section 2 - slide 1 / 74 p&t - gps - training phw - canopen_offer_en 09/2004 industrial...
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P&T - GPS - TrainingPhW - CANopen_offer_en 09/2004
Section 2 - Slide 1 / 74
Industrial Automation Industrial Automation CANopen offerCANopen offer
September 2004September 2004
Part 1 : IA global offer overview
Part 2 : Principales caractéristiques des produits
P&T - GPS - TrainingPhW - CANopen_offer_en 09/2004
Section 2 - Slide 2 / 74
Part 1: IA global offer overview
CANopen master PCMCIA cards for Premium PLC
TSXCPP100 DS301 V3.0
TSXCPP110 DS301 V4.2
CANopen communication module for TEGO POWER/QUICKFIT
APP1CCO0 = 16I + 8O on bus
APP1CCO2 = 16I + 8O on bus + 16I + 16O locally
ProductsProducts
P&T - GPS - TrainingPhW - CANopen_offer_en 09/2004
Section 2 - Slide 3 / 74
Part 1: IA global offer overview
Advantys FTB CANopen IP67 monobloc discrete I/O splitter boxes
4 versions = 4 catalogue numbers
FTB1CN 16E P0: 16I or 8I + 8 Diag
FTB1CN 12E04S P0: 12I + 4O or 4I + 4O + 8 Diag
FTB1CN 08E08S P0: 8I + 8O or 8I + 8 Diag
FTB1CN 16C P0: 16I/O or 8I/O + 8I/O Diag
Advantys FTM CANopen IP67 modular splitter boxes
FTM1CN10
256 Digital I/O maximum
16 Analog I/O maximum
ProductsProducts
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Section 2 - Slide 4 / 74
Part 1: IA global offer overview
Advantys STB CANopen IP20 communication module
STB NCO2212
IP20 modular I/O
ProductsProducts
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Section 2 - Slide 5 / 74
Part 1: IA global offer overview
ProductsProducts
CANopen communication card for
ATV38/ATV58/ATV58F
variable speed drives
VW3A58308
Programmable card with CANopen embedded for
ATV38/ATV58/ATV58F variable speed drives
VW3A581131
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Section 2 - Slide 6 / 74
Part 1: IA global offer overview
ATV31 variable speed drive with integral CANopen link:
ATV31Hxxxx: standard enclosure version
ATV31Cxxxx: dust and damp proof enclosure version
ATV31Kxxxx: kit version
ProductsProducts
Lexium MHDA servodrive with integral CANopen link
17D xxxx
17D HP xxxx
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Section 2 - Slide 7 / 74
At the moment Schneider doesn’t provide cables or connectors for CANopen, but recommends suppliers.
A CANopen wiring offer will be available by 2 Q / 2005
Part 1: IA global offer overview
AccessoriesAccessories
CANopen Sycon configuration software V2.8 from HILSCHER:
SYCSPULFU CD28M
Junction box for connecting the CANopen master card to 1 or 2 CANopen buses:
TSXCPPACC1
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Section 2 - Slide 8 / 74
Part 1: IA global offer overview
Recommended suppliersRecommended suppliers
Cables
- U.I.LAPP GmbHSchultze-Delitsch-Str. 25D-70565 Stuttgart Germany
http://www.lappcable.com
Connectors- ERNI Elektroapparate GmbH
Seestrasse 9 D-73099 Adelberg Germany
- ERNI Connectique S.a.r.l, France27 bis, avenue des Sources / CP 638 F-69258 LYON Cedex 09,
http://connect.erni.com/
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Section 2 - Slide 9 / 74
Planned additions to the offerPlanned additions to the offer
Advantys STB : NIM CANopen slave basic
Twido CANopen master module
Advantys OTB CANopen slave module
Tesys U : CANopen slave module
Uses the same hardware as the dedicated BECKHOFF module
CANopen communication card for ATV71
Part 1: IA global offer overview
3 Q / 2004
4 Q / 2004
4 Q / 2004
1 Q / 2005
1 Q / 2005
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Section 2 - Slide 10 / 74
Planned additions to the offerPlanned additions to the offer
IP20 wiring accessoriesCables, connectors, taps, drop cables, bridges...
Advantys software V2.0Will support STB, OTB, FTB, and FTM
Sycon software V2.8 SR1
PDOs directly activated, identifier allocation improvment
Installation aid Terminal for testing the network wiring (feasibility study)
Network analyser (for expert users only)
Part 1: IA global offer overview
2 Q / 2005
3 Q / 2005
2 Q / 2005
2 Q / 2005
P&T - GPS - TrainingPhW - CANopen_offer_en 09/2004
Section 2 - Slide 11 / 74
Part 2 : Product characteristics
Type III PCMCIA card inserted in the processor module communication port slot (only 1 CANopen master per PLC).
CANopen master card: TSXCPP100CANopen master card: TSXCPP100
2 indicator lights
Brackets for fixing on PLC CPU
Connecting cable, 0.6 m long, with 15-pin male SUBD at the end.Connection on TAP TSXCPPACC1
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Section 2 - Slide 12 / 74
Part 2 : Masters characteristics
Compatibility:
CANopen DS301 standard V3.0.
Premium processors >= V5.0 except for TSX57103.
PL7 >= V4.0
Sycon configurator >= 2.630
The Sycon configurator is used to generate the ***.co configuration file which can be imported from PL7 or loaded directly into the card.
CANopen master card: TSXCPP100CANopen master card: TSXCPP100
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Section 2 - Slide 13 / 74
Part 2 : Masters characteristics
Functions supported:
Bus management
Implicit exchange of PDOs (8 bytes max.) using %MW words
Explicit exchange of SDOs by WRITE_VAR and READ_VAR functions
Sending any identifier by the SEND_REQ function
Fault identification, diagnostics and history by the SEND_REQ function
CANopen master card: TSXCPP100 CANopen master card: TSXCPP100
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Section 2 - Slide 14 / 74
Part 2 : Masters characteristics
CANopen master card: TSXCPP100 CANopen master card: TSXCPP100
Processor Max. size ofconfiguration file (1)
Max. size of I/O data (PDO)
Mast task Fast task
TSXP57-203 16 Kb 512 %MW(256 + 256)
64 %MW(32 + 32)
TSXP57-253 16 Kb 512 %MW(256 + 256)
64 %MW(32 + 32)
TSXP57-303 32 Kb 1024 %MW(512 + 512)
128 %MW(64 + 64)
TSXP57-353 32 Kb 1024 %MW(512 + 512)
128 %MW(64 + 64)
TSXP57-453 64 Kb 3584 %MW(1792 + 1792)
256 %MW(128 + 128)
(1) This maximum size can be exceeded if the configuration file is loaded directly into the card using the Sycon software. The maximum file size authorized by Sycon is 256 Kb.
For 10 ATV58: Configuration file size = 4.6 Kb I/O data = 2 X 20 words
For 20 ATV58: Configuration file size = 7.5 Kb I/O data = 2 X 40 words
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Part 2 : Masters characteristics
Type III PCMCIA card inserted in the processor module communication port slot (only 1 CANopen master per PLC).
CANopen master card: TSXCPP110CANopen master card: TSXCPP110
2 indicator lights
Brackets for fixing on PLC CPU
Connecting cable, 0.6 m long, with integrated Tap and standard 9-pin male SUBD at the end
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Part 2 : Masters characteristics
Compatibility:
CANopen DS301 standard V4.1
Premium processors >= V5.0 except for TSX57103.
PL7 >= V4.3
Sycon configurator >= 2.8
The Sycon configurator is used to generate the ***.co configuration file which can be imported from PL7 or loaded directly into the card.
CANopen master card: TSXCPP110CANopen master card: TSXCPP110
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Section 2 - Slide 17 / 74
Part 2 : Masters characteristics
Functions supported:
Bus management
Implicit exchange of PDOs (8 bytes max.) using %MW words
Explicit exchange of SDOs by WRITE_VAR and READ_VAR functions
Sending any identifier by the SEND_REQ function
Fault identification, diagnostics and history by the SEND_REQ functionSame functions than the TSXCPP100
+ Heartbeat management
CANopen master card: TSXCPP110 CANopen master card: TSXCPP110
Idem
TS
XC
PP
100
New
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Section 2 - Slide 18 / 74
Part 2: Product characteristics
Communication module placed on the left side of the motor starters
Indicator lights
Bus connection terminal block
Switches for configuring the speed and address
Local I/O connection terminal blocks
(only on APP1CCO2 module)
24V power supply
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Section 2 - Slide 19 / 74
Part 2: Product characteristics
2 catalogue numbers:
APP1CCO016I + 8O on busControls 8 motor starter units
APP1CCO216I + 8O on bus + 16I + 16O locallyControls 24 motor starter units
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Section 2 - Slide 20 / 74
Main characteristics:
Supported speeds: 125, 250, 500 Kbps or 1 Mbps configured via switches
Supported addresses: 1 to 63configured via switches
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address
Profiles: DS-301 “Communication profile”DS-401 “I/O module”.
Part 2: Product characteristics
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Section 2 - Slide 21 / 74
Process Data Objects = PDO
CANopen APP1CO00 and APP1CO02 modules can control a maximum of:5 transmit PDOs5 receive PDOs
Only the first predefined transmit PDO (1800) and the first predefined receive PDO (1400) are used with TEGO motor starters.
Supported transmission modes: Transmit: Synchronous and asynchronous, acyclic
Receive: Synchronous and asynchronous
Part 2: Product characteristics
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Description of predefined PDOs on APP1CCO0:
1 receive PDO: 1400 (control) containing 1 byte:
Control of 8 TEGO base contactors
1 transmit PDO: 1800 (monitoring) containing 2 bytes:
Status of 8 auxiliary contacts on contactors
Status of 8 auxiliary contacts on circuit-breakers
Part 2: Product characteristics
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Section 2 - Slide 23 / 74
Description of predefined PDOs on APP1CCO2:
1 receive PDO: 1400 (control) containing 4 bytes: Control of 8 TEGO sub-base contactors Control of 16 external outputs on sub-base 4th byte not used
1 transmit PDO: 1800 (monitoring) containing 4 bytes: Status of 8 auxiliary contacts on contactors Status of 8 auxiliary contacts on circuit-breakers Status of 16 external inputs on sub-base
Part 2: Product characteristics
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Section 2 - Slide 24 / 74
Service Data Object = SDO
1 transmit SDO, 1 receive SDO
Allowing access to any dictionary object by message exchange.
The various objects that can be accessed are not documented.
Part 2: Product characteristics
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Section 2 - Slide 25 / 74
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Controls the transmission and reception ofPDOs in synchronous mode
EMCY object: Sent in the event of a fault on the motor starter
Node guarding object: Supported. Sent on polling of motor starter status and detection of absence of polling
Heartbeat object: Not supported
Part 2: Product characteristics
CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT
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Section 2 - Slide 26 / 74
Connection of sensors/actuator to 8 M12 sockets with status or diagnostic LEDs for each channel
LEDs for bus and power supply diagnostics
24 VDC power supply for module
Thumbwheels for configuring the module speed and address
Connection of module to bus
IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0
Part 2: Product characteristics
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Section 2 - Slide 27 / 74
IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0
Part 2: Product characteristics
16I modules: FTB1CN 16E P0 Connection of 16 single sensors or 8 sensors with integral diagnostic function
12I/4O modules: FTB1CN 12E04S P0 Connection of 12 single sensors and 4 single actuators or 4 sensors and 4 actuators with integral diagnostic function
8I/8O modules: FTB1CN 08E08S P0 Connection of 8 single sensors and 8 single actuatorsor 8 actuators with integral diagnostic function
Configurable 16I or 16O modules: FTB1CN 16C P0 Connection of 16 sensors, or 15 sensors and 1 actuator, or 14 sensors and 2 actuators, etc.
4 versions:
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Section 2 - Slide 28 / 74
Main characteristics:
Supported speeds: 10, 20, 50, 125, 250, 500, 800 Kbps or 1 Mbpsconfigured by thumbwheel with automatic recognition capability
Address: 1 to 99configured by 2 thumbwheels
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address for PDOs 1400 and 1800Manually for PDOs 1405 and 1805
Profiles: DS-301 “Communication profile”DS-401 “I/O module”
Part 2: Product characteristics
IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0
P&T - GPS - TrainingPhW - CANopen_offer_en 09/2004
Section 2 - Slide 29 / 74
Process Data Objects = PDO
CANopen IP67 monobloc I/O splitter boxes can control:2 predefined transmit PDOs
2 predefined receive PDOs
(with the exception of module FTB1CN 16E P0 16 inputs: only 1 PDO)
Supported transmission modes: Transmit: Synchronous and asynchronous, cyclic and acyclic, on Remote frame
Receive: Synchronous and asynchronous
Part 2: Product characteristics
IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0
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Section 2 - Slide 30 / 74
Part 2: Product characteristics
IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0
Description of predefined PDOs
Choice of 2 transmit PDOs (inputs)
PDO 1800 = 1 word: Input/Diag
PDO 1805 = 3 or 4 words: Input/Diag + Module-channel diagnostics
Choice of 2 receive PDOs (outputs):
PDO 1400 = 1 word: Outputs (except for module FTB1CN 16EP0)
PDO 1405 = 1 word: Outputs+ Configuration channels 1. Input or Diag.
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Service Data Object = SDO
1 transmit SDO, 1 receive SDO
Allowing access to any dictionary object by message exchange.
For example, can be used to set parameters for:
Input logic: NO - NC contact
Output logic: NO - NC status
Fallback position for outputs: Maintain/fallback to 0/fallback to 1
in the event of communication problems
Operation of channel 1 (pin 2): Input or sensor with integral diagnostics
These parameters can be set when the network is initialised (Object Configuration window) or by application.
Part 2: Product characteristics
IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0
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Section 2 - Slide 32 / 74
Part 2: Product characteristics
IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter box on CANopen bus: FTB 1CN••••••P0
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Controls the transmission and reception of PDOs in synchronous mode
EMCY object: Sent in the event of a fault on the splitter box
Node guarding object: Supported. Sent on polling of splitter box status and detection of absence of polling
Heartbeat object: Supported. Periodic sending of cell status.
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Section 2 - Slide 33 / 74
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
Part 2: Product characteristics
Is integrated in the Advantys IP67 FTM offer
Allows to connect a changeable number of digital or analog I/O splitter boxes
256 digital I/O maximum
16 analog I/O maximum
Connection of sensors and actuators to M8 or M12 connectors:
M8: 1 channel per connector M12: 2 channels per connector
CANopen coupler
Splitter boxes
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Section 2 - Slide 34 / 74
1 7/8 male connector ("PWR") for connecting the power supply
2 M12 connectors ("BUS IN" and "BUS OUT") for connection to the fieldbus
2 "BUS" diagnostic LEDs
4 M12 female connectors for connecting the 4 splitter box segments
Each connector has 2 “segment diagnostics
Cover fixed with 3 screws for accessing coding wheels
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
Part 2: Product characteristics
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Section 2 - Slide 35 / 74
Main characteristics:
Supported speeds: 10, 20, 50, 125, 250, 500, 800 Kbps or 1 Mbpsconfigured by thumbwheel with automatic recognition capability
Address: 1 to 99configured by 2 thumbwheels
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address for first 4 PDOsManually for the others
Profiles: DS-301 “Communication profile”DS-401 “I/O module”
Part 2: Product characteristics
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
P&T - GPS - TrainingPhW - CANopen_offer_en 09/2004
Section 2 - Slide 36 / 74
Part 2: Product characteristics
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
Supported Process Data Objects : PDO
The CANconfig software is used to generate an EDS file specific to each modular configuration. The generated file can be used to control up to 5 receive PDOs and 5 transmit PDOs.
Number of analogue I/Osplitter boxes
Number of digital I/Osplitter boxes
4 43 82 121 150 16
Customised PDOs can be defined in order to connect more I/O splitter boxes.
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Service Data Object = SDO
1 transmit SDO, 1 receive SDO
Allowing access to any dictionary object by message exchange.
For example, can be used to set parameters for:
Input logic: NO - NC contact
Output logic: NO - NC status
Fallback position for outputs: Maintain/fallback to 0/fallback to 1
in the event of communication problems
Operation of channel 1 (pin 2): Input or sensor with integral diagnostics
Analogue input/output configuration -10V/+10V, 0/+10V, 0/20 mA, 4/20mA
These parameters can be set when the network is initialised (Object Configuration window) or by application.
Part 2: Product characteristics
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
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Section 2 - Slide 38 / 74
Part 2: Product characteristics
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Controls the transmission and reception of PDOs in synchronous mode
EMCY object: Sent in the event of a fault on the splitter box
Node guarding object: Supported. Sent on polling of splitter box status and detection of absence of polling
Heartbeat object: Supported. Periodic sending of cell status.
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
CANopen coupler for modular I/O splitter boxes : FTM 1CN10
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Section 2 - Slide 39 / 74
Communication module placed on the left side of the first cell (primary cell).
Bus status indicator lights
Bus connection socket
2 thumbwheels for configuring the speed and address on the bus (2 stages)
Optional SIM memory card for backing up the cell bus configuration
HE13 8-pin male connector for connecting the PC to the STB (configuration change, debugging)
24VDC power supply for module
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
Part 2: Product characteristics
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Section 2 - Slide 40 / 74
Main characteristics:
Supported speeds: 10, 20, 50, 125, 250, 500 Kbps or 1 Mbpsconfigured by thumbwheel
Address: 1 to 99configured by thumbwheel
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address for first 4 PDOsManually for the others
Profiles: DS-301 “Communication profile”
DS-401 “I/O module”
Part 2: Product characteristics
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Section 2 - Slide 41 / 74
Supported Process Data Objects: PDO
The CANopen module can control a maximum of 32 receive PDOs and 32 transmit PDOs. Each PDO contains a maximum of 8 bytes of data.
- The standard EDS file supplied with the CANopen module can be used to control a maximum of 4 receive PDOs and 4 transmit PDOs.
- The Advantys configurator is used to configure the cell bus and to generate an EDS file specific to each bus configuration. The generated file can be used to control up to 32 receive PDOs and 32 transmit PDOs.
- Customised PDOs can be defined in order to transport specific objects (diagnostics).
Part 2: Product characteristics
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Section 2 - Slide 42 / 74
Supported PDOs in the standard EDS file
4 receive PDOs (outputs):
PDO 1 : Discrete outputs (managed by 8-bit block)
PDO 2 to 4 : Analogue outputs (managed by 16-bit block)
4 transmit PDOs (inputs):
PDO 1 : Discrete inputs (managed by 8-bit block)
PDO 2 to 4 : Analogue inputs (managed by 16-bit block)
Transmission modes supported by the PDOs:Transmit: Synchronous and asynchronous, cyclic and acyclic
Receive: Synchronous and asynchronous
Part 2: Product characteristics
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Section 2 - Slide 43 / 74
Supported Service Data Objects: SDO
1 transmit SDO, 1 receive SDO
Allowing access to any dictionary object by message exchange.
Part 2: Product characteristics
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Manufacturer-Specific Objects
These objects can be accessed via the PDO or SDO services.
- Global Bits (Index: 4000H - Sub-index: 0)
Indicates the type of error on the cell bus.
- Communication Diagnostics (Index: 4001H - Sub-index: 0)
Low-order 4001: Status of cell bus; High-order 4001: Bus diagnostics.
- Node Configured (Index: 4002H - Sub-index: 0 to 8)
Each bit represents a module on the cell bus. When the module is configured, the corresponding bit is set to 1.
Part 2: Product characteristics
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Section 2 - Slide 45 / 74
Manufacturer-Specific Objects (continued)
- Node Operational (Index: 4003H - Sub-index: 0 to 8)
Each bit represents a module on the cell bus. When the module is operational, the corresponding bit is set to 1.
- Node Error (Index: 4004H - Sub-index: 0 to 8)
Each bit represents a module on the cell bus. When a fault occurs on the module, the corresponding bit is set to 1.
- Node Assembly Fault (Index: 4005H - Sub-index: 0 to 8)
Each bit represents a module on the cell bus. When a configuration fault occurs on the module, the corresponding bit is set to 1.
Part 2: Product characteristics
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Section 2 - Slide 46 / 74
Manufacturer-Specific Objects (continued)
- NIM Status (Index: 4006H - Sub-index: 0)
Indicates the status of the communication module (NIM).
Part 2: Product characteristics
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Section 2 - Slide 47 / 74
Part 2: Product characteristics
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Controls the transmission and reception of PDOs in synchronous mode
EMCY object: Sent in the event of a fault on the cell
Node guarding object: Supported. Sent on polling of the cell status anddetection of absence of polling
Heartbeat object: Supported. Periodic sending of cell status.
CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212
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Section 2 - Slide 48 / 74
Part 2: Product characteristics
L-shaped electronic card connected to the drive control card.
CANopen communication card for ATV58: VW3A58308CANopen communication card for ATV58: VW3A58308
Switches for configuring the speed and the address
Indicatorlights
Bus connection terminal block
End of lineswitch
Supplied with floppy disk containing the .eds description file for the device.
Compatible with all ATV58 and ATV58F control cards.
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Section 2 - Slide 49 / 74
Part 2: Product characteristics
Main characteristics:
Supported speeds: 125, 250, 500 Kbps or 1 Mbpsconfigured by switches
Address: 1 to 63configured by switches
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address
Profiles: DS-301 “Communication profile”
DS402 V1.1: “Drives & motion control-Velocity Mode”
DriveCom
CANopen communication card for ATV58: VW3A58308CANopen communication card for ATV58: VW3A58308
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Section 2 - Slide 50 / 74
Part 2: Product characteristics
Process Data Objects = PDO
The CANopen communication card for ATV58 can control:1 predefined transmit PDO
1 predefined receive PDO
Supported transmission modes: Transmit: Asynchronous, cyclic and acyclic, on Remote frame
Receive: Asynchronous
CANopen communication card for ATV58: VW3A58308CANopen communication card for ATV58: VW3A58308
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Section 2 - Slide 51 / 74
Supported PDO services (control):
1 receive PDO: 1400 (control) = 2 words:
CMDD: DRIVECOM control register
LFRD: DRIVECOM speed reference in rpm
1 transmit PDO: 1800 (monitoring) = 2 words:
ETAD: DRIVECOM status word
RFRD: DRIVECOM motor speed in rpm
* Time intervals between the PDOs sent by the drive: minimum 50 ms, maximum 1 second.
Part 2: Product characteristics
CANopen communication card for ATV58: VW3A58308CANopen communication card for ATV58: VW3A58308
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Section 2 - Slide 52 / 74
Part 2: Product characteristics
Supported Service Data Objects: SDO
1 transmit SDO, 1 receive SDO
Allowing access to any dictionary object by message exchange.
These parameters can be set when the network is initialised (Object Configuration window) or by application.
CANopen communication card for ATV58: VW3A58308CANopen communication card for ATV58: VW3A58308
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Part 2: Product characteristics
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Not supported
EMCY object: Sent in the event of a fault on the drive
Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling
Heartbeat object: Not supported
CANopen communication card for ATV58: VW3A58308CANopen communication card for ATV58: VW3A58308
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Section 2 - Slide 54 / 74
Programmable card with CANopen link for ATV38/58: VW3A581131Programmable card with CANopen link for ATV38/58: VW3A581131
Part 2: Product characteristics
L-shaped electronic card connected to the drive control card
The CANopen link can operate in master or slave mode.
Switches for configuring the speed and address
Indicator lights
9-pin SUBD connector for connection to
CANopen bus
End of line resistor jumper
Compatibility with control cards:ATV38: all versions - ATV58 >=4.2 ATV58F >=3.1IE27.
Removable terminal block8 configurable I/O
with external 24V power supply
RJ45 connector forconnection to PC
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Section 2 - Slide 55 / 74
Part 2: Product characteristics
Main characteristics in master mode:
Supported speeds: 125, 250, 500 Kbps or 1 Mbpsif configured by switches
10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbpsif configured by software
Address: 1 to 32 nodes 9 PDOs maximum per slave
CAN V2.A-compliant: Identifier on 11 bits
Profiles: DSP 301 V4.01 and DSP 306
All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by integrated libraries in the PLC application.
Programmable card with CANopen link for ATV38/58: VW3A581131Programmable card with CANopen link for ATV38/58: VW3A581131
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Section 2 - Slide 56 / 74
Part 2: Product characteristics
Main characteristics in slave mode:
Supported speeds: 125, 250, 500 Kbps or 1 Mbps
if configured by switches
10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbps
if configured by software
Address: 1 to 63configured by switches or by software
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address
Profiles: DS 405 Programmable Devices IEC1131
All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by
integrated libraries in the PLC application.
Programmable card with CANopen link for ATV38/58: VW3A581131Programmable card with CANopen link for ATV38/58: VW3A581131
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Section 2 - Slide 57 / 74
Part 2: Product characteristics
Process Data Objects = PDO
The CANopen programmable card for ATV58 can control: 1 8-byte user-definable transmit PDO 1 8-byte user-definable receive PDO
Supported transmission modes: Transmit: Synchronous: acyclic, cyclic
Asynchronous device profile and manufacturer specific
Receive: Synchronous acyclic, cyclic
Asynchronous device profile and manufacturer specific
Capacity for using one PDO for direct slave-to-slave transmission (PDO linking)
Content of PDOs assigned by application program.
Programmable card with CANopen link for ATV38/58: VW3A581131Programmable card with CANopen link for ATV38/58: VW3A581131
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Section 2 - Slide 58 / 74
Part 2: Product characteristics
Supported Service Data Objects: SDO
1 transmit SDO, 1 receive SDO
For accessing card inputs/outputs.
The drive parameters can be written or read with an application program, by reserving two words from the PDOs using a PKW-type indexed addressing system.
Programmable card with CANopen link for ATV38/58: VW3A581131Programmable card with CANopen link for ATV38/58: VW3A581131
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Section 2 - Slide 59 / 74
Part 2: Product characteristics
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Supported
EMCY object: Controlled from a function blockThe user has to enter the code in the function block
Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling
Heartbeat object: Not supported.
Programmable card with CANopen link for ATV38/58: VW3A581131Programmable card with CANopen link for ATV38/58: VW3A581131
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Section 2 - Slide 60 / 74
The Altivar 31 is fitted with a female RJ45 connector which supports both Modbus and CANopen protocols.
Both protocols can be used simultaneously.
The transmission speed and the address are configured via the integral HMI.
ATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen link
Part 2: Product characteristics
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Section 2 - Slide 61 / 74
Part 2: Product characteristics
Main characteristics:
Supported speeds: 10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured via integral HMI
Address: 1 to 127configured via integral HMI
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address for the first PDO (PDO1)Manually for PDO6
Profiles: DS-301 V4 “Communication profile”
DS402 “Drives & motion control-Velocity Mode”
DriveCom
ATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen link
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Section 2 - Slide 62 / 74
Part 2: Product characteristics
Process Data Objects = PDO
The ATV31 can control:2 predefined transmit PDOs 2 predefined receive PDOs
Supported transmission modes: Transmit:
PDO1: Asynchronous, acyclic
PDO6: Synchronous, asynchronous, and acyclic, on Remote frame
Receive:
PDO1: Asynchronous
PDO6: Synchronous, asynchronous
ATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen link
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Section 2 - Slide 63 / 74
Supported PDO services (control):
Receive PDO1: 1400 (control) = 1 word
CMDD: DRIVECOM control register
Receive PDO6: 1405 (control) = 2 wordsCMDD: DRIVECOM control registerLFRD: DRIVECOM speed reference in rpm
with the possibility of changing this mapping and select 4 words from the object dictionary.
Transmit PDO1: 1800 (monitoring) = 1 word
ETAD: DRIVECOM status word
Transmit PDO6: 1805 (monitoring) = 2 words
ETAD: DRIVECOM status wordRFRD: DRIVECOM motor speed in rpm
with the possibility of changing this mapping and select 4 words from the object dictionary.
Part 2: Product characteristics
ATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen link
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Section 2 - Slide 64 / 74
Part 2: Product characteristics
Supported Service Data Object: SDO
1 transmit SDO, 1 receive SDO
Allowing access to any dictionary object by message exchange.
These parameters can be set when the network is initialised (Object Configuration window) or by application.
ATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen link
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Section 2 - Slide 65 / 74
Part 2: Product characteristics
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Supported
EMCY object: Sent in the event of a fault on the drive
Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling
Heartbeat object: Supported. (Version >= V1.2 IE02)
ATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen link
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Section 2 - Slide 66 / 74
LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link
Part 2: Product characteristics
Address configurationarrows
9-pin SUBD CANopen communication port
on top panel of module
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Section 2 - Slide 67 / 74
Part 2: Product characteristics
Main characteristics:
Supported speeds: 10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured by switches or Unilink software
Address: 1 to 99configured by switches or Unilink software
CAN V2.A-compliant: Identifier on 11 bits
Allocation of identifiers: By address
Profiles: DS-301 “Communication profile”
DS402 “Drives & motion control-Velocity Mode”
DriveCom
LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link
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Section 2 - Slide 68 / 74
Part 2: Product characteristics
Process Data Objects = PDO
The LEXIUM can control:2 predefined transmit PDOs 2 predefined receive PDOs
Supported transmission modes: Transmit:
Asynchronous, acyclic
Receive:
Asynchronous
LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link
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Section 2 - Slide 69 / 74
Part 2: Product characteristics
Supported PDO services (control):
Receive PDO1: 1400 (control) = 1 word
CMDD: DRIVECOM control register
Receive PDO2: 1401 (control) = 4 wordsASCII channel
Transmit PDO1: 1800 (monitoring) = 1 word
ETAD: DRIVECOM status word
Transmit PDO2: 1802 (monitoring) = 4 words
ASCII channel
LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link
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Section 2 - Slide 70 / 74
Part 2: Product characteristics
The communication channelsare configured by the
SyCon tool
LEXIUM addressingon CANopen is configured
by the SyCon tool
The communication channelsare configured by
the PL7 applicationvia WRITE VAR accordingto the type of PDO required
Exchange by %MWaccording to PL7 configuration
8 bytes per channel
Supported PDO services (implicit exchange):
LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link
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Supported SDO services (configuration, adjustment, etc.):
1 receive SDO: handling of write or read request
1 transmit SDO: handling of write or read request The length depends on the SDO (Index/Sub-index) and varies from 1 to 4 bytes.
Part 2: Product characteristics
Gestion applicative des requêtes
READ_VAR et WRITE_VAR
LEXIUM addressingon CANopen is configured
by the SyCon tool
Application management of READ_VAR and WRITE_VAR
requests
LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link
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Section 2 - Slide 72 / 74
Part 2: Product characteristics
Special Function Objects: SFO
NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)
SYNC object: Not supported
EMCY object: Sent in the event of a fault on the drive
Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling
Heartbeat object: Not supported
LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link
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Section 2 - Slide 73 / 74
Part 2: Product characteristics
Used to generate a configuration file for the CANopen master PCMCIA card.
This configuration can be imported from PL7 PRO/PL7 Junior or loaded directly from Sycon software.
CANopen Sycon master configuration software from HILSCHERCANopen Sycon master configuration software from HILSCHERCANopen Sycon master configuration software from HILSCHERCANopen Sycon master configuration software from HILSCHER
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Section 2 - Slide 74 / 74
Part 2: Product characteristics
Activity indicators
channels A and B
Junction box for connecting the master cardJunction box for connecting the master cardJunction box for connecting the master cardJunction box for connecting the master card
9-pin SUBD connector for connecting the slaves on channel B
9-pin SUBD sub-base for connecting the slaves on channel A
15-pin SUBD sub-base for connecting the master PCMCIA card