Schneider ElectricメーカーIP67の使用説明書/サービス説明書
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1606218 02 www.tel emecani que.com Advantys FTB CANopen IP67 monobloc input/out put splitter box User gui de 1606218 0 2 eng 3.0.
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1606218 02 0 8/2006 3 Tabl e of Cont en ts Saf ety Infor mat ion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 1 Introduction .
4 1606218 02 08/2 006 CANopen "Boot -Up". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Process Da ta Object (PDO ) Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Inhibit Ti me and Ev ent Tim er .
1606218 02 08 /2006 5 CANopen Obj ects Diagn ostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127 Behavior i n the Even t of Short -circu it / Overl oad / Under-v oltag e . . . . . . . . . . . 130 Chapter 8 The Object Dictionary.
6 1606218 02 08/2 006 Object 6 300H: Write Outputs 1 6 Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 Object 6 302H: Polari ty Outpu ts 16 Bi ts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 Object 6 306H:Fallb ack Mod e 16 Bits.
1606218 02 08 /2006 7 § Safety Information Imp ortan t I nfor mat ion NOTICE Read the se instru ction s careful ly, an d look a t the eq uipm ent to b ecome fa mili ar with the devic e befo re trying to insta ll, op erate, o r main tain it .
Safety Infor mation 8 1606218 02 08/2 006 PLEASE NOTE Electrica l equi pment should be insta lled, o perated , serv iced, and main tained only b y qualified perso nnel. No respo nsibilit y is a ssumed by Schnei der Ele ctric for a ny consequ ences arising out of t he use of this m aterial .
1606218 02 08 /2006 9 About the Book At a Glance Document Sc ope This user gui de c ontai ns t he i nfor mati on re qui red to ins tal l an Advan tys F TB CANopen m onoblo c IP67 split ter box.
About the Book 10 1606218 02 08/2 006 Related Documents User Comments We welc ome you r comm ents about this docu ment. Yo u can reach us by e-mai l at techpub@ schnei der-ele ctric.
1606218 02 08 /2006 11 1 Introduction Presentati on Introduction Thi s chapter provid es a gene ral ov erview of Advanty s IP 67 FTB CANo pen IP67 I/ O splitt er boxes. Advantys FTB CANopen sp litter boxes co mply with the followi ng spec ificat ions: CiA DS301 V4.
Introduction 12 1606218 02 08/2 006 Presentati on of the CANopen Advantys FTB I/O Splitter Box Range The CANopen Advan tys FTB Product Range The spli tter box es in the CANope n Adva ntys FT B ranges .
Introduction 1606218 02 08 /2006 13 Overview of the Accessories Range Cables for Connecting the Bus to the Splitter Box Different cable s can be used to c onnec t the spl itter bo x to the fi eld bu s.
Introduction 14 1606218 02 08/2 006.
1606218 02 08 /2006 15 2 Installation Presentati on Introduction Thi s chapte r provi des all r equired inform ation for insta lling an FTB s plitter b ox on a fiel d bu s.
Insta lla tion 16 1606218 02 08/2 006 Overview Introduction Thi s sectio n giv es a detai led te chnical desc ription of the Advantys FTB CANo pen split ter box. Descrip tion The il lustrat ions bel ow show the pla stic u nits (l eft) and metal un its (ri ght) of t he Advantys FTB CA Nopen spli tter.
Install ation 1606218 02 08 /2006 17 Install ing the Unit Introduction Thi s sectio n give s a de tailed te chnic al descri ption of Adva ntys FTB s plitte r boxes. Descrip tion The Adv antys FTB splitt er box can be moun ted dire ctly onto a wall or a machin e.
Insta lla tion 18 1606218 02 08/2 006 Plastic Unit Dime nsi ons The dime nsion s of th e plastic unit (f ront and side views ) are gi ven in the follo wing illustrat ions:.
Install ation 1606218 02 08 /2006 19 Metal Unit Dimensions The dimen sions of the m etal un it (front and side views ) are gi ven in the fol lowing illustrati ons:.
Insta lla tion 20 1606218 02 08/2 006 Method Follow the steps below: Step Ac tion 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 connecto rs mus t not b e left unprotecte d.
Install ation 1606218 02 08 /2006 21 Grounding of the Advantys FTB Splitter Box Descrip tion The groun d conne ction is conne cted in ternally to p in 1 of the M1 2 conne ctor of the field bus conne ctor.
Insta lla tion 22 1606218 02 08/2 006 Method fo r Plastic Unit s Follow the steps below to conn ect the gro und to the uni t: Position of the Ground Electro de on the Metal Unit The follo wing figure s hows the po sitio n of the gro und elec trode on the metal boxes .
Install ation 1606218 02 08 /2006 23 EMC Compatibility Product Compliance This produ ct compl ies with the Eu ropean direct ive 89/ 336/CEE on "electrom agnetic compa tibili ty".
Insta lla tion 24 1606218 02 08/2 006 Grounding A lo w imped ance conne ction with a m aximum length of 3 m (9. 84 ft) must be installe d betwee n the s plitte r box's ground electrode and th e referen ce ground in order to discha rge the noise voltages.
Install ation 1606218 02 08 /2006 25 Control of Inductive Load s The output s of the dev ices de scribe d in t his manu al are equip ped with an in tegrate d protect ive sys tem agai nst the high n oise voltag es that m ay be genera ted by induct ive load s.
Insta lla tion 26 1606218 02 08/2 006.
1606218 02 08 /2006 27 3 Splitter Box Characteristi cs and Wiring Presentati on Introduction Thi s chapter provid es an ov erall d escriptio n of al l Adva ntys FTB s plitter box es. What's in this Chapter? This cha pter co ntains the follo wing top ics: Note: The "-" in the tabl es co rresponds to va lues t hat are not app licable .
Splitter Box Characteristics and Wiring 28 1606218 02 08/2 006 Advantys FTB Spl itter Box Environment Properties Environ ment Properties Characteristic Description Reference standard Product certification cULus - Operating temperature -20°C...+60°C (-4°F.
Splitter Box Cha racteristics an d Wiring 1606218 02 08 /2006 29 Electrica l Characteristi cs Splitter Box Chara ct eris tics Input Chara ct eris tics Output charac teristics Characteristic Descri ption Splitter box's internal c onsumption 120 mA Splitter power s upply voltage 18.
Splitter Box Characteristics and Wiring 30 1606218 02 08/2 006 Connecting the Actuat ors and Sensors Descrip tion The ac tuators an d sens ors are c onnec ted to t he FTB spli tter bo x using M 12-ty pe conne ctors. Charac teristi cs of th e Connections The maxi mum a dmis sible lo ad for t he FTB s plitter boxes is limi ted to: 1.
Splitter Box Cha racteristics an d Wiring 1606218 02 08 /2006 31 Allocation o f the M12 Connectors to the I/Os The follo wing tab le sh ows th e ass ignment of the M12 conne ctor pi ns to th e mark in.
Splitter Box Characteristics and Wiring 32 1606218 02 08/2 006 Power Supply Con nection Descrip tion For the FTB s plitter bo xes, the po wer sup ply i s linke d usi ng a Mini- Style 7 /8" 5 -pole conne ctor. The FTB spl itter b oxes require a 24 VDC po wer sup ply.
Splitter Box Cha racteristics an d Wiring 1606218 02 08 /2006 33 Pin Assignm ent The follo wing di agram shows a front view of the PWR IN an d PWR OUT conn ectors : Recom men- dations for t he Power S.
Splitter Box Characteristics and Wiring 34 1606218 02 08/2 006 Method Follow the steps below: Phaseo Powe r Supply A switch mode pow er supply such a s Phaseo (ABL 7•••) is pa rticularly well-su ited to supply a utoma tion s ystems. It is t herefore highl y reco mmen ded for use wit h Advant ys FTB splitt er boxe s.
1606218 02 08 /2006 35 4 CANopen Netw ork Interface Presentati on Introduction Thi s sectio n desc ribes ho w to con nect th e Advanty s FTB CA Nopen split ter box to the CANopen netw ork. What's in this Chapter? This cha pter co ntains the follo wing se ction s: Section Topic Page 4.
CANopen Network Interface 36 1606218 02 08/2 006.
CANopen Network Interface 1606218 02 08 /2006 37 4.1 Wiring on the CANopen Bus Presentati on Introduction The followi ng sec tion d escribes wiring on the CANope n bus.
CANopen Network Interface 38 1606218 02 08/2 006 Introduction to Wir ing on the CANopen Bus Introduction The phys ical cha racteri stics necess ary for CANope n bus operati on are g iven in t he follo.
CANopen Network Interface 1606218 02 08 /2006 39 Topology Architecture The CANopen network arch itecture must comply with the following li mitations: bus length / transmission speed (See Transmission Speed, p. 42 ), number of c onnected devices (See Num ber of Connected Devices, p.
CANopen Network Interface 40 1606218 02 08/2 006 Tap Lengt h A tap creates a s ignal reflection and thus its l ength mus t be li mited to the fol lowing parameters : Lmax i s the max imum le ngth o f a tap. Σ LImax is the maxim um valu e of the sum of all taps o n the sam e tap j unction b ox.
CANopen Network Interface 1606218 02 08 /2006 41 Example The following ill ustration shows the ca lculat ion of the length of a cable loc ated between two tap j unction b oxes. The table below describ es the co mpone nts of a CANo pen net work: In this ex ample, w e have two tap junction b oxes and 6 dev ices.
CANopen Network Interface 42 1606218 02 08/2 006 Choice of system cables Transm ission Speed The maxi mum allowab le trans mis sion spe eds are give n in th e follow ing ta ble: Specific Resis tance T.
CANopen Network Interface 1606218 02 08 /2006 43 Line Ter min at or Resist ance To minim ize the v oltage drop i n the conn ectio n, it is a dvisable to us e a hig her lin e terminator resistanc e for h igh le ngth cabl es tha n that spe cifie d by the s tandard ISO11898-2 .
CANopen Network Interface 44 1606218 02 08/2 006 Connecting t he Field Bus Descrip tion The sp litter b ox can e ither b e in th e middle of the chain co nnecti on or a t line end.
CANopen Network Interface 1606218 02 08 /2006 45 Correspondenc e between 9-pin SUB-D Connectors a nd M12 5-pi n Connectors The bus c onnector o n IP20 products i s a 9-pin SUB-D co nnect or (e.
CANopen Network Interface 46 1606218 02 08/2 006 Configuri ng the Address and Transmission Speed Method Follow the steps below: Illustra tion of the Rotary Switc hes Assignmen t of the Add ress on the Network The CAN open addre s s is c onfigu red us ing two speci ally des igned rotary s witche s.
CANopen Network Interface 1606218 02 08 /2006 47 Adjustment of the Tran smi ssio n Speed The transm issi on spe ed is co nfigured using a rotary switch .
CANopen Network Interface 48 1606218 02 08/2 006 4.2 General Pri nciples Presentati on Introduction Thi s sectio n addresses th e general princi ples for operatin g and using the CANop en network.
CANopen Network Interface 1606218 02 08 /2006 49 About CANopen Introduction C ANopen is a sta ndard f ieldbus protocol for indu strial control s ystems. It is particula rly well suited to real-ti me PLCs, as it pro vides an effec tive, low -cost solution for industrial ap plications.
CANopen Network Interface 50 1606218 02 08/2 006 CANopen Profiles The commun ication p rofile The CAN open commun ication protoco l is based o n a "communi catio n profi le", wh ich specifie s the main c ommuni catio n mechan isms and their descr iption (DS301).
CANopen Network Interface 1606218 02 08 /2006 51 CAN Standards CANope n specifi cation s are de fined by the CiA gro up and can be access ed (su bject to some re strict ions) on t he group site at www.c an-cia.d e. The source co des for master and slav e dev ices are available fr om the va rious suppliers .
CANopen Network Interface 52 1606218 02 08/2 006 The Device Profile Lis t of F unc ti ons The list of functio ns su pported and their coding are give n in the follow ing table : Function Function code.
CANopen Network Interface 1606218 02 08 /2006 53 CANopen "Boot-Up" Procedure for "Boot-Up" The minimu m confi guratio n of the equip men t sp ecifies a shortened boot procedure .
CANopen Network Interface 54 1606218 02 08/2 006 Active CANopen Objects depending on State Mac hine The cross es in th e table bel ow indicate whi ch CANo pen obj ects are ac tive for which states of .
CANopen Network Interface 1606218 02 08 /2006 55 "Pre- Oper atio nal" The d evi ce go es in to th e "P re-O per ati onal" sta te: after t he "Init" state, on recei ving the N MT "ENTER PR E-OPERATI ONAL" indi cation if it wa s in t he "Operat ional" or "Stopped" state.
CANopen Network Interface 56 1606218 02 08/2 006 Process Data Object (PDO) Transmis sion Definition of PDO PDOs are objects which prov ide the co mmun ication in terface with proces s data and enable the m to be ex changed in real ti me.
CANopen Network Interface 1606218 02 08 /2006 57 Produc er Produce r Produc er Consumer(s) Consumer(s) Consumer(s) Synchron ous obje ct Rem ote f rame Synchronous objec t ( cyclic, acyclic) Remote Tra.
CANopen Network Interface 58 1606218 02 08/2 006 Synchr onous (mode 0 to 240) For cer tain ap plicatio ns, synchroniz ation between scan ning o f the in puts a nd activati on of th e outp uts may be necessary.
CANopen Network Interface 1606218 02 08 /2006 59 "Cha nge of state" (m odes 254 and 255) The asynchr onous exchange of PDO in "Change of stat e" mode enable s the rapid modifica tion of an input value , followed by imm ediate con firmati on of the c hange of value.
CANopen Network Interface 60 1606218 02 08/2 006 Inhibit Time and Event Timer Inhibit Tim e In event tra nsmiss ion mo de, the I nhibit Time utili ty is used to defi ne a mi nimum ti me delay be fore tra nsmission of a new PD O. This avoids overl oading th e bus where a signific ant nu mber o f events o c cur in ra pid s uccession .
CANopen Network Interface 1606218 02 08 /2006 61 Access to Dat a by Expl icit Exchange s (SDO) What is an SDO? An SDO allo w s a dev ice's data to be ac cessed b y using expli cit req uests. The SDO service is available w hen t he devic e is i n "Opera tional " or "Pre - Operat ional" s tate.
CANopen Network Interface 62 1606218 02 08/2 006 "Node-Guard i ng" and "L ife-Guarding" Monitori ng Protocols Introduction Error m onitorin g protocol s are u sed to de tect communicati on erro rs on the n etwork. The defau l t monito ring m ethod, "N ode-Gua rding" , consis ts in the mas ter con trollin g the slav es.
CANopen Network Interface 1606218 02 08 /2006 63 Importance of Monitoring These tw o monitor ing mechani sms are espec ially im portan t in the CANop en system. Devic es con nected to the bu s do n ot regularl y indica te thei r prese nce in operating mod e, commanded by "Event ".
CANopen Network Interface 64 1606218 02 08/2 006 Maste r Monitoring If the mas ter requ ests "Guardin g" mes sage s on a st rictly cyclic al bas is, the s lave can detec t a master fa ilure.
CANopen Network Interface 1606218 02 08 /2006 65 The "Heartbeat" Error Monitoring Protocol Oper atio n of "Heartb eat" Mecha nis m The defaul t mon itoring m ethod i s "Nod e-Guardin g". If a non-zero value is writte n in the objec t 1017H, the "Heartbeat" mech anism i s used.
CANopen Network Interface 66 1606218 02 08/2 006 4.3 Beh avior of FT B CANopen Splitter boxes Presentati on Introduction Thi s sectio n addre sses th e different behavior patterns of the Advantys FTB CANopen IP6 7 splitte r and the s aving of different paramet ers.
CANopen Network Interface 1606218 02 08 /2006 67 Behavior at Power-up Descrip tion The beh avior of t he Advantys FTB 1 CN splitt er box at power- up is in c omplian ce with the "CANOPEN BOOT-UP (s ee CANopen "Boot-Up", p. 53 )" Di agram.
CANopen Network Interface 68 1606218 02 08/2 006 Behavior i n the Case of Communicatio n Error Descrip tion In th e ev ent of a com muni cat ion erro r de tec ted by one of t he err or mo nit ori ng p.
CANopen Network Interface 1606218 02 08 /2006 69 Saving / Restoring Paramet ers Managem ent of Saved Parameters During i nitial powe r up, the Advant ys splitte r box is initial ized w ith the def ault parameters . Dur ing su bsequent power ups, it i s ini tialized with the saved parameters .
CANopen Network Interface 70 1606218 02 08/2 006 List of Saved Paramet ers Communica tion Profile Objects The o bje cts th at a re sav ed or reus ed o n star t-up are as fol low s: 1005H : COB-ID SYNC.
1606218 02 08 /2006 71 5 Application-Specific Functions Presentati on Introduction The FTB spl itter box o ffers d iscrete i nput, o utput and d iagno stics c hannels a nd configura ble input or outpu t channels, dep ending on its v ersion. This fo llowing chapter describ es the operati ng mo des for the se di fferent cha nnels .
Application-Specific Functions 72 1606218 02 08/2 006 List of Objects Lis t of Communica tion Objects The comm unication obj ects are lis ted in the fol lowing t able: Object Object 1000H: Device Type, p. 135 Object 1001H: Error Reg ister, p. 136 Object 1002H: Manufacturer Status Register, p.
Application-Specific Functions 1606218 02 08 /2006 73 Lis t of Manufact urer- specific Prof ile Objects The manuf acturer-speci fic pro file o bjects a re listed in t he foll owing ta ble: List o f Device Profile Obj ects The devic e profi le obj ects are listed in the fol lowing table: Object Object 2000H: Input / Diag Parameter, p.
Application-Specific Functions 74 1606218 02 08/2 006 Descripti on of the Discrete Inputs Discret e Inputs Input reading mad e per byte. Each inp ut byte is co ntained in the sub-index of ob ject 6000H.
Application-Specific Functions 1606218 02 08 /2006 75 Descripti on of Discret e Outputs Discrete Outputs The discrete output s are co ntrolled by a c ommand in the sub-i ndex o f obje ct 62 00H.
Application-Specific Functions 76 1606218 02 08/2 006 Descripti on of Confi gurable Discret e I/ Os Configurable Splitters The confi gurabl e splitter boxes are as fo llows: FTB 1CN16CP0 FTB 1CN16CM0 FTB 1CN08E08CM0 Channel Configured for Discret e Output Write outp uts are per word.
Application-Specific Functions 1606218 02 08 /2006 77 Channel Configured for Discrete Inp ut Input r eading m ade per byte. Each input byt e is containe d in the sub-i ndex of objec t 6000H.
Application-Specific Functions 78 1606218 02 08/2 006 List of Advantys FTB 1CN08E08 SP0 Splitter Box I/ O Objects Lis t of F TB 1CN08E08SPO Input Objects The list of i npu t ob jec ts fo r t he Ad van.
Application-Specific Functions 1606218 02 08 /2006 79 Lis t of F TB 1CN 08E08 SP0 Output Objects The list of output objec ts fo r the A dvantys FTB 1C N08E08SP0 splitter box is give n in the followi ng table: Note: All the obje cts are 16-b it wo rd t ables ex cept f or 2000H and 6000H .
Application-Specific Functions 80 1606218 02 08/2 006 6307H 1 B it 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 B it 0 Masking of channel 0 output ... ... Bit 7 Mask ing of channel 7 output Bit 8 Not assigned .
Application-Specific Functions 1606218 02 08 /2006 81 List of Advantys FTB 1CN12E04SP0 Splitter Box I/ O Objects Lis t of F TB 1CN 12E04 SP0 Input Obj ects The list of in put obje cts for th e Advanty.
Application-Specific Functions 82 1606218 02 08/2 006 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 .
Application-Specific Functions 1606218 02 08 /2006 83 Lis t of F TB 1CN 12E04 SP0 Output Objects The list of output objec ts fo r the A dvantys FTB 1C N12E04SP0 splitter box is give n in the followi ng table: Object Sub - index Bit Description 6200H 1 Bit 0 Not assigned .
Application-Specific Functions 84 1606218 02 08/2 006 6306H 1 Bit 0 Not assigned ... ... Bit 3 Not assigned Bit 4 Fallback m ode of channel 4 output ... ... Bit 7 Fallback m ode of channel 7 output Bit 8 Not assigned ... ... Bit 15 Not assigned 6307H 1 Bit 0 Not assigned .
Application-Specific Functions 1606218 02 08 /2006 85 List of Advantys FTB 1CN16EP0 and FTB 1CN16EM0 Splitter Box I/O Objects Lis t of FTB 1CN16EP0 and FTB 1CN16EM0 Input Obj ects The list o f inpu t .
Application-Specific Functions 86 1606218 02 08/2 006 Lis t of FTB 1CN16EP0 and FTB 1CN16EM0 Output Objects The Advan tys FT B 1CN16EP0 and FTB 1CN16EM0 splitter boxes have no ou tputs.
Application-Specific Functions 1606218 02 08 /2006 87 List of Advantys FTB 1CN16CP0 and FTB 1CN16CM0 Splitter Box I/O Objects Configuration Object 2 001H Object 2 001H is used to selec t the "i nput" and "outp u t" functi ons fo r the 00 to 17 channels as an input or output.
Application-Specific Functions 88 1606218 02 08/2 006 Lis t of FTB 1CN16CP0 and FTB 1CN16CM0 Input Objects The list of input objects for the Advant ys FTB 1CN16CP0 and FT B 1CN16 CM0 spl itte r bo xes.
Application-Specific Functions 1606218 02 08 /2006 89 Lis t of FTB 1CN16CP0 and FTB 1CN16CM0 Output Objects The list o f outpu t objec ts for the Advant ys FTB 1CN16CP0 and F TB 1CN1 6CM0 splitt er bo.
Application-Specific Functions 90 1606218 02 08/2 006 6302H 1 Bit 0 Channel 0 ou tput polarity if channel 0 configured for output Not assigned if channel 0 configured for input .
Application-Specific Functions 1606218 02 08 /2006 91 List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects Configuration Object 2 001H Object 20 01H is used to sele ct the "in put" and "output " functions for channels 00 to 17 as an i nput o r output .
Application-Specific Functions 92 1606218 02 08/2 006 Lis t of F TB 1CN08E0 8CM0 Input Objects The list of input objects for t he Adva ntys FTB 1CN08E08CM0 spl itter box is given in the follow ing tab.
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 channe l 0 configured fo r output .
Application-Specific Functions 94 1606218 02 08/2 006 Lis t of F TB 1CN08E0 8CM0 Output Objects The list of out put objects for the Adva ntys FT B 1CN08E08CM0 s plitter box is given in the followi ng .
Application-Specific Functions 1606218 02 08 /2006 95 6307H 1 Bit 0 Channel 0 output fallback value if channel 0 co nfigured for output Not assigned if channe l 0 configured fo r input ... ... Bit 7 Channel 7 output fallback value if channel 7 configured for output Not assigned if channe l 7 configured fo r input Bit 8 Not assigned .
Application-Specific Functions 96 1606218 02 08/2 006.
1606218 02 08 /2006 97 6 Software Tools Presentati on Introduction Thi s chapter deals with Advan tys FTB CANope n splitter software installa tion. What's in this Chapter? This cha pter co ntains the follo wing sections: Section Topic Page 6.1 Introduction to Software Tools 99 6.
Software Tools 98 1606218 02 08/2 006.
Software Tools 1606218 02 08 /2006 99 6.1 Introduction to Softwa re Tools Introduct ion General The products in the Advantys range mus t be c onfigu red to b e able to operate correctly on the network . There a re three stage s in th e config uration process : Config uration of the Advantys devices and th e desired param eters.
Software Tools 100 1606218 02 08/2 006 Advan tys Devic e Configuration The first p hase is accom plis hed by us ing th e Adva ntys Confi guratio n Tool (FTX ES 0•).
Software Tools 1606218 02 08 /2006 101 6.2 Product C onfiguration At A Glance Introduction Thi s sectio n describes the tools an d opera ting m odes that genera te the EDSs and DCFs of th e Advan tys range of dev ices us ing th e Advanty s Confi guratio n Tool (FTX ES 0•).
Software Tools 102 1606218 02 08/2 006 Characteri stics of an EDS Fil e Descrip tion The EDS fi le des cribes a ll config urable objects for CANopen produc ts. Th ese configura ble objects are used to identify the p roduct and sp ecify th e appropriate behavior.
Software Tools 1606218 02 08 /2006 103 Existing EDS File for CANopen Advantys FTB Splitter Box EDS File The configura tion softw are to ol su ite allow s you to make full use of yo ur Advan tys FTB splitter bo x and can be used to cr eate a new ED S file (se e Creating a New EDS and DCF C onfig uration Fil e, p.
Software Tools 104 1606218 02 08/2 006 Creating a New EDS and DCF Configuration File Introduction Once th e Adva nty s Co nfigu ra tio n Tool (AC T) sof twa re h as be en i nstal led and registered , you can begin the pro cess fo r creating island EDS and DCF configura tion files.
Software Tools 1606218 02 08 /2006 105 2 The New isla nd window appears: The creation of an island must be in line with the physical configurat ion of your installation: Enter the name of the island in the field Name . The name of the island must correspond to the name of the EDS configuration file.
Software Tools 106 1606218 02 08/2 006 4 Island Conf igurat ion Once the island has been built, you c an se t its parameters . The parameters you need to define will depend on the I/O functions you wish to us e.
Software Tools 1606218 02 08 /2006 107 6.3 Network Config urat ion Setting the Network Parameters Descrip tion The co nfigura tion to ol is used to d raw diagrams o f network s using a graph ic representa tion of the netw ork nodes . It is then used to gen erate th e compl ete configura tion of the net work tha t has b een draw n.
Software Tools 108 1606218 02 08/2 006 3 Select the file to be i mported and click on "Open": 4 Click on "Yes" to import t he 3 associated image files. 5 If the image files are in the same directory as the EDS file, they are found automatically: Click "OK".
Software Tools 1606218 02 08 /2006 109 6 Click on "Inser t" and select "Node " or click on the associated button . 7 Select the devices to be inserted in the network, enter the nod.
Software Tools 110 1606218 02 08/2 006 Configuri ng the PDOs Follow the ste ps below: Step A cti on 1 Double-click on the image of t he island to be c onfigured.
Software Tools 1606218 02 08 /2006 111 3 Select the required transmis sion mode and click OK: 4 If you want to define the addresses of the activated PDOs manually: Select the mast er, Click on "Settings" and select "Global settings", Deselect "Enabled" in the "Proce ss Data Auto Addressing" area, Click OK.
Software Tools 112 1606218 02 08/2 006 5 Enter the required values in the "I Addr" and "O Addr " boxes opposite the acti vate d P DO.
Software Tools 1606218 02 08 /2006 113 6 Click on "O bject 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 v arious objects s ee The Object Dictionary, p.
Software Tools 114 1606218 02 08/2 006 6.4 PLC Programm ing Presentati on Introduction Thi s chapt er descr ibes how to integrate the CANope n network configu ration fil e and configuri ng under PL7.
Software Tools 1606218 02 08 /2006 115 Integrat ion and Use under PL7 Configuration Fol low t he steps below: Steps A ctions 1 In the master configuration window, select the net work configuration fil.
Software Tools 116 1606218 02 08/2 006 2 Complete the fields of t he "Input" boxes (input data exchange area) and "Output" boxes (output da ta exchange area) : Steps Actions TSX 57.
Software Tools 1606218 02 08 /2006 117 3 Click on the "Bus Configuration" button: The bus configuration window is used to di splay the exact address of the data associated w ith the devices.
Software Tools 118 1606218 02 08/2 006 SDO Request from the Deb ug Screen Follow the ste ps below: Step A cti on 1 Click on the "Enter request" butt on in the bottom-right of the debug screen: TSX 57353 [RA CK 0 POSITION 1] Designation: T SX P 57353 P ROCESS OR V ersion: 5.
Software Tools 1606218 02 08 /2006 119 2 Complete the fiel d s: 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 t he object to read or write Value: entry area for the data to be sent, for write only Click "Send".
Software Tools 120 1606218 02 08/2 006 Examples of SDO Requests Programmed SDO Request: Example 1 This exam ple give s the program for readi ng obj ect 1000H . After a req uest is ma de, the data o b tained is read i n the t able Di ag0:12 0 (defined below).
Software Tools 1606218 02 08 /2006 121 (*request*) READ_VAR(ADR#y.1.SYS,'SDO', _ Index_dw,Node_Id,Diag0:120,Status1:4); END_IF; Programmed SDO Request: Example 2 This ex ample s hows the program for s aving p arame ters wit h object 1010H. The data to be sent is co ntained i n the table Diag0: 4 (defined below ).
Software Tools 122 1606218 02 08/2 006 Node_Id:=Slave_add; (*Slave address*) Status2:=0; (*Clear exchange report*) Status3:=6; (*Time-out*) (*request*) WRITE_VAR(ADR#y.
1606218 02 08 /2006 123 7 Diagnostics Presentati on Introduction D iagnostic s inf ormation s implifi es installatio n and a ccelerate s diagnostics operations .
Diagnostics 124 1606218 02 08/2 006 Power Supply Di agnostics Descrip tion The po wer supp ly status for the splitter, actua tors and s ensors is disp layed on the spl itte r bo x's fr ont pan el, by the DO an d DI PO WER LEDs as in dic ated i n th e following diagram (on the l eft: Plas tic unit , on the right: Met al unit).
Diagnostics 1606218 02 08 /2006 125 Field Bus Status Diagnost ics LED Descrip tion of the Display The CANopen DR 303-3 stan dard def ines the functions of the RUN a nd ERR LEDs (on the lef t: Plastic .
Diagnostics 126 1606218 02 08/2 006 LED Status Diagnostic s for I/O Status LED for I / Os on th e M12 Connectors One LE D is as soci ated wit h each spli tter cha nnel. The LED s tatus depend s on t he channel configuration and it s level (0 or 24 VDC).
Diagnostics 1606218 02 08 /2006 127 CANopen Objects Diagnostics Descrip tion When an error is detec ted by th e FTB splitter box, the followin g object s are updat ed. These obj ects are descri bed in more deta il in the "objec t dic tionary" c hapte r: The ob ject 100 1H , Error Register display s the gen eric e rrors.
Diagnostics 128 1606218 02 08/2 006 Error Codes (EMCY bytes 0&1) The table below lists t he error codes an d their meanings : Error code Diagnostics Description 0000H ERROR_RES ET_OR_NO_ERROR Clea.
Diagnostics 1606218 02 08 /2006 129 Status Register (EMCY Byte 2) The objec t 1001H (Error Register) is a b yte us ed by the devi ce to d isplay interna l errors when an e rror is dete cted: Channel D.
Diagnostics 130 1606218 02 08/2 006 Behavior in the Event of Short -circuit / Overload / Under-voltage Power Supply for Splitter Boxes and Senso rs Short-circuit / overload The follow ing co nsequence.
1606218 02 08 /2006 131 8 The Object Dictio nary Presentati on Introduction Thi s chapter provides a des cription o f the o bject dictio nary, the l i st of ob jects concer ning t he comm unica tion pro file, t he hard ware prof ile an d the spec ific manufact urer zone, with a detailed description of each.
The Object Dictionary 132 1606218 02 08/2 006.
The Object Dictionary 1606218 02 08 /2006 133 8.1 The Object Dictionary The Object Dictionary Index Rang es There ar e three zones in the ob ject d ictionary : It is poss ible to m ap m anufacture r-spec ific and d evice-s pecific objec ts in the PD O objects, which a re then sent via the pro duct.
The Object Dictionary 134 1606218 02 08/2 006 8.2 Objects of the Co mmunication Profile 1000H to 1FFFH At a Glanc e Introduction This s ect ion li sts th e ob ject s re lati ng t o th e co mmun ica tion pro fil e. E ach objec t, wit h all it s technic al ch aracte ristics, is des cribe d accordi ng to t he CA Nopen s tandard .
The Object Dictionary 1606218 02 08 /2006 135 Object 1000H: Device Type Descrip tion This o bject ind icates the dev ice type and its functio nalities. The least signi ficant w ord indic ates t he profi le numbe r (401 o r 191H, fo r CANopen standard i nputs / output s).
The Object Dictionary 136 1606218 02 08/2 006 Object 1001H: Error Regi ster Descrip tion This o bject is used by the device to display inte rnal fa ults.
The Object Dictionary 1606218 02 08 /2006 137 Object 1002H: Manufacturer Stat us Register Descrip tion The dia gnost ics d ata is sa ved in this 32-b it fiel d.
The Object Dictionary 138 1606218 02 08/2 006 Object 1003H: Pre-defi ned Error Field Descrip tion This o bject is a doub le word used t o store the most recent fau lts, as well as their charac terist ics: The Error C ode is s tored t o the leas t signifi cant wo rd.
The Object Dictionary 1606218 02 08 /2006 139 Error Code Meanings The table below lists th e error cod es and their meanings : Error code Diagnostics Meaning 0000H ER ROR_RESET_O R_NO_ERROR Clearing o.
The Object Dictionary 140 1606218 02 08/2 006 Object 1005H: COB-ID SYNC Mes sage Descrip tion This o bject contains the s ynchr onization message iden tifier.
The Object Dictionary 1606218 02 08 /2006 141 Object 1006H: Communication Cycle Period Descrip tion This objec t describes the time interv al betwee n two SYNC sign als in micro secon ds. This inte rval mus t be at least 10 m s with a minim um increm ent o f 1ms.
The Object Dictionary 142 1606218 02 08/2 006 Object 1008H: Manufacturer Devi ce Name Descrip tion This o bject conta ins the de vice name. Object Charac teristi cs The chara c teristic s of th is obj ect are ou tlined in the fol l owing table: The defaul t valu e depends on th e splitte r box reference: (see Sp litter B ox Inp uts and Outp uts, p.
The Object Dictionary 1606218 02 08 /2006 143 Object 100AH: Manufactur er Software Versi on (MSV) Descrip tion This o bject co ntains details of the d evice s oftware v ersio n, in th e form 'SW xx.
The Object Dictionary 144 1606218 02 08/2 006 Object 100CH: Guard Time Descrip tion The obj ect 100CH co nta ins the ''Gua rd-T ime '' para meter expre sse d in mil lis econd s. See "No de-Guar ding" an d "Life-Guarding " Monito ring Protocols, p.
The Object Dictionary 1606218 02 08 /2006 145 Object 100DH: Life Time Factor Descrip tion This o bject co ntains the "Life -Time-F actor" parameter.
The Object Dictionary 146 1606218 02 08/2 006 Object 1010H: Store Parameters Descrip tion This ob ject is us ed to store the paramet ers of the s plitter box in back ed up memo ry.
The Object Dictionary 1606218 02 08 /2006 147 Back-u p Behavior Writing a valid value The devic e sto res the parame ters, a nd then c onfirms SDO tra nsmiss ion (downloa ding i nitializ ation r esponse). Writing an inva lid value The devic e refus es stora ge and replie s with a n "Abort SDO Tran sfer" (Ab ort Code:080 0 002xH with x =0.
The Object Dictionary 148 1606218 02 08/2 006 Object 1011H: Restore Def ault Par ameters Descrip tion This o bject is used to rest ore the FTB splitte r box' s "facto ry" se ttings.
The Object Dictionary 1606218 02 08 /2006 149 Restoration Behavior Writing a valid value The devic e sto res the defaul t paramete rs, and then con firms SDO trans missio n (downloa ding i nitializ ation r esponse).
The Object Dictionary 150 1606218 02 08/2 006 Object 1014H: COB-ID Emergency Messa ge (EMCY) Descrip tion This o bject contains the EM CY emerg ency message identifier.
The Object Dictionary 1606218 02 08 /2006 151 Object 1016H: Consumer Heartbeat Time Descrip tion This ob ject is us ed to mo nitor the communi catio n of anoth er produ ct on the network.
The Object Dictionary 152 1606218 02 08/2 006 Object 1017H: Producer Heartbeat Time Descrip tion This o bject is u s ed to con figure t he time interval i n ms within whi ch the mod ule must produce th e Hearbe at message. The default monitoring method of the splitt er is "Node Guarding ".
The Object Dictionary 1606218 02 08 /2006 153 Object 1018H: Identit y Object Descrip tion This o bject co ntains informati on abo ut the spl itter bo x. It i ndica tes the manufact urer's C iA identifi er (ven dor ID), th e product co de and the splitter box revision numbers (revision number).
The Object Dictionary 154 1606218 02 08/2 006 Object 1200H: Server SDO Parameter Descrip tion This o bject co ntains the mes sage iden tifiers for SDO commun ication.
The Object Dictionary 1606218 02 08 /2006 155 Object 1400H: 1st Receive PDO Comm unication Paramet er Descrip tion This obj ect conta ins t he r eceiv e PD O id entif ier .
The Object Dictionary 156 1606218 02 08/2 006 Object 1405H: 2nd Receive PDO Communication Parameter Descrip tion This obje ct con tai ns t he rec eiv e PDO i den tifi er.
The Object Dictionary 1606218 02 08 /2006 157 Object 1600H: 1st Receive PDO Mapping Parameter Descrip tion This o bject is used to describ e the o bject s that will be transported by th e first PDO.
The Object Dictionary 158 1606218 02 08/2 006 Default Valu es The following table gives th e default va lue o f object 1 600H dependi ng on the sp litter reference: Product reference s Sub-index Defau.
The Object Dictionary 1606218 02 08 /2006 159 Object 1605H: 2nd Receive PDO Mapping Parameter Descrip tion This o bject is used to describ e the o bject s that will be transported by th e second PDO.
The Object Dictionary 160 1606218 02 08/2 006 Default Valu es The following table gives th e default va lue o f object 1 605H dependi ng on the sp litter reference: Product reference s Sub-index Defau.
The Object Dictionary 1606218 02 08 /2006 161 Object 1800H: 1st Transmit PDO Communication Parameter Descrip tion This o bject co ntains the PDO tran smit ide ntifier.
The Object Dictionary 162 1606218 02 08/2 006 Transm ission Mode The PDO tran smission mo de can be confi gured as descri bed in the table below. COB-ID Structure The struc ture of a COB-ID for CAN2.0 is sh own in t he foll owing ta ble: Transfer code T ransmission mode Notes Dec.
The Object Dictionary 1606218 02 08 /2006 163 Inhibit Tim e (Sub-index 3 ) In the case of PDO transmis sion (Tra nsmit PDO) , the Inhibi t Time ca n be entered in this 16-bit field. Afte r data ha s been c hanged, the PDO sender checks that an In hibit Time has expire d since the la st trans missio n.
The Object Dictionary 164 1606218 02 08/2 006 Object 1805H: 2nd Transmit PDO Communication Parameter Descrip tion This obj ect contains th e Transmi t PDO id entifie r.
The Object Dictionary 1606218 02 08 /2006 165 Tran smi ssio n mode The PDO transm ission m ode c an be co nfigured as desc ribed in the table b elow. COB-ID Structure The str ucture of a COB- ID for CA N2.0 is shown i n the f ollowin g table : Transfer code Transmission mode Notes Dec.
The Object Dictionary 166 1606218 02 08/2 006 Inhibit Tim e (Sub-ind ex 3) In the case of PDO transm ission (Tra nsmit PDO), the Inhibi t Time ca n be entered in this 16-bi t field . After dat a has b een ch anged, the PDO sender ch ecks tha t an Inib it Time has expi red since the la st tran smissi on.
The Object Dictionary 1606218 02 08 /2006 167 Object 1A00H: 1st Tr ansmit PDO Mapping Pa rameter Descrip tion This o bject des cribes the obje cts that will be tran sported by the PD O.
The Object Dictionary 168 1606218 02 08/2 006 Default Valu es The following ta ble giv es the defa ult val ue of obj ect 1A00H dep ending on the spli tter reference: Product reference s Sub-index Defa.
The Object Dictionary 1606218 02 08 /2006 169 Object 1A05H: 2nd Transmit PDO Mapping Parameter Descrip tion This o bject des cribes the obje cts that will be tran sported by the PD O.
The Object Dictionary 170 1606218 02 08/2 006 Default Valu es The following ta ble giv es the defa ult val ue of obj ect 1A05H dep ending on the spli tter reference: Product reference s Sub-index Defa.
The Object Dictionary 1606218 02 08 /2006 171 8.3 M anufacturer-speci fic Zone Objects 2000H to 5FFFH At a Glance Introduction Thi s sectio n lists the obj ects from the m anufac turer-spec i fic zon e. Each object, w ith all its te chnic al ch aracteris tics, is des cribe d accordi ng to the CANo pen st andard.
The Object Dictionary 172 1606218 02 08/2 006 Object 2000H: Input / Diag Parameter Descrip tion For cha nnels 10 to 17 (conne ctor pi n 2) thi s object is used to sel ect the "input" or "diagnos tics input" function. Channel s 10 t o 17 are configu red as "diagn ostics i nput" by defaul t.
The Object Dictionary 1606218 02 08 /2006 173 Object 2001H: Input/O utput Parameter Descrip tion This obj ect may onl y be used f or Advantys s plitter bo xes with configu rable ch annel s: Chara ct e.
The Object Dictionary 174 1606218 02 08/2 006 Object 3000H: Manufacturer Speci fic Diagnostic Descrip tion This ob ject pr ovides in formation o n the status of the Adv antys FTB CANopen s p litter box.
The Object Dictionary 1606218 02 08 /2006 175 8.4 Hardware Profile O bjects 6 000H to 9FFFH At a Glance Introduction Thi s sect ion list s the object s relat ing to t he hard ware profi le. Eac h obje ct, with all it s technica l char acteris tics, is described acc ordin g to the CANope n standa rd.
The Object Dictionary 176 1606218 02 08/2 006 Object 6000H: Read Inputs 8 Bits Descrip tion This o bject co ntains the statu s of d iscrete in puts i n 8 bi t format.
The Object Dictionary 1606218 02 08 /2006 177 Object 6100H: Read Input 16 Bits Descrip tion This o bject co ntains the statu s of di screte in puts i n 16 bi t forma t.
The Object Dictionary 178 1606218 02 08/2 006 Object 6102H: Polarity Input Descrip tion This o bject is used to defi ne the polarit y of in puts. Charac teristi cs The chara c teristic s of th is obj .
The Object Dictionary 1606218 02 08 /2006 179 Object 6103H: Filter Const ant Input 16 Bits Descrip tion This o bject is used to configu re the mask for i nputs.
The Object Dictionary 180 1606218 02 08/2 006 Object 6200H: Write Outputs 8 Bits Descrip tion This o bject is used to comm and out puts p er byte. Charac teristi cs The chara c teristic s of th is obj ect are ou tlined in the fol l owing table: Note: The bit s corresp onding to a c onfigu red inp ut channe l are n o t used.
The Object Dictionary 1606218 02 08 /2006 181 Object 6300H: Write Outputs 16 Bits Descrip tion This obj ect is use d to co mman d th e st ate of dis cre te out put s. Chara ct eris tics The characterist ics of this obj ect are outlined in the followi ng tab le: Note: The bits correspond ing to a configu red inp ut cha nnel ar e ignored.
The Object Dictionary 182 1606218 02 08/2 006 Object 6302H: Polarity Outputs 16 Bits Descrip tion This o bject is used to define the pol arity o f an ou tput.
The Object Dictionary 1606218 02 08 /2006 183 Object 6306H:Fall back Mode 16 Bits Descrip tion This ob ject is u sed to defi ne discrete outpu t statu s value in the ev ent of an erro r. This value is either that de fined b y the 6307H o bject, or the mos t rece nt val ue receiv ed before error occurrence (mainta in mode).
The Object Dictionary 184 1606218 02 08/2 006 Object 6307H: Fall back Value 16 Bits Descrip tion The val ue defined in this obje ct is the value tak en by the discrete outpu t in the event of an error, where the bit c orrespondi ng to th e 6306H object i s at 1.
The Object Dictionary 1606218 02 08 /2006 185 Object 6308H: Filter Mask Output 16 Bit s Descrip tion This o bject is used to configu re the mask for o utputs.
The Object Dictionary 186 1606218 02 08/2 006.
1606218 02 08 /2006 187 Appendices At a Glance Introduction Thi s appe ndix provides inform ation o n commo n IEC sy mbols used in this man ual. What's in this Appendix? The appen dix contains th.
Appendices 188 1606218 02 08/2 006.
1606218 02 08 /2006 189 A IEC Symbols Glossary of Symbols Introduction Thi s sectio n contains ill ustrati ons and d efinitions of c ommon IEC symbo ls used in describi ng wirin g schem atics.
IEC S ymb ols 190 1606218 02 08/2 006 Symbols C ommon IEC s ymbols are il lustrated and defined in th e tabl e belo w: Fuse Load AC power DC power Digital sensor/input, for exam ple, contact, switch, initiator, light barrier, and so on.
1606218 02 08 /2006 191 Glossary CAL CAN Applic ation Layer. 'Ap plication' La yer (ISO/O SI layer 7 f or systems int ercon- nection m odel) defi ned by C AN in Au tomation (CiA). CAN Controller Are a Network . CE European C ommuni ty CiA CAN in Automation (declared asso ciation); CAN bus manufac turers and us ers organizat i on.
Glos sary 192 1606218 02 08/2 006 COB-ID COB-Identifi er. Each communic ation obj ect is clearly id entifie d by t he COB-ID identifie r, which determ ines the object's priori ty. CSMA/CA Carrier Sen se Multi ple Acce ss / Collision Av oidan ce (Multi ple access usi ng carri er sensing with collisi on not ificat ion).
Glossary 1606218 02 08 /2006 193 IEC Inte rnation al Electrotec hnica l Commissio n. Island On the Advantys Con figuration Too l interfac e, the A dvantys IP67 mo nobloc input/ output spl itter b ox is refe rred to as "island" . ISO Inte rnational Stan dard Organization LED Li ght Emi tting Di ode LMT Layer Managemen t.
Glos sary 194 1606218 02 08/2 006 NMT Network M anage ment T elegram. NM T proto cols offer servi ces for n e twork initializ ation, error chec king and chec king device s tates.
Glossary 1606218 02 08 /2006 195 String ASCII chara cter string SYNC Synchr onization object.
Glos sary 196 1606218 02 08/2 006.
C B A 1606218 02 08 /2006 197 B Boot-Up, 53 C CAN b us line, 49 CAN-H, 49 CAN-L, 49 CANopen Descr iption, 49 The Protoc ol, 49 Charac teristic s Inputs, 29 outp uts, 2 9 Splitter b ox, 29 E EDS EDS Fi.
Index 198 1606218 02 08/2 006 Mode Operati onal, 55 Pre-Opera tional , 55 N Node Gu arding , 62 Node-I D Config uratio n, 46 O Objec t Dicti onary, 133 index r anges, 133 Overview , 16 P PDO Object ma.
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