
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
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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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 "Pre-
Operational" 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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"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.
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.
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.
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.
WARNING
CANopen Network Interface
1606218 02 08/2006 63
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:
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.
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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.
"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:
Note: Even if the monitoring function over time is disabled ("Guard-Time" and "Life-
Time-Factor" registers set to 0), the slave will respond to a remote request from the
master.
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 slave-
master 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.
WARNING
Network state Response in hex.
Stopped 04H or 84H
Pre-operational 7FH or FFH
Operational 05H or 85H
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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").
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:
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.
Status of the "Heartbeat
Producer"
Value (Decimal)
Boot-Up 0
Stopped 4
Operational 5
Pre-Operational 127
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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:
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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1606218 02 08/2006 67
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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Behavior in the Case of Communication Error
Description 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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1606218 02 08/2006 69
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.
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).
Recommen-
dations 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.
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.
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.
WARNING
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70 1606218 02 08/2006
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
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.
DANGER
1606218 02 08/2006 71
5
Application-Specific Functions
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:
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
Application-Specific Functions
72 1606218 02 08/2006
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
Application-Specific Functions
1606218 02 08/2006 73
List of
Manufacturer-
specific Profile
Objects
The manufacturer-specific profile objects are listed in the following table:
List of Device
Profile Objects
The device 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
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
Application-Specific Functions
74 1606218 02 08/2006
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:
2000H
SWITCH
IF 1H
Single
Digital
Input
Diag
Input
{OH,1H}
{OH,1H}
{OH,1H}
{OH,1H}
OPTIO-
NAL
FILTER 6103H
CHANGE
POLAR-
ITY
ENTRY
into
6000H
6100H
6102H
Polarity Input
Filter
Constant
{EH,DH}
Application-Specific Functions
1606218 02 08/2006 75
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:
OPTIO-
NAL
FILTER
6306H
SWITCH
IF 0H
Single
Digital
Output
Change
Polarity
{OH,1H}
{O,1} CHANGE
POLAR-
ITY
ENTRY
into 6200H
6300H
6307H
Fallback Value
Filter
Mask
{E,D}
{O,1}
Switch if
Device
Failure
Fallback Mode
{O,1}
{O,1}
{E,D}
{O,1}
6302H 6308H
Application-Specific Functions
76 1606218 02 08/2006
Description of Configurable Discrete I/Os
Configurable
Splitters
The configurable splitter boxes are as follows:
FTB 1CN16CP0
FTB 1CN16CM0
FTB 1CN08E08CM0
Channel
Configured for
Discrete Output
Write outputs are per word. Each output word is contained 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 applied to the output is determined by the configuration registers as
described below:
OPTIO-
NAL
FILTER
6306H
SWITCH
IF 0H
Single
Digital
Output
Change
Polarity
{OH,1H}
{O,1} CHANGE
POLAR-
ITY
ENTRY
into 6200H
6300H
6307H
Fallback Value
Filter
Mask
{E,D}
{O,1}
Switch if
Device
Failure
Fallback Mode
{O,1}
{O,1}
{E,D}
{O,1}
6302H 6308H
Application-Specific Functions
1606218 02 08/2006 77
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:
2000H SWITCH
IF 1H
Single
Digital
Input
Diag
Input
{OH,1H}
{OH,1H}
{OH,1H}
{OH,1H}
OPTIONAL
FILTER 6103H
CHANGE
POLARITY ENTRY into
6000H
6100H
6102H
Polarity Input
Filter
Constant
{EH,DH}
Application-Specific Functions
78 1606218 02 08/2006
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 Sub-
index
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
6000H 1 Bit 0 Not assigned
... ...
Bit 7 Not assigned
2 Bit 0 Reading of channel 10 input
... ...
Bit 7 Reading of channel 17 input
6100H 1 Bit 0 Not assigned
... ...
Bit 7 Not assigned
Bit 8 Reading of channel 10 input
... ...
Bit 15 Reading of channel 17 input
6102H 1 Bit 0 Not assigned
... ...
Bit 7 Not assigned
Bit 8 Polarity of channel 10
... ...
Bit 15 Polarity of channel 17
6103H 1 Bit 0 Not assigned
... ...
Bit 7 Not assigned
Bit 8 Channel 10 masking
... ...
Bit 15 Channel 17 masking
Application-Specific Functions
1606218 02 08/2006 79
List of FTB
1CN08E08SP0
Output Objects
The list of output objects for the Advantys FTB 1CN08E08SP0 splitter box is given
in the following table:
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).
Object Sub-
index
Bit Description
6200H 1 Bit 0 Writing of channel 0 output
... ...
Bit 7 Writing of channel 7 output
6300H 1 Bit 0 Writing of channel 0 output
... ...
Bit 7 Writing of channel 7 output
Bit 8 Not assigned
... ...
Bit 15 Not assigned
6302H 1 Bit 0 Polarity of channel 0 output
... ...
Bit 7 Polarity of channel 7 output
Bit 8 Not assigned
... ...
Bit 15 Not assigned
6306H 1 Bit 0 Fallback mode of channel 0 output
... ...
Bit 7 Fallback mode of channel 7 output
Bit 8 Not assigned
... ...
Bit 15 Not assigned
Application-Specific Functions
80 1606218 02 08/2006
6307H 1 Bit 0 Fallback value of channel 0 output
... ...
Bit 7 Fallback value of channel 7 output
Bit 8 Not assigned
... ...
Bit 15 Not assigned
6308H 1 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.
Object Sub-
index
Bit Description
Application-Specific Functions
1606218 02 08/2006 81
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 Sub-
index
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
6000H 1 Bit 0 Reading of channel 0 input
... ...
Bit 3 Reading of channel 3 input
Bit 4 Not assigned
... ...
Bit 7 Not assigned
2 Bit 8 Reading of channel 10 input
... ...
Bit 15 Reading of channel 17 input
6100H 1 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
Application-Specific Functions
82 1606218 02 08/2006
6102H 1 Bit 0 Polarity of channel 0
... ...
Bit 3 Polarity of channel 3
Bit 4 Not assigned
... ...
Bit 7 Not assigned
Bit 8 Polarity of channel 10
... ...
Bit 15 Polarity of channel 17
6103H 1 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).
Object Sub-
index
Bit Description
Application-Specific Functions
1606218 02 08/2006 83
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 Sub-
index
Bit Description
6200H 1 Bit 0 Not assigned
... ...
Bit 3 Not assigned
Bit 4 Writing of channel 4 output
... ...
Bit 7 Writing of channel 7 output
2 Bit 0 Not assigned
... ...
Bit 7 Not assigned
6300H 1 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
6302H 1 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
Application-Specific Functions
84 1606218 02 08/2006
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
... ...
Bit 15 Not assigned
6307H 1 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
6308H 1 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.
Object Sub-
index
Bit Description
Application-Specific Functions
1606218 02 08/2006 85
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 Sub-
index
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
6000H 1 Bit 0 Reading of channel 0 input
... ...
Bit 7 Reading of channel 7 input
2 Bit 0 Reading of channel 10 input
... ...
Bit 7 Reading of channel 17 input
6100H 1 Bit 0 Reading of channel 0 input
... ...
Bit 15 Reading of channel 17 input
6102H 1 Bit 0 Polarity of channel 0
... ...
Bit 15 Polarity of channel 17
6103H 1 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).
Application-Specific Functions
86 1606218 02 08/2006
List of
FTB 1CN16EP0
and
FTB 1CN16EM0
Output Objects
The Advantys FTB 1CN16EP0 and FTB 1CN16EM0 splitter boxes have no outputs.
Application-Specific Functions
1606218 02 08/2006 87
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
... ...
Bit 7 Choice between the "input" function and the "output"
function for channel 7
2 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.
Application-Specific Functions
88 1606218 02 08/2006
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 Sub-
index
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
6000H 1 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
2Bit 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
... ...
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
6100H 1 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 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
Application-Specific Functions
1606218 02 08/2006 89
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:
6102H 1 Bit 0 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
6103H 1 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).
Object Sub-
index
Bit Description
Object Sub-
index
Bit Description
6200H 1 Bit 0 Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
... ...
Bit 7 Channel 7 output writing if channel 7 configured for output
Not assigned if channel 7 configured for input
2Bit 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
6300H 1 Bit 0 Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
... ...
Bit 15 Channel 17 output writing if channel 17 configured for output
Not assigned if channel 17 configured for input
Application-Specific Functions
90 1606218 02 08/2006
6302H 1 Bit 0 Channel 0 output polarity if channel 0 configured for output
Not assigned if channel 0 configured for input
... ...
Bit 15 Channel 17 output polarity if channel 17 configured for output
Not assigned if channel 17 configured for input
6306H 1 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
6307H 1 Bit 0 Channel 0 output fallback value if channel 0 configured for
output
Not assigned if channel 0 configured for input
... ...
Bit 15 Channel 17 output fallback value if channel 17 configured for
output
Not assigned if channel 17 configured for input
6308H 1 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
Object Sub-
index
Bit Description
Application-Specific Functions
1606218 02 08/2006 91
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
2 Bit 8 Not assigned
... ...
Bit 15 Not assigned
Note: All objects are read by bytes.
Application-Specific Functions
92 1606218 02 08/2006
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 Sub-
index
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
6000H 1 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
2Bit 0Channel 10 input reading if channel 10 configured for input
Channel 10 diagnostics input reading if channel 10 configured
for diagnostics input
... ...
Bit 7 Channel 17 input reading if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
6100H 1 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 Channel 17 input reading if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
Application-Specific Functions
1606218 02 08/2006 93
6102H 1 Bit 0 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
... ...
Bit 15 Channel 17 input polarity if channel 17 configured for input
Channel 17 diagnostics input reading if channel 17 configured
for diagnostics input
6103H 1 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).
Object Sub-
index
Bit Description
Application-Specific Functions
94 1606218 02 08/2006
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 Sub-
index
Bit Description
6200H 1 Bit 0 Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
... ...
Bit 7 Channel 7 output writing if channel 7 configured for output
Not assigned if channel 7 configured for input
2 Bit 8 Not assigned
... ...
Bit 15 Not assigned
6300H 1 Bit 0 Channel 0 output writing if channel 0 configured for output
Not assigned if channel 0 configured for input
... ...
Bit 7 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
6302H 1 Bit 0 Channel 0 output polarity if channel 0 configured for output
Not assigned if channel 0 configured for input
... ...
Bit 7 Channel 7 output polarity if channel 7 configured for output
Not assigned if channel 7 configured for input
Bit 8 Not assigned
... ...
Bit 15 Not assigned
6306H 1 Bit 0 Channel 0 output fallback mode if channel 0 configured for
output
Not assigned if channel 0 configured for input
... ...
Bit 7 Channel 7 output fallback mode if channel 7 configured for
output
Not assigned if channel 7 configured for input
Bit 8 Not assigned
... ...
Bit 15 Not assigned
Application-Specific Functions
1606218 02 08/2006 95
6307H 1 Bit 0 Channel 0 output fallback value if channel 0 configured for
output
Not assigned if channel 0 configured for input
... ...
Bit 7 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
6308H 1 Bit 0 Channel 0 output masking if channel 0 configured for output
Not assigned if channel 0 configured for input
... ...
Bit 7 Channel 7 output masking if channel 7 configured for output
Not assigned if channel 7 configured for input
Bit 8 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
Object Sub-
index
Bit Description
Application-Specific Functions
96 1606218 02 08/2006
1606218 02 08/2006 97
6
Software Tools
Presentation
Introduction This chapter deals with Advantys FTB CANopen splitter software installation.
What's in this
Chapter?
This chapter contains the following sections:
Section Topic Page
6.1 Introduction to Software Tools 99
6.2 Product Configuration 101
6.3 Network Configuration 107
6.4 PLC Programming 114
Software Tools
98 1606218 02 08/2006
Software Tools
1606218 02 08/2006 99
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.
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:
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.
Note: With Twido Suite, Advantys Configuration Tool is run directly by Twido Suite
to create or modify an island.
M340 Premium Twido
Device
Configuration
Network
Configuration
PLC setup and
programming
Advantys
Configuration
Tool
Unity
Advantys
Configuration
Tool
Advantys
Configuration
Tool
SyCon Twido Suite
Unity Twido SuitePL7 / Unity
Software Tools
100 1606218 02 08/2006
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).
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.
Note: For further information on EDS file creation, please refer to the user manual
or to the Advantys Configuration Tool online help.
Software Tools
1606218 02 08/2006 101
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?
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
Software Tools
102 1606218 02 08/2006
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.
Software Tools
1606218 02 08/2006 103
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)
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.
WARNING
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Creating a New EDS and DCF Configuration File
Introduction 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.
Creating a New
EDS and DCF
Configuration
File
Step Action
1 Launch the Advantys Configuration Tool software.
A window appears:
Select Create new island
Click on the OKbutton.
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2 The New island window appears:
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
3Building 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).
Step Action
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4Island 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.
5Saving 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.
Step Action
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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
?
New Ctrl+N
Open... Ctrl+O
Close
Save Ctrl+S
Save As…
Export
Print...
Print Preview
Ctrl+P
Print Setup...
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
Copy EDS
File Edit View Insert Online Settings
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3 Select the file to be imported and click on "Open":
4 Click on "Yes" to import the 3 associated image files.
5 If the image files are in the same directory as the EDS file, they are found
automatically:
Click "OK".
Steps Actions
SyCon
File Edit View Insert Online Settings Window Help
?
Copy EDS
Open
Cancel
Look in:
File name:
File type /
?
“TEST.EDS
EDS Files (*.eds)
can config
TEST.eds
Question
No
Do you want to import the corresponding bitmap files?
Yes
Note
Imported files:
OK
EDS files 1
Bitmap files 3
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6 Click on "Insert" and select "Node" or click on the associated button.
7 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:
Note: The name given in the list is the "comment associated with
communication block" defined with CANConfig.
Steps Actions
SyCon
File Edit
?
Online Settings WindowInsert
Master...
Node...
SyCon
?
CIF --
CANopen
Insert Node
Available devices
Add >>
Add All >>
<< Remove
<< Remove All
Selected devices
OK
Cancel
Node ID (address)
Description
Vendor
Profile
Telemecanique
All
Vendor name
Product number
Telemecanique
90157
Product version No entry
Product revision
File name
No entry
TEST.EDS
EDS Revision 1
TEST
2
Node2
File Edit View Insert Online Settings Window Help
Node filter
Lexium05
LEXIUM17D
Osicoder
OPTB 1C0DM9LP
PreventaXPSMC ZC
STB NCO 1010
STB NCO 2212
TEST
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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
?
Press F1 for Help Configuration
CANopen
Master
Node ID 63
Master TSX CPP 100
CIF --
CANopen
Node
Designation
TEST
Node2
Node address 2 OK
Cancel
Node BootUp
OPC Objects
Activate node in current configuration
Automatic COB-ID allocation in accordance with
Profile 301
1 / Osicoder
PDO Contents Mapping
PDO Characteristics
New receive PDO
New transmit PDO
PDO name I len.I Addr.
I Type
COB-ID
Symbolic Name O Ty p e O len.
O Addr.
Transmit PDO
20IB385PDO_1800
Transmit PDO
10IB641PDO_1801
Transmit PDO
00IB897PDO_1802
Transmit PDO
00IB1153PDO_1803
Transmit PDO
00IB1664PDO_1804
Transmit PDO
00IB1664PDO_1805
Object
Configuration
File name TEST.EDS
Configuration Protocol
Control Error
Emergency COB-ID 129
Nodeguard COB-ID 1793
Device profile 401 Device type Analog input, Digital output, Input
Predefined Process Data Objects (PDOs) from EDS file
DS301 V4
Add to configured PDOs
Obj.Idx. PDO name
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)
Configured PDOs
Delete configured PDO
Symbolic Names
Node configuration
Actual node
PDO mapping method
Enable
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3 Select the required transmission mode and click OK:
4 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
Otherwise, go directly to step 6.
Step Action
Node shall use a synchronization message as trigger to send the transmit PDO cyclically.
Node Transmit PDO Characteristics, Master Input Data
OK
Transmission Mode
Node has to send the transmit PDO every received synchronization message.
Node shall use a synchronization message as trigger to send the transmit PDO when
Transmission type of transmit PDO manufacturer specific.
CANopen specific transmission type 255
Event timer
Inhibit time
Communication Timer Node
10
remote requested by the master.
Node shall send the transmit PDO when remote requested by master.
Transmission event of transmit PDO defined in the device profile.
0
0
ms
ms
CANopen Master Remote Request Condition
0
Every master cycle interval (request slow down).
Settings
Automatic Addressing in accordance with Profile 401
Manual addressing
OK
Cancel
COB-ID Allocation during PDO insertion
Automatic addressing
Process Data Auto Addressing
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5 Enter the required values in the "I Addr" and "O Addr" boxes opposite the
activated PDO.
Step Action
Master
Node ID 63
Master TSX CPP 100
Node
Designation
TEST
Node2
Node address 2 OK
Cancel
Node BootUp
OPC Objects
Activate node in current configuration
Automatic COB-ID allocation in accordance with
Profile 301
1 / Osicoder
PDO Contents Mapping
PDO Characteristics
New receive PDO
New transmit PDO
PDO name I len.I Addr.
I Type
COB-ID
Symbolic Name O Ty pe O len.
O Addr.
Transm it PD O
20IB385PDO_1800
Transm it PD O
10IB641PDO_1801
Transm it PD O
00IB897PDO_1802
Transm it PD O
00IB1153PDO_1803
Transm it PD O
00IB1664PDO_1804
Transm it PD O
00IB1664PDO_1805
Object
Configuration
File name TEST.EDS
Configuration Protocol
Control Error
Emergency COB-ID 129
Nodeguard COB-ID 1793
Device profile 401 Device type Analog input, Digital output, Input
Predefined Process Data Objects (PDOs) from EDS file
DS301 V4
Add to configured PDOs
Obj.Idx. PDO name
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)
Configured PDOs
Delete configured PDO
Symbolic Names
Node Configuration
Actual node
PDO Mapping method
Enable
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6 Click on "Object Configuration":
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
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.).
Step Action
Master
Node ID 63
Master TSX CPP 100
Node
Designation
TEST
Node2
Node address 2 OK
Cancel
Node BootUp
OPC Objects
Activate node in current configuration
Automatic COB-ID allocation in accordance with
Profile 301
1 / Osicoder
PDO Contents Mapping
PDO Characteristics
New receive PDO
New Transmit PDO
PDO name I len.I
I Type
COB-ID
Symbolic O O len.
O
Transmit PDO
20IB385PDO_1800
Transmit PDO
10IB641PDO_1801
Transmit PDO
00IB897PDO_1802
Transmit PDO
00IB1153PDO_1803
Transmit PDO
00IB1664PDO_1804
Transmit PDO
00IB1664PDO_1805
Object
Configuration
File name TEST.EDS
Configuration Protocol
Control Error
Emergency COB-ID 129
Nodeguard COB-ID 1793
Device profile 401 Device type Analog input, Digital output, Input
Predefined Process Data
DS301 V4
Add to configured PDOs
Obj.Idx. PDO name
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)
Configured PDOs
Delete configured PDO
Symbolic Names
Node Configuration
Actual node
PDO Mapping method
Enable Actual node
3 / FTM
PDO Contents
PDO
Define new
Define new
I
I
I CO O O
O
515 QB 00
771
387
PDO mapping
DS301 V4
Add to
Delete
Symbolic
Object Configuration
OK
Cancel
Predefined supported objects in the EDS file
Add to Configured Objects
Obj. Idx. Sub. Idx.
1000
1001 0
Access
Read only
Read only
Read/Write
Read/
Settings
Device Type
Error Register
Configured objects automatically written during node startup sequence
Delete Configured Object
Node
Designation
TEST
Node2
Node addr. 2
0
Default value
(no default value)
0
80
Access Filter
Decimal
All
Obj. Idx. Sub. Idx.
1016
1017 0
1800 1
1800 5
Dialog
X
X
X
X
Settings
Consumer Heartbeat Time
Producer Heartbeat Time
COB-ID
Event timer
Selected value
7F012C
C8
181
0
1003
0
1005 0
Pre-Defined Error Field
Number of errors
COB-ID SYNC
1002 0 Manufacturer Status Register
Read only
0
20196
1
1800 2 XTransmission type FF
1800 3 XInhibit Time 0
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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:
Topic Page
Integration and Use under PL7 115
Examples of SDO Requests 120
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Integration and Use under PL7
Configuration Follow the steps below:
Steps Actions
1 In the master configuration window, select the network configuration file
generated with SYCON:
TSX 57353 [RACK 0 POSITION 1]
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
Bus startup Inputs Outputs
Automatic
Semi-automatic (bus only)
By program
Configuration
CHANNEL 1
CANopen
TSX CCP 100-110 CAN OPEN PCMCIA CARD
MAST
Maintain Reset
500
1000
No. of words (%MW)
Index of 1st %MW
500
1500
No. of words (%MW)
Index of 1st %MW
Configuration loading mode
Select Database D:\document\QSF\CanOpen\travail\pro
PL7
5223
Configuration size words
SyCon
1 Mbits/sTransmission Speed
128COB-ID Message SYNC
0Auto-Clear
1000 msSYNC Message Period
Bus configuration
SyCon Tool
Watchdog
Disabled
Enabled
Open
Open
Cancel
Look in:
File name:
File type:
?
island_v0_04.co
CANopen FILE (*.co)
conf can
ana
island_v0_01.co
speeds ftm_I
ana.co
island_v0_03.co
island_v0_04.co0_04.co
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2 Complete the fields of the "Input" boxes (input data exchange area) and
"Output" boxes (output data exchange area):
Steps Actions
TSX 57353 [RACK 0 POSITION 1]
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
Bus startup Inputs Outputs
Automatic
Semi-automatic (bus only)
By program
Configuration
CHANNEL 1
CANopen
TSX CCP 100-110 CAN OPEN PCMCIA CARD
MAST
Maintain Reset
500
1200
No. of words (%MW)
Index of 1st %MW
500
1700
No. of words (%MW)
Index of 1st %MW
Configuration loading mode
Select Database D:\document\QSF\CanOpen\travail\pro
PL7
5223Configuration size words
SyCon
1 Mbits/sTransmission Speed
128COB-ID Message SYNC
0Auto-Clear
1000 msSYNC Message Period
Bus configuration
SyCon Tool
Watchdog
Disabled
Enabled
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3 Click on the "Bus Configuration" button:
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 Execute the required SDO requests (either from the debug screen, or with a
program).
Steps Actions
TSX 57353 [RACK 0 POSITION 1]
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
Bus startup Inputs Outputs
Automatic
Semi-automatic (bus only)
By program
Configuration
CHANNEL
CANopen
TSX CCP 100-110 CAN OPEN PCMCIA CARD
MAST
Maintain Reset
500
1000
No. of words
Index of 1st %MW
500
1500
No. of words
Index of 1st %MW
Configuration loading mode
Select Database D:\document\QSF\CanOpen\travail\pro
PL7
5223
Configuration size words
SyCon
1 Mbits/sTransmission Speed
128COB-ID Message SYNC
0Auto-Clear
1000 msSYNC Message Period
Bus configuration
SyCon Tool
Watchdog
Disabled
Enabled
CANopen bus configuration
CANopen slaves Inputs
0011
Add Device Name Act. Life T.
000 APP-1CCO2 1400
000 FTM 1CN10 0400
000 FTM 1CN10 0400
000 FTM 1CN10 0400
001 REFERENCE 1400
002 FTB 1CN12E04SP0 1400
003 FTB 1CN08E08SP0 1400
004 FTB 1CN16CP0 1400
009 FTM 1CN10 1400
009 FTM 1CN10 1400
009 FTM 1CN10 0400
Tot a l
No. of slaves
83
No. Input %MW
113
No. Output %MWs
Parameter Symbol
%MW1200
%MW1201
%MW1202
%MW1203
Outputs
Parameter Symbol
%MW1700
%MW1701
%MW1702
%MW1703
CANopen device details
REFERENCEDevice Name :
TelemecaniqueVendor Name:
TESTDescription:
EMCY= 224, TxPDO= 768COB-ID:
Close
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SDO Request
from the Debug
Screen
Follow the steps below:
Step Action
1 Click on the "Enter request" button in the bottom-right of the debug screen:
TSX 57353 [RACK 0 POSITION 1]
Designation: TSX P 57353 PROCESSOR Version: 5.0
CHANNEL 1:
CANopen slave status Slave data
Debugging
CHANNEL 1
CANopen
TSX CCP 100-110 CAN OPEN PCMCIA CARD
MAST
0011
DIAG…
DIAG…
Addr Device Name Act. Life T.
000 APP-1CCO2 1400
000 FTM 1CN10 0400
000 FTM 1CN10 0400
000 FTM 1CN10 0400
001 REFERENCE 1400
002 FTB 1CN12E04SP0 1400
003 FTB 1CN08E08SP0 1400
004 FTB 1CN16CP0 1400
009 FTM 1CN10 1400
009 FTM 1CN10 1400
009 FTM 1CN10 0400
To t a l
No. of slaves
83
No. Input %MW
113
No. Output %MWs
Bin Dec
Inputs
Parameter Symbol Value
%MW1210 8
%MW1212 0
%MW1213 0
Output value Base
Hex
OK
Outputs
Parameter Symbol Value
%MW1712 0
%MW1713 0
Slave information
Node 10: Status=08h, AddInfo=0001h, Profile=401, NodeStat
Request to be sent
Received response
Enter request
Addr.
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2Complete 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:
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:
Step Action
Enter CANopen Request
CancelSend
Request:
1
Node:
Index:
Sub-index:
Value:
(120 bytes max.)
16#
16#
16#
Write SDO
1800
3
10 27 00 00
0011
To t a l
No. of slaves
83
No. Input %MW
113
No. Output %MWs
Slave information
Node 10: Status=08h, AddInfo=0001h,
Request to be sent
Received response
Enter
request
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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
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*)
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.
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(*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
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*)
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.
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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;
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7
Diagnostics
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?
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
Diagnostics
124 1606218 02 08/2006
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).
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 Actuator power supply unavailable Off
Actuator power supply is OK Green
Under-voltage in actuator power supply Red
D0 DI
PWRRUN ERR
D0 DI
PWRRUN ERR
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1606218 02 08/2006 125
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):
ERR LED
RUN LED
D0 DI
PWRRUN ERR
D0 DI
PWRRUN ERR
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 de-
activated
Splitter status: Bus off Permanently switched
on
BUS status Description LED status
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
Diagnostics
126 1606218 02 08/2006
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):
LED Behavior LED Behavior according to Settings and Channel Status
Element Function
1LED
2 LED number on the plastic unit
3 Pin number displayed on the metal unit
4 Connector number for the metal unit
1
Channel configuration Input voltage Logical value LED status
Input closing function 0 VDC 0 Off
24 VDC 1 Yellow
Channel error - Red
Input opening function 0 VDC 1 Off
24 VDC 0 Yellow
Channel error - Red
Input diagnostics 0 VDC 1 Red
24 VDC 0 Off
Output 0 VDC 0 Off
24 VDC 1 Yellow
Channel error - Red
Diagnostics
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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: Pre-
defined 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.
Diagnostics
128 1606218 02 08/2006
Error Codes
(EMCY bytes
0&1)
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 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 transmit error counter has
exceeded its capacity
9000H EXTERNAL_ERROR Detection of wire cut on sensor
F000H ADDITIONAL_FUNCTION Actuator voltage < 12VDC
Diagnostics
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Status Register
(EMCY Byte 2)
The object 1001H (Error Register) is a byte used by the device to display internal
errors when an error is detected:
Channel
Diagnostics
(EMCY Bytes 5-6-
7)
Data returned in bytes 5 and 6 is the image of channels with the error defined by
EMCY byte 7 (manufacturer status register):
The following table indicates the assignment of all EMCY byte 7 bits:
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
Byte 6 (channels 0 to 7) 5 (channels 10 to
17)
7
Contents Faulty channels Faulty channels Types of faults
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 -
Diagnostics
130 1606218 02 08/2006
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.
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.
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).
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8
The Object Dictionary
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 Topic Page
8.1 The Object Dictionary 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
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The Object Dictionary
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8.1 The Object Dictionary
The Object Dictionary
Index Ranges There are three zones in the object dictionary:
It is possible to map manufacturer-specific and device-specific objects in the PDO
objects, which are then sent via the product.
Index
(hexadecimal)
Zone Function Documentation
1000-1FFF Communication
profile zone
Communication
capacities
Objects of the
Communication Profile
1000H to 1FFFH , p. 134
2000-5FFF Manufacturer-
specific 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
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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:
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
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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:
Characteristics The characteristics of this object are outlined in the following table:
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 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
Sub-index Description Data type Default value Access PDO Mapping Backed up
- - UNSIGNED32 See list ro no no
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136 1606218 02 08/2006
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 The characteristics of this object are given in the following FTB splitter box table:
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
Sub-index Description Data type Default value Access PDO Mapping Backed up
- - UNSIGNED8 - ro no no
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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:
Assignment of
Bits
The following table indicates the assignment of the 32 bit set:
Sub-index Description Data type Default value Acces
s
PDO
Mapping
Backed up
0 - UNSIGNED32 80H (see note) ro no no
Note: At initial start-up, channels 10 to 17 are configured as "diagnostics inputs"
by default.
Note: Bit Values:
0: no fault
1: fault
Bit Meaning Notes
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
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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:
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.
Indicating Faults 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).
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
Note: Clearing a fault does not delete the error code from the Predefined Error
Field (PEF).
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1606218 02 08/2006 139
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 under-
voltage in the sensor
3310H OUTPUT_VOLTAGE_TOO_HIGH Splitter box has detected over-
voltage in the actuator
3320H OUTPUT_VOLTAGE_TOO_LOW The splitter box has detected under-
voltage 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
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140 1606218 02 08/2006
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
Mapping
Backed up
0 - UNSIGNED32 80H rw no yes
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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- UNSIGNED320ronono
Note: It is not advisable to use this object as it can create communication errors in
slow speed.
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142 1606218 02 08/2006
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:
The default value depends on the splitter box reference:
(see Splitter Box Inputs and Outputs, p. 12)
Sub-index Description Data type Default value Access PDO Mapping Backed up
0 - STRING See the table below ro no no
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
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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:
Sub-index Description Data type Default
value
Access PDO
Mapping
Backed up
0 - STRING Depending
on the
splitter box
version
ro no no
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144 1606218 02 08/2006
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:
Common typical values for the "Guard-Time" parameter lie between 250 ms and 2s.
Sub-index Description Data type Default
value
Access PDO
Mapping
Backed up
0 - UNSIGNED16 0 rw no yes
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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
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 splitter
switches back to the "Pre-Operational" default state without generating any errors.
Sub-index Description Data type Default
value
Access PDO
Mapping
Backed up
0 - UNSIGNED8 0 rw no yes
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.
WARNING
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146 1606218 02 08/2006
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:
Operation To save the parameters, the "save" ASCII character string (6576 6173H) must be
written to the corresponding sub-index:
The read result of a sub-index is always 0000 0001H.
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 manufacturer-
specific application
parameters (2000H
5FFFH)
UNSIGNED32 - rw no no
Most significant word Least significant
word
Hex value 65H 76H 61H 73H
ISO 8859 (ASCII)
signature
evas
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1606218 02 08/2006 147
Back-up
Behavior
Writing a valid value
The device stores the 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 with x=0...F).
Storage Function During read access to an appropriate sub-index, the splitter box transmits
information on its storage function, in the following format:
Note: When storage fails, the splitter box returns an Abort SDO Transfer (Abort
Code:0606 0000H).
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.
WARNING
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
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148 1606218 02 08/2006
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:
Operation To restore the parameters, the "load" ASCII character string (64616F6CH) must be
written to the corresponding sub-index:
The read result of a sub-index is always 0000 0001H.
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
Most significant word Least significant
word
ISO 8859
(ASCII)
signature
daol
Hex value 64H 61H 6FH 6CH
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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 sub-
index 2)
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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 yes
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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:
Content of
Variable
The content of sub-index 1 is as follows:
If the value of the sub-index is 0, no splitter box is monitored.
"Node-Guarding" and "Life-Guarding" Monitoring Protocols, p. 62
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
Bit 31 to 24 23 to 16 15 to 0
Value 0H (Reserved) Address of the monitored splitter
box
Monitoring time in ms
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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:
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. "Node-
Guarding" and "Life-Guarding" Monitoring Protocols, p. 62
Sub-index Description Data type Default value Access PDO
Mapping
Backed up
0 - UNSIGNED16 0H rw no yes
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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:
Default Value of
Sub-index 2
The default values of sub-index 2 are given in the table below:
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
Reference Object code
FTB 1CN16EP0 9D4FH
FTB 1CN16EM0 E174H
FTB 1CN08E08CM0 E175H
FTB 1CN08E08SP0 9D51H
FTB 1CN12E04SP0 9D50H
FTB 1CN16CP0 CA49H
FTB 1CN16CM0 E176H
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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
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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:
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Sub-
index
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
Transfer code Transmission mode Notes
Dec. Hex. Cyclic Acyclic Synchrono
us
Asynchrono
us
0 0 x x Send PDO on first SYNC message
following an event
1 to 240 1 to F0 x x Send PDO every x SYNC
messages
241 to 251 F1 to FB 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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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:
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
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 FFH (255 Dec) rw no yes
Transfer code Transmission mode Notes
Dec. Hex. Cyclic Acyclic Synchrono
us
Asynchron
ous
0 0 x x Send PDO on first SYNC
message following an event
1 to 240 1 to F0 x x Send PDO every x SYNC
messages
241 to 251 F1 to FB 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.
The Object Dictionary
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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
Structure
Each data object to be transported is represented in the following manner:
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
...
8 Most recent
object in PDO
UNSIGNED32 See table rw no yes
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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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
01
1 6200 0108H
FTB 1CN16C•0 0 2
1 6200 0108H
2 6200 0208H
FTB 1CN16E•0 0 -
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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
Structure
Each data object to be transported is represented in the following manner:
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
...
8 Most recent
object in PDO
UNSIGNED32 See table rw no yes
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.
The Object Dictionary
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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
01
1 2000 0108H
FTB 1CN08E08CM0 0 2
1 2000 0108H
2 2001 0108H
FTB 1CN16CP0
FTB 1CN16CM0
03
1 2000 0108H
2 2001 0108H
3 2001 0208H
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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
The Object Dictionary
162 1606218 02 08/2006
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
COB-ID
Structure
The structure of a COB-ID for CAN2.0 is shown in the following table:
Transfer code Transmission mode Notes
Dec. Hex. Cyclic Acyclic Synchron
ous
Asynchro
nous
RTR only
0 0 x x Send PDO on first SYNC
message following an
event
1 to 240 1 to F0 x x Send PDO every x SYNC
messages
241 to 251 F1 to FB Reserved -
252 FC x x Receive SYNC message
and send PDO on
Remote Request
253 FD x x Update data and send
PDO on Remote Request
254 to 255 FE to FF x 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.
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
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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 transmissio