Advantys FTB CANopen
IP67 monobloc input/output
splitter box
User guide
1606218 02 eng
3.0
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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
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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
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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
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Safety Information
§
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with
the device before trying to install, operate, or maintain it. The following special
messages may appear throughout this documentation or on the equipment to warn
of potential hazards or to call attention to information that clarifies or simplifies a
procedure.
The addition of this symbol to a Danger or Warning safety label indicates
that an electrical hazard exists, which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert you to potential personal
injury hazards. Obey all safety messages that follow this symbol to avoid
possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided,
will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can
result in death, serious injury, or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can
result in injury or equipment damage.
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Safety Information
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
© 2006 Schneider Electric. All Rights Reserved.
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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).
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About the Book
Chapter
Subject covered
Introduction
Installation
General presentation of system components
Dimensions
Safe practice for installation
I/O splitter box characteristics Physical and electrical characteristics
and wiring
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
Diagnostics
Software installation help
Performing diagnostics
Object dictionary
Appendices
Description of the objects accessible for communication
Presentation
Appendix A: List of IEC symbols
Glossary
Acronyms
Definitions
Related
Documents
Title of Documentation
Reference Number
Instruction sheet
1693627
CANopen hardware installation manual
35010859
User Comments
We welcome your comments about this document. You can reach us by e-mail at
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Introduction
1
Presentation
Introduction
This chapter provides a general overview of Advantys IP 67 FTB CANopen IP67 I/
O splitter boxes.
Advantys FTB CANopen splitter boxes comply with the following specifications:
CiA DS301 V4.02 (CANopen application layer and communication profile)
CiA DS401 V2.1 (CANopen device profile generic I/O modules) (see CANopen
Profiles, p. 50)
Note: The information in this manual is primarily intended for people with some
practical knowledge of the CANopen standard applied to the CANopen field bus.
CANopen equipment installers and users are advised to read the standard
documentation before any equipment installation or handling. All detailed
CANopen specifications may be found at http://www.can-cia.de.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
12
13
Presentation of the CANopen Advantys FTB I/O Splitter Box Range
Overview of the Accessories Range
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Introduction
Presentation of the CANopen Advantys FTB I/O Splitter Box Range
The CANopen
Advantys FTB
Product Range
The splitter boxes in the CANopen Advantys FTB ranges come in the following
forms:
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 Plastic
/ diagnostics channels
FTB 1CN12E04SP0
8 input channels + 8 input / diagnostics
channels
Plastic
Metal
FTB 1CN16EP0
FTB 1CN16EM0
8 input / output channels + 8 input / output /
diagnostics channels
Plastic
Metal
FTB 1CN16CP0
FTB 1CN16CM0
8 input / output channels + 8 input /
diagnostics channels
Metal
FTB 1CN08E08CM0
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Introduction
Overview of the Accessories Range
Cables for
Connecting the
Bus to the
Different cables can be used to connect the splitter box to the field bus. These are
available in different lengths.
4
1
6
8
Splitter Box
24 V
3
2
7
5
FTB 1CN
9
Element Reference
Function
1
FTX CN3203
FTX CN3206
FTX CN3210
FTX CN3220
FTX CN3230
FTX CN3250
Cables fitted with 2 M12-type elbow connectors, 5 pins, at both ends for connecting the
bus between two splitter boxes.
2
FTX DP2206
FTX DP2210
FTX DP2220
FTX DP2250
Cables fitted with 2 7/8-type connectors, 5 pins, at both ends for daisy-chaining 24 VDC
supplies to two splitter boxes.
3
4
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.
FTXCN12M5
FTXCN12F5
Male and female M12-type connectors, 5 pins, for CANopen bus cables (encoding A).
5
6
7
FTXCNCT1
Connection T fitted with 2 7/8-type connectors, 5 pins, for power supply cables.
Line terminators fitted with 1 M12-type connector.
FTX CNTL12
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
9
FTX C78B
Sealing plug for 7/8 connector.
FTX CM12B
Sealing plugs for M12-type connectors.
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Introduction
14
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Installation
2
Presentation
Introduction
This chapter provides all required information for installing an FTB splitter box on a
field bus.
Note: The graphic representations of the splitter boxes in this chapter may not
correspond to those really used. However, the dimensions are exact whatever the
case.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
16
Overview
Installing the Unit
17
21
23
Grounding of the Advantys FTB Splitter Box
EMC Compatibility
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Installation
Overview
Introduction
This section gives a detailed technical description of the Advantys FTB CANopen
splitter box.
Description
The illustrations below show the plastic units (left) and metal units (right) of the
Advantys FTB CANopen splitter.
1
1
2
2
3
4
3
4
5
6
5
6
9
7
8
1
9
7
8
1
Element Function
1
2
3
4
5
6
7
8
9
Mounting holes
M12 connector for the inputs and outputs
Label
Display elements (diagnostics and status LED)
Power supply connectors (PWR IN)
Power supply distribution connector (PWR OUT)
Bus connector (BUS IN)
Bus connector (BUS OUT)
Transmission speed and addressing rotary selector switch
16
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Installation
Installing the Unit
Introduction
Description
This section gives a detailed technical description of Advantys FTB splitter boxes.
The Advantys FTB splitter box can be mounted directly onto a wall or a machine.
Two mounting holes have been provided for this purpose inside the splitter box.
Note: When mounting the unit, the support must be flat and smooth so as to
prevent any undue stress on the unit, which may lead to a loss of sealing.
Types of Screws
and Tightening
Torques
Plastic unit
two washers. The tightening torque is 1.5 Nm (13.3 lb-in).
Metal unit
The metal splitter box is mounted using two 6 mm (0.24 in.) diameter screws and
two washers. The tightening torque is 9 Nm (79.7 lb-in).
Note: For metal units, wire the ground terminal before attaching the splitter box to
its support. See Grounding of the Advantys FTB Splitter Box, p. 21.
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Installation
Method
Follow the steps below:
Step
Action
1
Position the splitter box on the support.
Mount the splitter box using the screws and washers.
2
CAUTION
RISK OF EQUIPMENT DAMAGE AND NON-COMPLIANCE WITH IP67.
Unused connectors must not be left unprotected. If a connector is not correctly
connected to the end of another connector or to a standard cable, fit a sealing plug
in order to ensure that the product is IP67 standard compliant. To ensure the IP67
protection index, check that the cover is screwed onto the base splitter box and that
all connectors are fitted with cables or sealing plugs.
Failure to follow this instruction can result in injury or equipment damage.
20
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Installation
Grounding of the Advantys FTB Splitter Box
Description
The ground connection is connected internally to pin 1 of the M12 connector of the
field bus connector.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Check that the splitter box is correctly connected to the earth in compliance with
the instructions provided in his section. If the splitter box is not grounded, or if the
ground connection is made with an unsuitable cable, the product will be sensitive
to electromagnetic disturbances. See EMC Compatibility, p. 23.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Position of the
Ground
The following figure shows the position of the ground electrode on the plastic boxes.
Electrode on the
Plastic Unit
2
Note: Use a grounding strip or a conductor with a cross-section of 1 to 1.5 mm
(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).
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Installation
Method for
Follow the steps below to connect the ground to the unit:
Plastic Units
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.
Position of the
Ground
The following figure shows the position of the ground electrode on the metal boxes.
Electrode on the
Metal Unit
2
Note: Use a grounding strip or a conductor with a cross-section of 1 to 1.5 mm
(AWG18, AWG16) and a length of ≤ 3 m (9.84 ft) long. The maximum
recommended length for the grounding strip is 3 m (9.84 ft).
Method for Metal
Units
Follow the steps below to connect the unit to the ground electrode:
Step
Action
1
Crimp the lug on the ground cable.
2
Screw in the lug with the ground conductor connection screw (supplied with the
product).
Mounting the
Metal Unit
Once these steps have all been completed (see table above), the product can be
mounted on its support.
22
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Installation
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.
WARNING
RISK OF ELECTROMAGNETIC INTERFERENCE AND UNINTENDED
EQUIPMENT OPERATION
The products described in this manual contain highly complex semiconductors that
can be damaged or destroyed by electrostatic discharges (ESD). If, for example,
they are used within the vicinity of devices rated as class A or B according to IEC
6100-4-4, the level of electromagnetic interference may be enough to cause the
device to operate unexpectedly, and/or to damage it.
Damage may not necessarily cause a failure or malfunction that is immediately
detectable. It may occur sporadically or in a delayed manner.
If there is a risk of electromagnetic interference, the system designer must
implement the necessary protective measures.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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Installation
Grounding
A low impedance connection with a maximum length of 3 m (9.84 ft) must be
installed between the splitter box's ground electrode and the reference ground in
order to discharge the noise voltages. The inductance of standard grounding cables
(PE) presents a risk of high impedance when high frequency noise voltages are
present. It is therefore advisable to use grounding strips. If this solution is not
possible, use a ground conductor with a large cable cross-section and a ground
connection that is as short as possible.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
If the box is not connected to the ground, or if the ground connection is made using
an inappropriate cable, the product will be sensitive to electromagnetic
disturbances. This may lead to unexpected equipment operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Cable Routing
Make sure that the following basic wiring rules are followed:
Keep the data wire and the power cables apart from one another, in so far as is
possible.
Make sure there is a space of at least 10 cm (3.94 inches) between the data wires
and the power cables.
The data wires and power cables must only cross at a right angle to one another.
It is advisable to route the data wires and power cables through separate shielded
ducts.
When laying the cables, the noise voltage from other devices or wires must be
considered. This particularly applies to frequency converters, motors and other
devices or cables generating high frequency disturbances. High frequency
sources and the cables described in this manual must be as far apart from each
other as possible.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Please read and comply with the cabling rules listed above. Failure to comply with
these wiring rules is a common cause of EMC problems! This may lead to
unexpected equipment operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
24
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Installation
Control of
Inductive Loads
The outputs of the devices described in this manual are equipped with an integrated
protective system against the high noise voltages that may be generated by
inductive loads.
Integrated protective system against the high noise voltages generated by inductive
loads
Inductive load
e.g. electromagnetic
valve
Varistor
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.
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Installation
26
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Splitter Box Characteristics and
Wiring
3
Presentation
Introduction
This chapter provides an overall description of all Advantys FTB splitter boxes.
Note: The "-" in the tables corresponds to values that are not applicable.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
28
Advantys FTB Splitter Box Environment Properties
Electrical Characteristics
29
30
32
Connecting the Actuators and Sensors
Power Supply Connection
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Splitter Box Characteristics and Wiring
Advantys FTB Splitter Box Environment Properties
Environment
Properties
Characteristic
Description
Reference standard
Product certification
Operating temperature
Storage temperature
Degree of protection
Altitude
cULus
-
-20°C...+60°C (-4°F...+140°F)
-25°C...+70°C (-13°F...+158°F)
IP67
-
-
According to IEC 60529
-
0m 2,000 m (6,561 ft)
Vibration withstand capacity
for plastic units
Constant amplitude: 0.35 mm (0.0138 in)
10 Hz≤ f ≤ 57 Hz
According to IEC 68-2-6, Fc
test
Constant acceleration: 5.0 gn
57 Hz≤ f ≤ 150 Hz
Vibration resistance capacity
for metal units
Constant amplitude: 1.5 mm (0.06 in)
5 Hz ≤ f ≤ 70 Hz
According to IEC 68-2-6, Fc
test
Constant acceleration: 15 gn
70 Hz ≤ f ≤ 500 Hz
Shock resistance capacity for 30 gn, duration: 11 ms
plastic units
According to IEC 68-2-27, Fc
test
Shock withstand capacity for 50 gn, duration: 11 ms
metal units
-
Resistance capacity for
electrostatic discharges
Contact: +/- 4 kV
Air: +/- 8kV
According to IEC 61000-4-2
According to IEC 61000-4-3
According to IEC 61000-4-4
According to IEC 61000-4-5
Withstand capacity for
radiated fields
10 V/m (3.05 V/ft)
Withstand capacity for fast
transients
Power supply: +/- 2 kV
Signal: +/- 2 kV
Withstand capacity for surge
Power supply:
symmetrical: +/-500VDC
asymmetrical: +/-1,000 VDC
Signals:
symmetrical: +/-500VDC
asymmetrical: +/-1,000 VDC
Ground : +/-500VDC
Withstand capacity for duct
fields
10 Vrms
According to IEC 61000-4-6
Withstand capacity for 50 Hz 30 A/m (9.15 A/ft)
magnetic fields
According to IEC 61000-4-8
-
Mounting
In all positions
28
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Splitter Box Characteristics and Wiring
Electrical Characteristics
Splitter Box
Characteristics
Characteristic
Description
120 mA
18...30VDC
≤ 8 A
Splitter box's internal consumption
Splitter power supply voltage
Splitter and sensor supply current
Actuator supply current
≤ 8 A
Under-voltage detection
yes
Input
Characteristics
Characteristic
Description
Compliance with IEC 1131-2
Compliance with 2-wire/3-wire sensor
Rated power voltage
Maximum current
Type 2
Yes
24 VDC
200 mA (for 2 diagnostics input channels)
Logic
Positive PNP Sink
Filtering input
1 ms
Yes
Protection against reverse polarity and short-
circuit in sensor power supply
Overload and over-voltage protection
Yes
Output
characteristics
Characteristic
Description
Transistors
Output type
Output voltage
24 VDC
Output current
1.6 A
Over-voltage protection
Maximum switching cycle
Maximum lamp load
Connection for outputs / cable lengths
Yes (transient diode)
20 Hz
10 W
2
0.75mm : 10 m maximum (AWG 19 / 32.8 ft)
2
0.34 mm : 5 m maximum (AWG 23 / 16.4 ft)
Protection against short-circuits
yes
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Splitter Box Characteristics and Wiring
Connecting the Actuators and Sensors
Description
The actuators and sensors are connected to the FTB splitter box using M12-type
connectors.
Characteristics
of the
Connections
The maximum admissible load for the FTB splitter boxes is limited to:
1.6 A per output (actuator current),
200 mA for both inputs (sensor current).
WARNING
RISK OF EQUIPMENT DAMAGE AND NON-COMPLIANCE WITH IP67
Unused M12 connectors must not be left unprotected. If an M12 connector is not
correctly connected to the end of another connector or standard cable, fit a sealing
plug in order to ensure that the product is IP67 standard compliant. To ensure the
IP67 protection index, check that the cover is screwed onto the base splitter box
and that all connectors are fitted with cables or sealing plugs.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Assignment of
M12 Connector
Pins
The following diagram shows the front view of a 5-pin M12 connector and the
convention for numbering the pins:
Pin
1
Assignment
+24 VDC
2
Channel 10 to 17: diagnostics input or functional input or output
3
0 VDC
4
Channel 00 to 07: functional input or output
Ground
5
30
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Splitter Box Characteristics and Wiring
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
1
2
3
4
5
6
7
Channel 00 Channel 10
Channel 01 Channel 11
Channel 02 Channel 12
Channel 03 Channel 13
Channel 04 Channel 14
Channel 05 Channel 15
Channel 06 Channel 16
Channel 07 Channel 17
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Splitter Box Characteristics and Wiring
Power Supply Connection
Description
For the FTB splitter boxes, the power supply is linked using a Mini-Style 7/8" 5-pole
connector.
The FTB splitter boxes require a 24 VDC power supply.
Calculation of
the Power
Calculations to find cable cross-sections are made according to the system's own
configuration data and remain the full responsibility of the user.
Supply Cable
Cross-Section
CAUTION
RISK OF EQUIPMENT DAMAGE
There are two kinds of risk of damage to equipment:
The 7/8" connector is sized for a maximum current of 8 A per pin. The pins of
the 7/8" connector must be provided with adequate protection to prevent an
overload of more than 8 A.
Reversed polarity connections in the power supply may damage the FTB splitter
box.
Failure to follow this instruction can result in injury or equipment damage.
Assembling the
Power Supply
Cable
The following diagram gives a view of the shape and size of the connection cable
connector:
32
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Splitter Box Characteristics and Wiring
Pin Assignment
The following diagram shows a front view of the PWR IN and PWR OUT connectors:
Pin
1
Assignment
0 VDC
2
0 VDC
3
Ground
4
Splitter box sensor and power supply
Actuator power supply
5
Recommen-
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.
dations for the
Power Supply to
the Sensors,
Actuators and
Splitter Boxes
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).
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Do not connect pin 4 of the power supply connector to the emergency stop circuit
of the system. Interrupting the power supply to this pin, will deactivate the I/O
channels of the splitter box, which can result in an unintended equipment
operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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Splitter Box Characteristics and Wiring
Method
Follow the steps below:
Step
Action
1
Disconnect all power to the system.
2
On the PWR IN connector:
If the splitter box is the first in the chain, connect a cable with a female
connector and free wires.
If the splitter box is the last in the chain, connect a connection cable.
3
On the PWR OUT connector:
If the splitter box is in the middle of the chain, connect a power supply
connection cable.
If the splitter box is at the end of the chain, fit a sealing plug.
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.
34
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CANopen Network Interface
4
Presentation
Introduction
This section describes how to connect the Advantys FTB CANopen splitter box to
the CANopen network.
What's in this
Chapter?
This chapter contains the following sections:
Section
4.1
Topic
Page
37
Wiring on the CANopen Bus
General Principles
4.2
48
66
4.3
Behavior of FTB CANopen Splitter boxes
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CANopen Network Interface
36
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CANopen Network Interface
4.1
Wiring on the CANopen Bus
Presentation
Introduction
The following section describes wiring on the CANopen bus.
This section contains the following topics:
What's in this
Section?
Topic
Page
38
Introduction to Wiring on the CANopen Bus
Topology
39
42
44
46
Choice of system cables
Connecting the Field Bus
Configuring the Address and Transmission Speed
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CANopen Network Interface
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):
1
2
3
4
5
6
1
2
3
4
5
6
Description
Function
See
1
2
3
4
7/8" connector
Power supply connection (PWR IN)
Power supply connection (PWR OUT)
Selecting transmission speed
Power Supply
Connection, p. 32
7/8" connector
Rotary switch
Rotary switches
Configuring the
Address and
Transmission
Speed, p. 46
Selecting the splitter box address
5
6
M12 Connector
M12 Connector
CANopen bus connector (Bus OUT)
CANopen bus connector (Bus IN)
Connecting the
Field Bus, p. 44
38
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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:
2
3
3
1
5
7
4
4
Min. interval
6
6
6
6
5
8
8
The table below describes the components of a CANopen network:
Number
Description
1
2
3
4
5
6
7
CANopen devices connected by chaining
CANopen devices connected by tap
Drop cables (tap junction box / device)
Tap junction boxes
Chaining cables
Line terminator
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.
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CANopen Network Interface
Tap Length
A tap creates a signal reflection and thus its length must be limited to the following
parameters:
Lmax is the maximum length of a tap.
ΣLImax is the maximum value of the sum of all taps on the same tap junction box.
Min interval is the minimum distance necessary between two taps.
ΣLGmaxis the maximum value of the sum of all taps on the segment.
The values to use are given in the following table:
Speed
Lmax
ΣLImax
Min. interval
ΣLGmax
0.6xΣL local
1 Mbits/s
0.3 m (0.98 ft)
3 m (9.8 ft)
0.6 m (1.96 ft)
6 m (19.6 ft)
1.5 m (4.9 ft)
800 Kbits/s
500 Kbits/s
250 Kbits/s
125 Kbits/s
50 Kbits/s
20 Kbits/s
10 Kbits/s
3.6 m (11.8 ft)(*)
6 m (19.6 ft)(*)
6 m (19.6 ft)(*)
6 m (19.6 ft)(*)
72 m (236 ft)(*)
180 m (590.5 ft)(*)
360 m (1 181 ft)(*)
15 m (49 ft)
5 m (16.4 ft)
5 m (16.4 ft)
5 m (16.4 ft)
60 m (196.8 ft)
150 m (492 ft)
300 m (984 ft)
10 m (32.80 ft)
10 m (32.80 ft)
10 m (32.80 ft)
120 m (393.6 ft)
300 m (984 ft)
600 m (1 968.4 ft)
30 m (98.4 ft)
60 m (196.8 ft)
120 m (393.6 ft)
300 m (984 ft)
750 m (2 460.6 ft)
1 500 m (4 921 ft)
Legend:
(*) The minimum cable length between two consecutive tap junction boxes must be greater than 60% of the largest
of the two sums of the lengths of taps on each of the two boxes.
40
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CANopen Network Interface
Example
The following illustration shows the calculation of the length of a cable located
between two tap junction boxes.
1
1 m
(3 ft)
3 m
(10 ft)
3 m
(10 ft)
1 m
(3 ft)
1 m
(3 ft)
3 m
(10 ft)
2
ΣL=7 m (23 ft)
ΣL=5 m (16 ft)
3
4
Min interval > 0.6 * 7 m (23 ft)
Min interval > 4.2 m (13.8 ft)
The table below describes the components of a CANopen network:
Number
Description
1
2
3
4
Connected CANopen devices
Drop cables (tap junction box / device)
Tap junction boxes
Connection cables (tap junction box / tap junction box)
In this example, we have two tap junction boxes and 6 devices. We start by
calculating the sum of the lengths of cables for each tap junction box, and we obtain
5 m (16 ft) and 7 m (23 ft). We keep the longest length, i.e. 7 m (23 ft). The minimum
length of the cable between the two tap junction boxes is equal to 60% of 7 m, i.e.
4.2 m (13.8 ft).
Number of
Connected
Devices
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.
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CANopen Network Interface
Choice of system cables
Transmission
Speed
The maximum allowable transmission speeds are given in the following table:
Transmission speed
(kBit/s)
Cable length
1000
800
500
250
125
100
50
30 m (98 ft)
50 m (164 ft)
100 m (328 ft)
250 m (820 ft)
350 m (1 148 ft)
500 m (1 640 ft)
1 000 m (3 280 ft)
2 500 m (8 202 ft)
5 000 m (16 404 ft)
20
10
Specific
The specific resistances and AWG cable sections are shown in the following table:
Resistance
Maximum speed
Cable length
Specific resistance of Cable sections
cables
2
Kbits/s
m
ft
mΩ/m
mΩ/ft
AWG
mm
1000 for 40 m
0 ... 40
0...131
70
21.34
0.25...0.34
AWG24, AWG22
(131 ft)
500 for 100 m
(328 ft)
40 ... 300
131...984
< 60
< 40
< 26
< 18.29
< 12.19
< 7.92
0.34...0.6
0.5...0.6
AWG22, AWG20
AWG20
100 for 500 m
(1640 ft)
300 ... 600
600 ... 1000
984...1968
1968...3280
50 for 1000 m
0.75...0.8
AWG18
(3,280 ft)
Note: The parameters shown in the above table must be considered for networks
complying with the standard ISO11898-2.
42
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CANopen Network Interface
Line Terminator
Resistance
To minimize the voltage drop in the connection, it is advisable to use a higher line
terminator resistance for high length cables than that specified by the standard
ISO11898-2. When configuring the system, the connector resistances must also be
taken into consideration. For each connector, 5 mΩ to 20 mΩ must be added to the
terminator resistance.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
The potential difference at the CAN_GND connections of all the CANopen bus
items must not be greater than 2 VDC. The connectors have a standard DC of
5 mΩ to 20 mΩ. It is important to connect a 120 Ω line terminator between CAN_H
and CAN_L at the line end (see Physical Layer, p. 49).
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
What types of
cables can be
used?
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.
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CANopen Network Interface
Connecting the Field Bus
Description
The splitter box can either be in the middle of the chain connection or at line end.
The field bus is connected via a 5-pin M12 connector.
Illustration of the The following diagram shows the characteristics of the connection cable connector:
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:
2
3
3
2
5
5
BUS
IN
BUS
OUT
1
4
4
1
The following table gives the assignments of the bus connector pins:
Pin
1
Signal
Meaning
(CAN_SHLD)
(CAN_V+)
CAN_GND
CAN_H
Optional CAN shielding
NC (not connected)
0 V
2
3
4
CAN_H bus line
CAN_L bus line
5
CAN_L
Note: Pin 1 is connected to the ground connection terminal of the splitter box.
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CANopen Network Interface
CAUTION
RISK OF EQUIPMENT DAMAGE AND NON-COMPLIANCE WITH STANDARD
IP67
Unused M12 connectors must not be left unprotected.
If an M12 connector is not fitted with a line terminator or connected to a standard
cable, fit a sealing plug so as to guarantee the product’s IP67 protection.
Failure to follow this instruction can result in injury or equipment damage.
Correspondence
between 9-pin
SUB-D
Connectors and
M12 5-pin
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:
Connectors
9-pin SUB-D
connector
SUB-D
pin
Signal
Meaning
M12 pin
5-pin M12
connector
1
2
3
4
5
6
7
8
9
-
Reserved
-
CAN_L
CAN_GND
-
CAN_L bus line
0 V
5
3
-
2
5
3
4
Reserved
1
6
2
(CAN_SHLD)
(GND)
Optional CAN shielding
Optional CAN_V-
CAN_H bus line
Reserved
1
-
7
3
8
4
1
9
5
CAN_H
-
4
-
(CAN_V+)
Optional power supply
-
Method
Follow the steps below:
Step
Action
Connect the connection cable for chaining to the BUS IN connector.
1
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.
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CANopen Network Interface
Configuring the Address and Transmission Speed
Method
Follow the steps below:
Step
Action
1
Switch off the power supply to the splitter box.
Unscrew both screws on the transparent cover.
Set the communication speed.
Set the splitter box address.
2
3
4
5
6
Screw the transparent cover back on.
Power up the splitter box.
Illustration of the
Rotary Switches
DATA NODE ADDRESS
RATE X10
X1
0
0
0
5
5
5
2
3
1
Element
Function
1
2
3
Sets the transmission speed
Node-ID x 10
Node-ID x 1
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.
Note: When assigning the addresses, ensure that each splitter box is assigned to
a single address.
A configured address is registered at power up. It cannot be changed if you do not
remove the cover.
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CANopen Network Interface
Adjustment of
the
Transmission
Speed
The transmission speed is configured using a rotary switch.
The following transmission speeds are possible:
Switch position
Transmission speed
Automatic recognition
10 Kbits/s
0
1
2
3
4
5
6
7
8
9
20 Kbits/s
50 Kbits/s
100 Kbits/s
125 Kbits/s
250 Kbits/s
500 Kbits/s
800 Kbits/s
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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CANopen Network Interface
4.2
General Principles
Presentation
Introduction
This section addresses the general principles for operating and using the CANopen
network.
What's in this
Section?
This section contains the following topics:
Topic
Page
49
About CANopen
The Device Profile
52
53
56
60
61
62
65
CANopen "Boot-Up"
Process Data Object (PDO) Transmission
Inhibit Time and Event Timer
Access to Data by Explicit Exchanges (SDO)
"Node-Guarding" and "Life-Guarding" Monitoring Protocols
The "Heartbeat" Error Monitoring Protocol
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CANopen Network Interface
About CANopen
Introduction
CANopen is a standard fieldbus protocol for industrial control systems. It is
particularly well suited to real-time PLCs, as it provides an effective, low-cost
solution for industrial applications.
The CANopen
Protocol
The CANopen protocol was created as a subset of CAL (CAN Application Layer). By
defining profiles, it is able to be even more specifically adapted to use with standard
industrial components. CANopen is a CiA standard (CAN in Automation) that was
very quickly adopted by users when it was put on the market. In Europe, CANopen
is now recognized as the industry standard for industrial systems based on a CAN
design.
Physical Layer
CAN uses a differentially driven two-wire bus line (common return). A CAN signal is
the difference between the voltage levels of the CAN_H and CAN_L wires. (See
figure below.)
The following diagram shows the components of the physical layer of a two-wire
CAN bus:
5
5
5
1
4
4
3
2
1
2
3
4
5
CAN_H wire
CAN_L wire
Potential difference between CAN-H/CAN-L signals
Line terminator 120 Ω
Connected devices,
The bus wires can be routed in parallel, twisted or shielded form in accordance with
electromagnetic compatibility requirements.
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CANopen Network Interface
CANopen
Profiles
The communication profile
The CANopen communication protocol is based on a "communication profile", which
specifies the main communication mechanisms and their description (DS301).
The device profile
The most important types of devices used in industrial automation are described in
the "Device profiles". They also define device functionalities.
Here are some examples of standard devices:
Discrete and analog input/output splitter boxes (DS401)
Motors (DS402)
Control devices (DSP403)
Closed loop controllers (DSP404)
PLCs (DS405)
Encoders (DS406)
Device
The possibility of configuring devices via the CANopen bus is one of the basic
Configurationvia principles of the autonomy required by manufacturers (for each profile family).
the CAN Bus
General
CANopen is a set of profiles for CAN systems with the following specifications:
Specifications
for CANopen
Profiles
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.
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CANopen Network Interface
CAN Standards
CANopen specifications are defined by the CiA group and can be accessed (subject
to some restrictions) on the group site at www.can-cia.de. The source codes for
master and slave devices are available from the various suppliers.
Note: To find out more about CANopen standard specifications and mechanisms,
please visit the CiA home page (http//www.can-cia.de).
Communication
on a CANopen
Network
The communication profile is based on CAL (CAN Application Layer) services and
protocols.
It provides the user with access to two types of exchange: SDO and PDO.
On power up, the device enters an initialization phase then goes into "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.
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CANopen Network Interface
The Device Profile
List of Functions The list of functions supported and their coding are given in the following table:
Function
Function code
(binary)
Resulting COB-ID
(Hex)
Resulting COB-ID
(Dec)
NMT
0000
0001
0001
0011
0100
0101
0110
0111
1000
1001
1010
1011
1100
1110
0
0
SYNC
80
128
EMERGENCY
TPDO (tx)
RPDO (rx)
TPDO (tx)
RPDO (rx)
TPDO (tx)
RPDO (rx)
TPDO (tx)
RPDO (rx)
SDO (tx)
81 - FF
129 - 255
385 - 511
513 - 639
641 - 767
769 - 895
897 - 1023
1025 - 1151
1153 - 1279
1281 - 1407
1409 - 1535
1537 - 1663
1793 - 1919
181- 1FF
201- 27F
281 - 2FF
301 - 37F
381 - 3FF
401 - 47F
481 - 4FF
501 - 57F
581 - 5FF
601 - 67F
701 - 77F
SDO (rx)
Node-Guarding
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CANopen Network Interface
CANopen "Boot-Up"
Procedure for
"Boot-Up"
The minimum configuration of the equipment specifies a shortened boot procedure.
This procedure is illustrated in the following diagram:
1
Initialisation
Reset Application
Reset Communication
Init
2
Pre-Operational
7
6
5
4
3
Stopped
6
4
3
5
Operational
6
7
Legend
Number
Description
1
2
Device power-up
After initialization, the device automatically goes into the PRE-OPERATIONAL
state
3
4
5
6
7
NMT service indication: START REMOTE NODE
NMT service indication: ENTER PRE-OPERATIONAL
NMT service indication: STOP REMOTE NODE
NMT service indication: RESET NODE
NMT service indication: RESET COMMUNICATION
NMT : Network Management Telegram
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CANopen Network Interface
Active CANopen
Objects
The crosses in the table below indicate which CANopen objects are active for which
states of the state machine:
depending on
State Machine
Initialisation
PDO object:
Pre-Operational
Operational
Stopped
X
X
X
SDO object:
X
X
Emergency
Boot-Up
NMT
X
X
X
X
"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
The device goes into the "Reset Communication" state:
Communication"
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.
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CANopen Network Interface
"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.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
Do not change the device configuration when it is in "Operational" state. Changing
the equipment configuration while it is in the "Operational" state may result in the
device behaving in an unexpected manner and/or in equipment damage or injury
to personnel. If the device needs to be reconfigured, put it in the "Pre-Operational"
state and check that this has been done correctly before proceeding to modify the
configuration.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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CANopen Network Interface
Process Data Object (PDO) Transmission
Definition of PDO PDOs are objects which provide the communication interface with process data and
enable them to be exchanged in real time. A CANopen device's PDO set describes
the implicit exchanges between this device and its communication partners on the
network.
The exchange of PDOs is authorized when the device is in "Operational" mode.
Types of PDO
There are two types of PDO:
PDOs transmitted by the device ("Transmit PDO", "TPDO")
PDOs received by the device ("Receive PDO", "RPDO")
PDO Consumer/
Producer
PDOs are based on the "Producer / consumer" model ("Producer" / "Consumer").
The device which sends out a PDO is called the producer, while the device receiving
it is known as the consumer.
PDO
Transmission
Modes
In addition to data to be transported, it is possible to configure the type of exchange
for each PDO.
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Notes
Dec.
Hex.
Cyclic
Acyclic
Synchron Asynchro only RTR
ous
nous
0
0
x
x
Send PDO on first SYNC
message following an
event
1 to 240
1 to F0
x
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
Send PDO on event
(Change of state mode)
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CANopen Network Interface
Producer
Change of state
Consumer(s)
Remote frame
Remote Transmission
Request
Producer
Consumer(s)
Synchronous object
Synchronous object
(cyclic, acyclic)
Producer
Consumer(s)
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CANopen Network Interface
Synchronous
For certain applications, synchronization between scanning of the inputs and
(mode 0 to 240)
activation of the outputs may be necessary.
For this reason, CANopen provides the "SYNC" object, a high-priority CAN message
without any working data, which, when it is received by the synchronized devices is
used to trigger the reading of inputs or activation of outputs (Trigger).
The following diagram shows the time data for synchronized PDO transmission.
Communication cycle
SYNC
SYNC
SYNC
Current input data
Set point
Output
Data
Input search in each SYNC
message
Synchronous
window length
Actuation based on outputs
at next SYNC message
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.
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CANopen Network Interface
"Change of
state" (modes
254 and 255)
The asynchronous exchange of PDO in "Change of state" mode enables the rapid
modification of an input value, followed by immediate confirmation of the change of
value. This avoids the need to wait for the master to send a request.
A high priority bus status is assigned to the "Change of state" mode and only the
updated input value is returned, not the image of the full process, thus considerably
reducing traffic on the bus.
"Change of state" corresponds to the modification of the input value (event control).
WARNING
RISK OF UNINTENDED DEVICE OPERATION
The "Change of State" mode must not be used for inputs/outputs whose state
changes continuously (such as analog inputs). The continual modification of I/Os
using the "Change of State" mode may block the transmission of other crucial
commands, resulting in the unintended operation of the device.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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CANopen Network Interface
Inhibit Time and Event Timer
Inhibit Time
In event transmission mode, the Inhibit Time utility is used to define a minimum time
delay before transmission of a new PDO. This avoids overloading the bus where a
significant number of events occur in rapid succession.
The Inhibit Time is expressed in multiple of 100 μs.
Values (hex.)
0000H
Values (dec.)
Actual values (ms)
0
0000
1
000AH
10
0064H
100
10
03E8H
1000
10 000
65 535
100
1000
6553.5
2710H
FFFFH
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.)
0000H
Values (dec.)
Actual values (ms)
0
0 (deactivated)
10
000AH
10
0064H
100
500
1000
5000
10 000
100
01F4H
500
03E8H
1000
1388H
5000
2710H
10 000
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CANopen Network Interface
Access to Data by Explicit Exchanges (SDO)
What is an SDO? An SDO allows a device's data to be accessed by using explicit requests.
The SDO service is available when the device is in "Operational" or "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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CANopen Network Interface
"Node-Guarding" and "Life-Guarding" Monitoring Protocols
Introduction
Error monitoring protocols are used to detect communication errors on the network.
The default monitoring method, "Node-Guarding", consists in the master controlling
the slaves. It is possible to add "Life-Guarding" control of the master by the slaves.
Note: The simultaneous use of both monitoring methods, "Guarding" and
"Heartbeat", is impossible. Should both methods be activated at once, the
equipment will only use the "Heartbeat" monitoring method.
Definition of
"Life-Time"
The "Life-Time" parameter is calculated as follows:
"Life-Time"= "Guard-Time" x "Life-Time-Factor"
The object 100CH contains the ''Guard-Time'' parameter expressed in milliseconds.
The object 100DH contains the ''Life-Time-Factor" parameter.
Activation of
Monitoring
When one of the two parameters "Life-Time-Factor" or "Guard-Time" is set to "0"
(default configuration), the device does not perform monitoring (no "Life-Guarding").
To activate monitoring over time, you must enter a value (minimum 1) in the object
100DH and specify a time in ms in the object 100CH.
Common typical values for the "Guard-Time" parameter lie between 250 ms and 2 s.
Reliable
Operation
To enable reliable and secure operation, the user must enter a "Life-Time-Factor"
with a minimum value of 2.
When the value 1 is used, should a delay occur due to the processing of high priority
messages or internal processing on the "Node-Guarding" master, the device
switches back to the "Pre-Operational" default state without generating any errors.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
Set the "Life-Time-Factor" (object 100DH) to a minimum value of 2 to prevent any
inadvertent change of state to "Pre-Operational" state. Depending on the I/O
configuration, an inadvertent change of state may result in unintended device
operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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CANopen Network Interface
Importance of
Monitoring
These two monitoring mechanisms are especially important in the CANopen
system. Devices connected to the bus do not regularly indicate their presence in
operating mode, commanded by "Event".
Slave Monitoring Monitoring is performed in the following way:
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
3
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.
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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CANopen Network Interface
Master
If the master requests "Guarding" messages on a strictly cyclical basis, the slave
Monitoring
can detect a master failure.
If the slave does not receive a request from the master within the defined "Life-Time"
interval ("Guarding" error), it considers that a master failure has occurred
("Watchdog" function).
In this case, the corresponding outputs go into fallback mode and the slave switches
back into "Pre-Operational" mode.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
An unexpected change in state to "Pre-Operational" mode may occur when the
slave does not successfully detect the master’s request even though a 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.
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.
"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:
Network state
Stopped
Response in hex.
04H or 84H
Pre-operational
Operational
7FH or FFH
05H or 85H
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CANopen Network Interface
The "Heartbeat" Error Monitoring Protocol
Operation of
"Heartbeat"
Mechanism
The default monitoring method is "Node-Guarding". If a non-zero value is written in
the object 1017H, the "Heartbeat" mechanism is used.
If the Heartbeat error monitoring protocol is selected, the producer transmits a
"Heartbeat" message periodically, depending on the "Producer Hearbeat Time"
parameter.
The devices responsible for monitoring this message ("Heartbeat Consumer")
generate a "HeartBeat" event if the message is not received in the configured time
("Consumer Heartbeat Time").
Note: The simultaneous use of both monitoring methods, "Guarding" and
"Heartbeat", is impossible. Should both methods be activated at once, the
equipment will only use the "Heartbeat" monitoring method.
Meaning of
Possible Values
The "Heartbeat" message indicates that the device status is one byte long and is
formatted as follows:
The most significant bit is reserved and always has a value of 0
The 7 least significant bits provide the status for the device producing the
"Heartbeat" message.
The possible values are as follows:
Status of the "Heartbeat
Producer"
Value (Decimal)
Boot-Up
0
Stopped
4
Operational
Pre-Operational
5
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CANopen Network Interface
4.3
Behavior of FTB CANopen Splitter boxes
Presentation
Introduction
This section addresses the different behavior patterns of the Advantys FTB
CANopen IP67 splitter and the saving of different parameters.
What's in this
Section?
This section contains the following topics:
Topic
Page
67
Behavior at Power-up
Behavior in the Case of Communication Error
Saving / Restoring Parameters
List of Saved Parameters
68
69
70
66
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CANopen Network Interface
Behavior at Power-up
Description
The behavior of the Advantys FTB 1CN splitter box at power-up is in compliance
with the "CANOPEN BOOT-UP (see CANopen "Boot-Up", p. 53)" Diagram.
If a back-up configuration exists
Where a save has been carried out, the saved parameters are applied prior to
switching to "Pre-Operational" status.
If a back-up configuration does not exist
If there is no back-up configuration, the Advantys FTB splitter box initializes the
CANopen data with the default parameters.
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CANopen Network Interface
Behavior in the Case of Communication Error
Description
In the event of a communication error detected by one of the error monitoring
protocols ("Node-Guarding" or "Heartbeat"), fallback values are applied physically
on the outputs until the next write of the output command object and when the
communication error has disappeared.
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CANopen Network Interface
Saving / Restoring Parameters
Management of
Saved
Parameters
During initial power up, the Advantys splitter box is initialized with the default
parameters. During subsequent power ups, it is initialized with the saved
parameters.
Note: When the master detects the presence of the splitter box on the network, the
are overwritten.
Updating Default
Parameters
Saved parameters are only applied once the speed on the Advantys splitter box has
been detected.
Saving and
Resetting
Parameters
The back-up of parameters is performed by writing a signature to the object 1010H
(see Object 1010H: Store Parameters, p. 146) These parameters will be used during
the next start-ups.
Saved parameters are reset with the default values by writing a signature in the
object 1011H (see Object 1011H: Restore Default Parameters, p. 148).
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.
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
The splitter box must be switched to the "Pre-Operational" state to save its
configuration. The saving process takes 1 to 2 seconds. If the save takes place in
the "Operational" state, the outputs will not be updated during the saving process.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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CANopen Network Interface
List of Saved Parameters
Communication
Profile Objects
The objects that are saved or reused on start-up are as follows:
1005H : COB-ID SYNC Message
1006H : Communication Cycle Period
100CH : Guard Time
100DH : Life Time Factor
1014H : COB-ID Emergency Message (EMCY)
1016H : Consumer Heartbeat Time
1017H : Producer Heartbeat Time
1400H...1405H : Receive PDO Communication Parameters
1600H...1605H : Receive PDO Mapping Parameters
1800H...1805H : Transmit PDO Communication Parameters
1A00H...1A05H : Transmit PDO Mapping Parameters
Discrete I/O
Configuration
Objects
The discrete I/Os configuration objects are as follows:
2000H : Input / Diag Parameter
2001H : Input / Output Parameter
6102H : Polarity Inputs
6103H : Filter Constant Input 16 Bits
6200H : Write Outputs 8 Bits
6300H : Write Outputs 16 Bits
6302H : Polarity Outputs 16 Bits
6306H : Fallback Mode 16 Bits
6307H : Fallback Value 16 Bits
6308H : Filter Mask Outputs 16 Bits
DANGER
RISK OF UNINTENDED EQUIPMENT OPERATION
Check the contents of objects 6200H and 6300H before switching the product in
"Operational" state. Output write objects 6200H and 6300H are saved. Following
power up, the switch to "Operational" state will apply to the saved output values.
Failure to follow this instruction will result in death or serious injury.
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Application-Specific Functions
5
Presentation
Introduction
The FTB splitter box offers discrete input, output and diagnostics channels and
configurable input or output channels, depending on its version. This following
chapter describes the operating modes for these different channels.
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
72
List of Objects
Description of the Discrete Inputs
74
75
76
78
81
85
87
Description of Discrete Outputs
Description of Configurable Discrete I/Os
List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects
List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects
List of Advantys FTB 1CN16EP0 and FTB 1CN16EM0 Splitter Box I/O Objects
List of Advantys FTB 1CN16CP0 and FTB 1CN16CM0 Splitter Box I/O
Objects
List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects
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Application-Specific Functions
List of Objects
List of
Communication
Objects
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
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List of
The manufacturer-specific profile objects are listed in the following table:
Manufacturer-
specific Profile
Objects
Object
Object 2000H: Input / Diag Parameter, p. 172
Object 2001H: Input/Output Parameter, p. 173
List of Device
Profile Objects
Object
Object 6000H: Read Inputs 8 Bits, p. 176
Object 6100H: Read Input 16 Bits, p. 177
Object 6102H: Polarity Input, p. 178
Object 6103H: Filter Constant Input 16 Bits, p. 179
Object 6200H: Write Outputs 8 Bits, p. 180
Object 6300H: Write Outputs 16 Bits, p. 181
Object 6302H: Polarity Outputs 16 Bits, p. 182
Object 6306H:Fallback Mode 16 Bits, p. 183
Object 6307H: Fallback Value 16 Bits, p. 184
Object 6308H: Filter Mask Output 16 Bits , p. 185
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Application-Specific Functions
Description of the Discrete Inputs
Discrete Inputs
Input reading made per byte. Each input byte is contained in the sub-index of object
6000H.
For each input, the following parameters may be modified:
Polarity (object 6102H)
Filtering constant (object 6103H)
The 2000H object is used to configure inputs 10 to 17 as a discrete input or a
diagnostics input.
The state displayed on the inputs is determined by the configuration registers as
described below:
SWITCH
IF 1H
2000H
{OH,1H}
Filter
Constant
Single
Digital
Input
OPTIO-
NAL
FILTER
6103H
{OH,1H}
Diag
Input
{OH,1H}
ENTRY
into
6000H
6100H
CHANGE
POLAR-
ITY
{OH,1H}
{EH,DH}
6102H
Polarity Input
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Application-Specific Functions
Description of Discrete Outputs
Discrete Outputs The discrete outputs are controlled by a command in the sub-index of object 6200H.
For each output, the following parameters may be modified:
Polarity (object 6302H)
Filter mask (object 6308H)
In the event of an error (loss of communication with the master for example), the
fallback mode is applied.
The state of the output is determined by the configuration registers as described
below:
Filter
Mask
Change
Polarity
6302H
6308H
{E,D}
{E,D}
{O,1}
OPTIO-
NAL
FILTER
CHANGE
POLAR-
ITY
{O,1}
ENTRY
into 6200H
6300H
{O,1}
{O,1}
Single
Digital
Output
Fallback Mode
6306H
SWITCH
IF 0H
Switch if
Device
Failure
{OH,1H}
Fallback Value
6307H
{O,1}
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Application-Specific Functions
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:
Filter
Mask
Change
Polarity
6302H
6308H
{E,D}
{E,D}
{O,1}
OPTIO-
NAL
FILTER
CHANGE
POLAR-
ITY
{O,1}
ENTRY
into 6200H
6300H
{O,1}
{O,1}
Single
Digital
Output
Fallback Mode
6306H
SWITCH
IF 0H
Switch if
Device
Failure
{OH,1H}
Fallback Value
6307H
{O,1}
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Application-Specific Functions
Channel
Configured for
Discrete Input
Input reading made per byte. Each input byte is contained in the sub-index of object
6000H.
For each input, the following parameters may be modified:
Polarity (object 6102H)
Filtering constant (object 6103H)
The 2000H object is used to configure inputs 10 to 17 as a discrete input or a
diagnostics input.
The state displayed on the inputs is defined by the configuration registers as
described below:
SWITCH
2000H
IF 1H
{OH,1H}
Filter
Constant
Single
Digital
Input
OPTIONAL
FILTER
{OH,1H}
6103H
Diag
Input
{OH,1H}
{OH,1H}
CHANGE
POLARITY
ENTRY into
6000H
6100H
{EH,DH}
6102H
Polarity Input
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Application-Specific Functions
List of Advantys FTB 1CN08E08SP0 Splitter Box I/O Objects
List of FTB
1CN08E08SPO
Input Objects
The list of input objects for the Advantys FTB 1CN08E08SP0 splitter box is given in
the following table:
Object 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
2
1
Bit 0
...
Not assigned
...
Bit 7
Bit 0
...
Not assigned
Reading of channel 10 input
...
Bit 7
Bit 0
...
Reading of channel 17 input
6100H
6102H
6103H
Not assigned
...
Bit 7
Bit 8
...
Not assigned
Reading of channel 10 input
...
Bit 15
Bit 0
...
Reading of channel 17 input
1
Not assigned
...
Bit 7
Bit 8
...
Not assigned
Polarity of channel 10
...
Bit 15
Bit 0
...
Polarity of channel 17
Not assigned
...
1
Bit 7
Bit 8
...
Not assigned
Channel 10 masking
...
Bit 15
Channel 17 masking
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Application-Specific Functions
Note: All the objects are 16-bit word tables except for 2000H and 6000H.
Sub-index 1 of object 6000H corresponds to the 6100H (pin 4) object's least
significant byte
Sub-index 2 of object 6000H corresponds to the 6300H (pin 2) object's most
significant byte.
Object 2000H, read by byte, concerns channels 10 to 17 only (pin 2).
List of FTB
1CN08E08SP0
Output Objects
The list of output objects for the Advantys FTB 1CN08E08SP0 splitter box is given
in the following table:
Object Sub-
index
Bit
Description
6200H
6300H
1
1
Bit 0
...
Writing of channel 0 output
...
Bit 7
Bit 0
...
Writing of channel 7 output
Writing of channel 0 output
...
Bit 7
Bit 8
...
Writing of channel 7 output
Not assigned
...
Bit 15
Bit 0
...
Not assigned
6302H
1
Polarity of channel 0 output
...
Bit 7
Bit 8
...
Polarity of channel 7 output
Not assigned
...
Bit 15
Bit 0
...
Not assigned
6306H
1
Fallback mode of channel 0 output
...
Bit 7
Bit 8
...
Fallback mode of channel 7 output
Not assigned
...
Bit 15
Not assigned
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Application-Specific Functions
Object Sub-
Bit
Description
index
6307H
1
Bit 0
...
Fallback value of channel 0 output
...
Bit 7
Bit 8
...
Fallback value of channel 7 output
Not assigned
...
Bit 15
Bit 0
...
Not assigned
6308H
1
Masking of channel 0 output
...
Bit 7
Bit 8
...
Masking of channel 7 output
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.
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Application-Specific Functions
List of Advantys FTB 1CN12E04SP0 Splitter Box I/O Objects
List of FTB
1CN12E04SP0
Input Objects
The list of input objects for the Advantys FTB 1CN12E04SP0 splitter box is given in
the following table:
Object 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
Bit 4
...
Reading of channel 3 input
Not assigned
...
Bit 7
Bit 8
...
Not assigned
2
1
Reading of channel 10 input
...
Bit 15
Bit 0
...
Reading of channel 17 input
6100H
Reading of channel 0 input
...
Bit 3
Bit 4
...
Reading of channel 3 input
Not assigned
...
Bit 7
Bit 8
...
Not assigned
Reading of channel 10 input
...
Bit 15
Reading of channel 17 input
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Application-Specific Functions
Object Sub-
Bit
Description
index
6102H
1
Bit 0
...
Polarity of channel 0
...
Bit 3
Bit 4
...
Polarity of channel 3
Not assigned
...
Bit 7
Bit 8
...
Not assigned
Polarity of channel 10
...
Bit 15
Bit 0
...
Polarity of channel 17
Channel 0 masking
...
6103H
1
Bit 3
Bit 4
...
Channel 3 masking
Not assigned
...
Bit 7
Bit 8
...
Not assigned
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).
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Application-Specific Functions
List of FTB
1CN12E04SP0
Output Objects
The list of output objects for the Advantys FTB 1CN12E04SP0 splitter box is given
in the following table:
Object Sub-
index
Bit
Description
6200H
6300H
6302H
1
Bit 0
...
Not assigned
...
Bit 3
Bit 4
...
Not assigned
Writing of channel 4 output
...
Bit 7
Bit 0
...
Writing of channel 7 output
2
1
Not assigned
...
Bit 7
Bit 0
...
Not assigned
Not assigned
...
Bit 3
Bit 4
...
Not assigned
Writing of channel 4 output
...
Bit 7
Bit 8
...
Writing of channel 7 output
Not assigned
...
Bit 15
Bit 0
...
Not assigned
1
Not assigned
...
Bit 3
Bit 4
...
Not assigned
Polarity of channel 4 output
...
Bit 7
Bit 8
...
Polarity of channel 7 output
Not assigned
...
Bit 15
Not assigned
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Application-Specific Functions
Object Sub-
Bit
Description
index
6306H
6307H
6308H
1
Bit 0
...
Not assigned
...
Bit 3
Bit 4
...
Not assigned
Fallback mode of channel 4 output
...
Bit 7
Bit 8
...
Fallback mode of channel 7 output
Not assigned
...
Bit 15
Bit 0
...
Not assigned
1
Not assigned
...
Bit 3
Bit 4
...
Not assigned
Fallback value of channel 4 output
...
Bit 7
Bit 8
...
Fallback value of channel 7 output
Not assigned
...
Bit 15
Bit 0
...
Not assigned
1
Not assigned
...
Bit 3
Bit 4
...
Not assigned
Masking of channel 4 output
...
Bit 7
Bit 8
...
Masking of channel 7 output
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.
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Application-Specific Functions
List of Advantys FTB 1CN16EP0 and FTB 1CN16EM0 Splitter Box I/O Objects
List of
FTB 1CN16EP0
and
FTB 1CN16EM0
Input Objects
The list of input objects for the Advantys FTB 1CN16EP0 and FTB 1CN16EM0
splitter boxes is given in the following table:
Object 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
2
1
1
1
Bit 0
...
Reading of channel 0 input
...
Bit 7
Bit 0
...
Reading of channel 7 input
Reading of channel 10 input
...
Bit 7
Bit 0
...
Reading of channel 17 input
Reading of channel 0 input
...
6100H
6102H
6103H
Bit 15
Bit 0
...
Reading of channel 17 input
Polarity of channel 0
...
Bit 15
Bit 0
...
Polarity of channel 17
Channel 0 masking
...
Bit 15
Channel 17 masking
Note: All the objects are 16-bit word tables except for 2000H and 6000H.
Sub-index 1 of object 6000H corresponds to the 6100H (pin 4) object's least
significant byte
Sub-index 2 of object 6000H corresponds to the 6300H (pin 2) object's most
significant byte.
Object 2000H, read by byte, concerns channels 10 to 17 only (pin 2).
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Application-Specific Functions
List of
The Advantys FTB 1CN16EP0 and FTB 1CN16EM0 splitter boxes have no outputs.
FTB 1CN16EP0
and
FTB 1CN16EM0
Output Objects
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Application-Specific Functions
List of Advantys FTB 1CN16CP0 and FTB 1CN16CM0 Splitter Box I/O Objects
Configuration
Object 2001H
Object 2001H is used to select the "input" and "output" functions for the 00 to 17
channels as an input or output. Object 2001H: Input/Output Parameter, p. 173.
The table below presents the mapping of object 2001H:
Object Sub-index
Bit
Description
2001H
1
Bit 0
Choice between the "input" function and the "output"
function for channel 0
...
...
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.
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Application-Specific Functions
List of
FTB 1CN16CP0
and
FTB 1CN16CM0
Input Objects
The list of input objects for the Advantys FTB 1CN16CP0 and FTB 1CN16CM0
splitter boxes is given in the following table:
Object
Sub- Bit
index
Description
2000H
1
1
2
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
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 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
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Application-Specific Functions
Object
Sub- Bit
index
Description
Channel 0 polarity if channel 0 configured for input
6102H
1
Bit 0
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).
List of
FTB 1CN16CP0
and
FTB 1CN16CM0
Output Objects
The list of output objects for the Advantys FTB 1CN16CP0 and FTB 1CN16CM0
splitter boxes is given in the following table:
Object Sub-
index
Bit
Description
6200H
1
2
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 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
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
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Application-Specific Functions
Object Sub-
Bit
Description
Channel 0 output polarity if channel 0 configured for output
index
6302H
6306H
1
Bit 0
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
1
1
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
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
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
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Application-Specific Functions
List of Advantys FTB 1CN08E08CM0 Splitter Box I/O Objects
Configuration
Object 2001H
Object 2001H is used to select the "input" and "output" functions for channels 00 to
17 as an input or output. Object 2001H: Input/Output Parameter, p. 173.
The table below presents the mapping of object 2001H:
Object Sub-index
Bit
Description
2001H
1
Bit 0
Choice between the "input" function and the "output"
function for channel 0
...
...
Bit 7
Choice between the "input" function and the "output"
function for channel 7
2
Bit 8
...
Not assigned
...
Bit 15
Not assigned
Note: All objects are read by bytes.
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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
1
2
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
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 0
Channel 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
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Object Sub-
index
Bit
Description
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).
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Application-Specific Functions
List of FTB
1CN08E08CM0
Output Objects
The list of output objects for the Advantys FTB 1CN08E08CM0 splitter box is given
in the following table:
Object Sub-
index
Bit
Description
6200H
6300H
6302H
6306H
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
1
Bit 8
...
Not assigned
...
Bit 15
Bit 0
Not assigned
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
Bit 0
Not assigned
1
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
Bit 0
Not assigned
1
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
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Object Sub-
index
Bit
Description
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
Bit 0
Not assigned
6308H
1
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
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Software Tools
6
Presentation
Introduction
This chapter deals with Advantys FTB CANopen splitter software installation.
This chapter contains the following sections:
What's in this
Chapter?
Section
6.1
Topic
Page
99
Introduction to Software Tools
Product Configuration
Network Configuration
PLC Programming
6.2
101
107
114
6.3
6.4
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Software Tools
6.1
Introduction to Software Tools
Introduction
General
The products in the Advantys range must be configured to be able to operate
correctly on the network. There are three stages in the configuration process:
Configuration of the Advantys devices and the desired parameters.
Configuration of the network (master and slaves).
PLC setup and programming: I/O, startup of the network and subsequent use.
Note: For more information, please consult the appropriate documentation for the
other network devices that may be required, the Advantys Configuration Tool
online help (FTX ES 0•), the PLC manual etc.
Software Tools
The software to be used depends on the PLC software workshop. Certain PLC
software workshops can configure the network. The following diagram shows the
software to be used for three Telemecanique PLC software workshops:
M340
Premium
Twido
Advantys
Configuration
Tool
Advantys
Configuration
Tool
Advantys
Configuration
Tool
Device
Configuration
Network
Configuration
Unity
Unity
SyCon
Twido Suite
Twido Suite
PLC setupand
programming
PL7 / Unity
Note: With Twido Suite, Advantys Configuration Tool is run directly by Twido Suite
to create or modify an island.
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Advantys Device
Configuration
The first phase is accomplished by using the Advantys Configuration Tool
(FTX ES 0•). This tool is used to define each Advantys device, to set the parameters
and the functions of the inputs/outputs and to generate the configuration files
required to integrate each device into the master.
Configuration
Files
There are two types of configuration file:
EDS (Electronic Data Sheet) files, which define the structure of the data available
in a splitter box (see the object dictionary).
DCF (Device Configuration File) files which, in addition to the information
contained in an EDS file, also contain settings data (Cf. CiA CAN standard
DS 306).
Note: For further information on EDS file creation, please refer to the user manual
or to the Advantys Configuration Tool online help.
Network
Configuration
This phase may be carried out by a specific software application (e.g. SyCon) or by
certain PLC software workshops (e.g. Unity, Twido Suite...). This phase involves
integrating all devices into the network, and defining the network (master
configuration) so as to create a functional network.
PLC Setup and
Programming
This phase is carried out by the operator, via the PLC software workshop.
Before installing the software, please refer to the relevant manuals.
Software
Installation
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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
102
Characteristics of an EDS File
Existing EDS File for CANopen Advantys FTB Splitter Box
Creating a New EDS and DCF Configuration File
103
104
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Characteristics of an EDS File
Description
The EDS file describes all configurable objects for CANopen products. These
configurable objects are used to identify the product and specify the appropriate
behavior. The parameters of an EDS file contain all the important information
relating to the product. For example:
The product type
The manufacturer
The identification of the vendor
The item number
The software version
The hardware version
The details of all the configurable objects
etc.
Each EDS file is specific to a product type and cannot be re-used on other products
as this will result in the incorrect I/O configuration. It is up to the user to make sure
that the correct EDS file is used.
An EDS file can be recognized by its ".eds" extension. Each EDS file is associated
with one or more ".dib" image files.
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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
FTB 1CN16EP0
FTB 1CN16EM0
FTB 1CN16CP0
FTB 1CN16CM0
FTB 1CN08E08CM0
TEFTB02P01E.eds
TEFTB03P01E.eds
TEFTB03P01E.eds
TEFTB04P01E.eds
TEFTB04MP01E.eds
TEFTB05M01E.eds
TEFTB02P01E_r.dib (run)
TEFTB02P01E_s.dib (stop)
TEFTB02P01E_d.dib (diag)
TEFTB03P01E_r.dib (run)
TEFTB03P01E_s.dib (stop)
TEFTB03P01E_d.dib (diag)
TEFTB03M01E_r.dib (run)
TEFTB03M01E_s.dib (stop)
TEFTB03M01E_d.dib (diag)
TEFTB04P01E_r.dib (run)
TEFTB04P01E_s.dib (stop)
TEFTB04P01E_d.dib (diag)
TEFTB04M01E_r.dib (run)
TEFTB04M01E_s.dib (stop)
TEFTB04M01E_d.dib (diag)
TEFTB05M01E_r.dib (run)
TEFTB05M01E_s.dib (stop)
TEFTB05M01E_d.dib (diag)
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
Do not modify the EDS file manually, and do not use any configuration tools that
have not been approved by Schneider Electric. All modifications must be made
using the Advantys Configuration Tool, or be carried out by qualified Schneider
Electric personnel.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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Software Tools
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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Step
Action
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
3
Building the Island
A browser window appears. A representative model of the island can be built in
this window. At this point, this is an image of an empty 35mm (1.37in) DIN rail.
The catalog browser contains all the references of the catalog selected.
Building the island is a "drag and drop" operation:
Click on the reference in the catalog browser window and, while holding
down the left mouse button, drag the reference over to the DIN rail and drop
it (release the mouse button).
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Step
Action
4
Island Configuration
Once the island has been built, you can set its parameters. The parameters you
need to define will depend on the I/O functions you wish to use.
The islands are configured in the configuration window:
Open the configuration window by double clicking on the island (or by
selecting the island and then the Island/Module Editor menu.
Modify the required parameter(s).
Click OK to save the changes and close the configuration window.
Notes:
The values given in the configuration window define the behavior of the island.
PDOs are configured in such a way as to transport the island process data. The
list of data contained in the PDOs is visible in the I/O Assignment tab of the
configuration window.
5
Saving the Island and Generating an EDS or DCF Configuration File
Select the Save command from the File menu.
The *.ISLisland file is saved.
A Generation window appears.
Click on YES to generate the EDS or DCF configuration file.
The EDS or DCF configuration file is saved.
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Software Tools
6.3
Network Configuration
Setting the Network Parameters
Description
The configuration tool is used to draw diagrams of networks using a graphic
representation of the network nodes. It is then used to generate the complete
configuration of the network that has been drawn.
It provides access to the various configuration parameters and communication
parameters by PDO.
Below is an example of how to use the SyCon configuration tool:
Method
Within the PL7 programming software or Unity, launch the SyCon network tool and
follow the steps below:
Steps
Actions
1
2
Open a CANopen type file.
Click on "File" and select "Copy EDS".
SyCon
File Edit View Insert Online Settings
New
Ctrl+N
Ctrl+O
Open...
Close
Save
Save As…
Ctrl+S
Ctrl+P
Export
Copy EDS
Print...
Print Preview
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
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Steps
Actions
3
Select the file to be imported and click on "Open":
SyCon
File Edit View Insert Online Settings Window Help
?
Copy EDS
?
Look in:
TEST.eds
can config
File name:
File type /
Open
Cancel
“TEST.EDS”
EDS Files (*.eds)
4
Click on "Yes" to import the 3 associated image files.
Question
Do you want to import the corresponding bitmap files?
Yes
No
5
If the image files are in the same directory as the EDS file, they are found
automatically:
Note
Imported files:
EDS files
1
Bitmap files
3
OK
Click "OK".
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Steps
Actions
6
Click on "Insert" and select "Node" or click on the associated button.
SyCon
File Edit
Insert
Online Settings Window
Master...
Node...
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:
SyCon
File Edit View Insert Online Settings Window Help
?
Insert Node
CANopen
Node filter
Vendor
OK
Telemecanique
All
Cancel
Profile
Available devices
Selected devices
TEST
Lexium05
LEXIUM17D
Osicoder
OPTB 1C0DM9LP
PreventaXPSMC ZC
STB NCO 1010
STB NCO 2212
TEST
Add >>
Add All >>
<< Remove
<< Remove All
Vendor name
Product number
Product version
Product revision
File name
Telemecanique
Node ID (address)
2
90157
Description
Node2
No entry
No entry
TEST.EDS
1
EDS Revision
Note: The name given in the list is the "comment associated with
communication block" defined with CANConfig.
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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
?
Node configuration
OK
Node
TEST
Node address
2
CANopen
Cancel
Node2
Designation
Configuration Protocol
Control Error
TEST.EDS
Node BootUp
OPC Objects
File name
Activate node in current configuration
Emergency COB-ID
Nodeguard COB-ID
129
1793
Automatic COB-ID allocation in accordance with
Profile 301
Object
Configuration
Device profile 401 Device type Analog input, Digital output, Input
Actual node
Predefined Process Data Objects (PDOs) from EDS file
Obj.Idx.
PDO name
Enable
1 / Osicoder
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)
PDO mapping method
DS301 V4
Add to configured PDOs
Configured PDOs
COB-IDI Type I Addr.Ilen. O Type O Addr. Olen.
PDO name Symbolic Name
PDO Contents Mapping
PDO Characteristics
New receive PD
Transmit PDO PDO_1800 385
Transmit PDPDO_1801 641
Transmit PDO P_1802 897
IB
IB
IB
0
0
0
0
0
0
2
1
0
0
0
0
Transmit PDO PDO_1803 1153 IB
Transmit PDO PDO_1804 1664 IB
Transmit PDO PDO_1805 1664 IB
New transmit PDO
Delete configured PDO
Symbolic Names
Configuration
Press F1 for Help
CANopen
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Step
Action
3
Select the required transmission mode and click OK:
Node Transmit PDO Characteristics, Master Input Data
Transmission Mode
OK
Node shall use a synchronization message as trigger to send the transmit PDO cyclically.
Node has to send the transmit PDO every
10
received synchronization message.
Node shall use a synchronization message as trigger to send the transmit PDO when
remote requested by the master.
Node shall send the transmit PDO when remote requested by master.
Transmission type of transmit PDO manufacturer specific.
Transmission event of transmit PDO defined in the device profile.
CANopen specific transmission type
255
Communication Timer Node
Event timer
Inhibit time
0
0
ms
ms
CANopen Master Remote Request Condition
Every
master cycle interval (request slow down).
0
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
Settings
Process Data Auto Addressing
OK
Automatic addressing
Cancel
COB-ID Allocation during PDO insertion
Automatic Addressing in accordance with Profile 401
Manual addressing
Otherwise, go directly to step 6.
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Step
Action
5
Enter the required values in the "I Addr" and "O Addr" boxes opposite the
activated PDO.
Node Configuration
OK
Node
TEST
Node address
2
Cancel
Node2
Designation
Configuration Protocol
Control Error
TEST.EDS
Node BootUp
OPC Objects
File name
Activate node in current configuration
Emergency COB-ID
Nodeguard COB-ID
129
1793
Automatic COB-ID allocation in accordance with
301
Device profile 401 Device type
Object
Configuration
Analog input, Digital output, Input
Predefined Process Data Objects (PDOs) from EDS file
Obj.Idx.
Actual node
PDO name
Enable
1 / Osicoder
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)
PDO Mapping method
DS301 V4
Add to configured PDOs
Configured PDOs
I Type I Addr.Ilen. O Type O Addr.
COB-ID
PDO name Symbolic Name
Olen.
PDO Contents Mapping
PDO Characteristics
New receive PDO
Transmit PDO PDO_1800 385
Transmit PDO PDO_1801 641
Transmit PDO PDO_1802 897
IB
IB
IB
0
0
0
0
0
0
2
0
0
0
0
Transmit PDO PDO_1803 1153 IB
Transmit PDO PDO_1804 1664 IB
Transmit PDO PDO_1805 1664 IB
New transmit PDO
Delete configured PDO
Symbolic Names
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Step
Action
6
Click on "Object Configuration":
Node Configuration
OK
Node
TEST
Node address
2
Cancel
Node2
Designation
Configuration Protocol
Control Error
TEST.EDS
Node BootUp
OPC Objects
File name
Activate node in current configuration
Emergency COB-ID
Nodeguard COB-ID
129
1793
Automatic COB-ID allocation in accordance with
Profile 301
Object
Configurati
Analog input, Digital output, Input
Device profile
Device type
401
Object Configuration
Predefine
OK
2
Node
TEST
Node addr.
Obj.Idx.
P
Designation Node2
Cancel
1800 T
1801 T
Predefined supported objects in the EDS file
Access Filter
1802 T
Access
Obj. Idx. Sub. Idx. Settings
Default value
20196
All
1803 T
1000 Device Type
0
Read only
1804 T
1001 Error Register
0
(no default value) Read only
1805 T
Decimal
Read only
1002
Configure
0
Manufacturer Status Register
0
1003
Pre-Defined Error Field
0
Number of errors
0
Read/Write
PDO nam
80
Re
ad/
Transmit P10050COB-ID SYNC
Add to Configured Objects
Transmit P
Transmit P
tar
tu
p
s
eq
u
ence
Configured objects automatically written during node s
Transmit P
Obj. Idx.
Transmit PSub. Idx. Settings
Dialog
Selected value
Transmit P10161ConsumerHeartbeat Time
7F012C
C8
X
1017
1800
1800
0
1
2
Producer Heartbeat Time
X
COB-ID
181
X
Transmission type
FF
X
1800
1800
3
5
Inhibit Time
Event timer
0
0
X
X
Delete Configured Object
This window is used to configure the default values of the configured objects that
will be sent to the device the next time the node is powered up.
For further information on the various objects see The Object Dictionary, p. 131
7
8
Select the objects to be sent to the device, click on "Add to Configured Objects"
then click OK.
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.).
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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
115
Integration and Use under PL7
Examples of SDO Requests
120
114
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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]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL 1
CANopen
TSX CCP 100-110 CAN OPEN PCMCIA CARD
MAST
Bus startup
Inputs
Outputs
Maintain
Reset
Automatic
No. of words (%MW)
Index of 1st %MW
500
No. of words (%MW)
Index of 1st %MW
500
Semi-automatic (bus only)
By program
1000
1500
Configuration loading mode
Select Database
Watchdog
D:\document\QSF\CanOpen\travail\pro
Enabled
Open
?
Configuration
Look in:
conf can
PL7
ana
Transmission Speed
COB-ID Message SYNC
SYNC Message Period
Auto-Clear
speeds ftm_I
ana.co
island_v0_01.co
island_v0_03.co
island_v0_04.co0_04.co
File name:
File type:
Open
Cancel
island_v0_04.co
CANopen FILE (*.co)
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Steps
Actions
2
Complete the fields of the "Input" boxes (input data exchange area) and
"Output" boxes (output data exchange area):
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CHANNEL 1
CANopen
TSX CCP 100-110 CAN OPEN PCMCIA CARD
MAST
Bus startup
Automatic
Inputs
Outputs
Maintain
Reset
No. of words (%MW)500
No. of words (%MW) 500
Index of 1st %MW 1700
Semi-automatic (bus only)
By program
Index of 1st %MW 1200
Configuration loading mode
Select Database
Watchdo
D:\document\QSF\CanOpen\travail\pro
5223 words
Enabled
Disabled
Configuration size
PL7
SyCon
Transmission Speed
COB-ID Message SYNC
SYNC Message Period
Auto-Clear
1 Mbits/s
SyCon Tool
128
1000 ms
0
Bus configuration
116
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Steps
Actions
3
Click on the "Bus Configuration" button:
TSX 57353 [RACK 0 POSITION 1]
Configuration
Designation: TSX P 57353 PROCESSOR
CHANNEL 1:
CANopen bus configuration
CHANNEL
CANopen
CANopen slaves
Inputs
Add
000
000
000
000
Device Name
Act. Life T.
Parameter
%MW1200
%MW1201
Symbol
Symbol
APP-1CCO2
1
0
0
400
400
400
400
400
400
400
400
400
Bus startup
FTM 1CN10
FTM 1CN10
%MW1202
%MW1203
Automatic
0
FTM 1CN10
Outputs
Semi-automatic
001
REFERENCE
1
1
002 FTB 1CN12E04SP0
003 FTB 1CN08E08SP0
By program
1
1
1
1
0
Parameter
004
FTB 1CN16CP0
FTM 1CN10
FTM 1CN10
%MW1700
Configuration loadin
009
%MW1701
Select D009
009
400
400
%MW1702
%MW1703
FTM 1CN10
Con
CANopen device details
PL7
Device Name : REFERENCE
Transmission Sp
Vendor Name: Telemecanique
COB-ID Messag
Total
Description:
TEST
No. of slaves
No. Input %MW
No. Output %MWs
SYNC Message
0011
COB-ID:
EMCY= 224, TxPDO= 768
83
113
Auto-Clear
Close
Bus confration
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).
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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]
Debugging
Designation: TSX P 57353 PROCESSOR Version: 5.0
DIAG…
CHANNEL 1:
CHANNEL 1
CANopen
TSX CCP 100-110 CAN OPEN PCMCIA CARD
MAST
DIAG…
CANopen slave status
Slave data
Inputs
Addr.
000
000
000
000
001
Device Name
Act. Life T.
Parameter
%MW1210
%MW1212
%MW1213
Symbol
Value
APP-1CCO2
FTM 1CN10
FTM 1CN10
FTM 1CN10
REFERENCE
1
0
0
0
1
1
1
1
1
1
0
400
400
400
400
400
400
400
400
400
400
400
8
0
0
Output value
Base
002 FTB 1CN12E04SP0
003 FTB 1CN08E08SP0
004
009
009
009
Bin
Dec
Hex
OK
FTB 1CN16CP0
FTM 1CN10
FTM 1CN10
FTM 1CN10
Outputs
Parameter Symbol
%MW1712
%MW1713
Value
0
0
Slave information
Node 10: Status=08h, AddInfo=0001h, Profile=401, NodeStat
Total
No. of slaves
Request to be sent
No. Input %MW
No. Output %MWs
Received response
Enter request
0011
83
113
118
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Step
Action
Complete the fields:
2
Request: "Write SDO" or "Read SDO"
Node: address of the device on the CANopen network
Index: index of the object to read or write
Sub-index: sub-index of the object to read or write
Value: entry area for the data to be sent, for write only
Click "Send".
Here is an example of how to configure the Inhibit Time to 1000 ms:
Enter CANopen Request
Request:
Node:
Write SDO
1
Index:
16#
16#
16#
1800
3
Sub-index:
10 27 00 00
Value:
(120 bytes max.)
Send
Cancel
The value "10 27 00 00" corresponds to the number 2710 in hexadecimals, which
is 1000 ms (see Inhibit Time and Event Timer, p. 60).
3
After a "Read SDO", read the value given in the "Received response" area in the
bottom-right of the debug screen:
Slave information
Node 10: Status=08h, AddInfo=0001h,
Total
No. of slaves
Request to be sent
No. Input %MW No. Output %MWs
Received response
0011
83
113
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
Variable
Read_sdo
Index
Type
Description
Boolean
Word
Request launch bit.
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
Diag0:120
Status0:4
ADR#y.SYS
‘SDO’
Word
Address of the slave to poll.
Word table
Data exchange area.
Word table
Control and exchange status words.
Master board address.
Immediate value
Character string
Double word
Type of SDO object (SDO always in upper case).
Index_dw
MSB = sub-index.
LSB = index.
Node_Id
Word
Word or value identifying the destination device
on the CANopen bus.
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1000; (*index 1000H*)
Sub_index:=0; (*sub-index 0*)
IF Read_sdo THEN
(*clear control*)
Read_sdo:=FALSE;
(*Parameter update*)
Node_Id:=Slave_add; (*Slave address*)
Diag0:120:=16#FFFF; (*Clear diagnostics receive table*)
Status2:=0; (*Clear exchange report*)
Status3:=6; (*Time-out*)
120
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(*request*)
READ_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:120,Status1:4);
END_IF;
Programmed
SDO Request:
Example 2
This example shows the program for saving parameters with object 1010H. The data
to be sent is contained in the table Diag0:4 (defined below).
Variables used and parameters of the function
Variable
Write_sdo
Index
Type
Description
Boolean
Word
Request launch bit.
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
Diag0:120
Status0:4
ADR#y.SYS
‘SDO’
Word
Address of the slave to poll.
Word table
Data exchange area.
Word table
Control and exchange status words.
Master board address.
Immediate value
Character string
Double word
Type of SDO object (SDO always in upper case).
Index_dw
MSB = sub-index.
LSB = index.
Node_Id
Word
Word or value identifying the destination device
on the CANopen bus.
Program
Slave_add:=2 (*node at address 2 on the CANopen network*)
Index:=16#1000; (*index 1000H*)
Sub_index:=0; (*sub-index 0*)
Diag0:=16#6173; (*'as'*)
Diag0[1]:=16#6576; (*'ev'*)
IF write_sdo THEN
(*clear control*)
write_sdo:=FALSE;
(*Parameter update*)
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Node_Id:=Slave_add; (*Slave address*)
Status2:=0; (*Clear exchange report*)
Status3:=6; (*Time-out*)
(*request*)
WRITE_VAR(ADR#y.1.SYS,'SDO', _
Index_dw,Node_Id,Diag0:4,Status1:4);
END_IF;
122
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Diagnostics
7
Presentation
Introduction
Diagnostics information simplifies installation and accelerates diagnostics
operations.
This chapter provides the information required for analyzing errors and faults. This
analysis is done either by:
LED display or
CANopen object analysis
What's in this
Chapter?
This chapter contains the following topics:
Topic
Page
124
Power Supply Diagnostics
Field Bus Status Diagnostics LED
LED Status Diagnostics for I/O
CANopen Objects Diagnostics
Behavior in the Event of Short-circuit / Overload / Under-voltage
125
126
127
130
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Diagnostics
Power Supply Diagnostics
Description
The power supply status for the splitter, actuators and sensors is displayed on the
splitter box's front panel, by the DO and DI POWER LEDs as indicated in the
following diagram (on the left: Plastic unit, on the right: Metal unit).
D0 DI
PWR
D0 DI
PWR
RUN ERR
RUN ERR
The color of the LED depends on the power supply status, as indicated in the
following table:
LED
Description
LED status
Off
DI PWR
Sensor and splitter power supply is unavailable
Power supply for sensor and splitter OK
Undervoltage in sensor and splitter power supply
Actuator power supply unavailable
Actuator power supply is OK
Green
Red
DO PWR
Off
Green
Red
Under-voltage in actuator power supply
124
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Diagnostics
Field Bus Status Diagnostics LED
Description of
the Display
The CANopen DR 303-3 standard defines the functions of the RUN and ERR LEDs
(on the left: Plastic unit, on the right: Metal unit):
D0 DI
PWR
D0 DI
PWR
RUN ERR
RUN ERR
ERR LED
BUS status
Description
LED status
Auto-Baud
Automatic search for transmission speed in
progress
Rapid flashing
No error
Device is operating normally (OK)
Off
Warning limit
reached
One of the internal error counters has
reached the limit threshold (Error frame)
1 flash
Error control
event
Guarding (slave or master) or Heartbeat
(user) error
2 flashes
Synchronization
error
SYNC signal not received in the SYNC period 3 flashes
Bus is de-
activated
Splitter status: Bus off
Permanently switched
on
RUN LED
BUS status
Auto-Baud
Stop
Description
LED status
Automatic recognition of transmission speed Rapid flashing
Device status: Stopped
1 flash
Pre-operational
Operational
Device status: Pre-Operational
Device status: Operational
Slow flashing
Permanently switched
on
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Diagnostics
LED Status Diagnostics for I/O
Status LED for I/
Os on the M12
Connectors
One LED is associated with each splitter channel. The LED status depends on the
channel configuration and its level (0 or 24 VDC).
The following figure shows the DEL addressing which correspond to the I/Os for
plastic units (on left) and metal units (on right):
1
Element
Function
1
2
3
4
LED
LED number on the plastic unit
Pin number displayed on the metal unit
Connector number for the metal unit
LED Behavior
LED Behavior according to Settings and Channel Status
Channel configuration
Input voltage
0 VDC
Logical value
LED status
Off
Input closing function
0
1
-
24 VDC
Yellow
Red
Channel error
0 VDC
Input opening function
1
0
-
Off
24 VDC
Yellow
Red
Channel error
0 VDC
Input diagnostics
Output
1
0
0
1
-
Red
24 VDC
Off
0 VDC
Off
24 VDC
Yellow
Red
Channel error
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Diagnostics
CANopen Objects Diagnostics
Description
When an error is detected by the FTB splitter box, the following objects are updated.
The object 1001H, Error Register displays the generic errors. See Objects
dictionary (see Object 1001H: Error Register, p. 136)
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 Channel 10 to Channel 00 to Manufacturer
d
-
17 diagnostics 07 diagnostics 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.
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Diagnostics
Error Codes
(EMCY bytes
0&1)
The table below lists the error codes and their meanings:
Error
code
Diagnostics
Description
0000H
1000H
2100H
ERROR_RESET_OR_NO_ERROR
GENERIC_ERROR
Clearing of one, or all, errors
Internal communication error
CURRENT_DEVICE_INPUT_SIDE
Detector power supply short-circuit
(M12 connector)
2320H
3100H
3120H
3310H
3320H
6101H
SHORT_CIRCUIT_AT_OUTPUTS
MAINS_VOLTAGE
Output short-circuit
Splitter power supply voltage < 18V
Sensor power supply voltage < 18V
Actuator power supply voltage > 30V
Actuator power supply voltage < 18V
INPUT_VOLTAGE_TOO_LOW
OUTPUT_VOLTAGE_TO_HIGH
OUTPUT_VOLTAGE_TO_LOW
SOFTWARE_RX_QUEUE_OVERRUN The receive buffer has exceeded its
internal memory capacity
6102H
8100H
SOFTWARE_TX_QUEUE_OVERRUN The transmit buffer has exceeded its
internal memory capacity
COMMUNICATION
Synchronization, transmit/receive error
counter > 96
8120H
8130H
8140H
CAN_IN_ERROR_PASSIVE_MODE
LIFE_GUARD_ERROR
BUS_OFF
CAN controller interrupted
Node-Guarding error
The transmit error counter has
exceeded its capacity
9000H
F000H
EXTERNAL_ERROR
Detection of wire cut on sensor
Actuator voltage < 12VDC
ADDITIONAL_FUNCTION
128
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Diagnostics
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:
Bit
0
Description
Comments
Generic error
See Object 1003H
See Object 1003H
See Object 1003H
Unchecked
1
Current fault (overload or short-circuit)
Voltage fault
2
3
Temperature
4
Communication error
Reserved
See Object 1003H
Unchecked
5
6
Reserved
Unchecked
7
Specific to the manufacturer
Detection of wire cut on sensor
Channel
Data returned in bytes 5 and 6 is the image of channels with the error defined by
EMCY byte 7 (manufacturer status register):
Diagnostics
(EMCY Bytes 5-6-
7)
Byte
6 (channels 0 to 7)
5 (channels 10 to
17)
7
Contents
Faulty channels
Faulty channels
Types of faults
The following table indicates the assignment of all EMCY byte 7 bits:
Bit
0
Description
Comments
Sensor under voltage
No voltage in sensor
Actuator under voltage
No voltage in actuator
Sensor power supply short-circuit
Actuator short-circuit
Actuator overload
< 18V
1
< 12V
2
< 18V
3
< 12V
4
< 12V
5
only where output is set-up
6
only where output is set-up
-
7
Detection of wire cut on sensor
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Diagnostics
Behavior in the Event of Short-circuit / Overload / Under-voltage
Power Supply for Short-circuit / overload
Splitter Boxes
and Sensors
The following consequences on the FTB splitter box occur when the sensor power
supply experiences a short-circuit or overload:
The diagnostics LED on the corresponding M12 connector lights up red,
corresponding diagnostics data is transmitted to the master via the bus,
all other inputs and outputs will continue to operate correctly.
Disconnecting the M12 connector of the faulty channel results in LED and
diagnostics data re-initialization.
Under-voltage / no voltage
There are three under-voltage detection levels:
12 VDC ≤ U < 18 VDC: in this case, the splitter box still operates, however:
the DI-POWER LED is red,
appropriate diagnostics data is sent to the master via the bus
7 VDC ≤ U < 12 VDC: in this case, the I/Os no longer operate, however bus
communication remains operational:
the DI-POWER LED is switched off,
the relevant diagnostics data is sent to the master via the bus.
U < 7 VDC : in this case, the splitter no longer operates.
Note: Power supply to the sensor and the Advantys FTB splitter box is provided by
the M12 connectors between pins 1 (+24 VDC) and 3 (0 VDC).
Actuators
Short-circuit / overload
The following consequences on the FTB splitter box occur when an output
experiences a short-circuit or overload:
The diagnostics LED on the corresponding M12 connector lights up red,
the output status LED lights up red.
the corresponding diagnostics data is transmitted to the master via the bus.
To be re-activated, a default output must be set to 0 after clearing the error.
Under-voltage / no voltage
There are two under-voltage detection levels:
12 VDC ≤ U < 18 VDC: in this case, the splitter box still operates, however:
the DO-POWER LED is red,
the relevant diagnostics data is sent to the master via the bus.
U < 12 VDC:
the DO-POWER LED switches off,
the relevant diagnostics data is sent to the master via the bus.
130
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The Object Dictionary
8
Presentation
Introduction
This chapter provides a description of the object dictionary, the list of objects
concerning the communication profile, the hardware profile and the specific
manufacturer zone, with a detailed description of each.
What's in this
Chapter?
This chapter contains the following sections:
Section
8.1
Topic
Page
133
The Object Dictionary
8.2
Objects of the Communication Profile 1000H to 1FFFH
Manufacturer-specific Zone Objects 2000H to 5FFFH
Hardware Profile Objects 6000H to 9FFFH
134
171
175
8.3
8.4
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The Object Dictionary
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The Object Dictionary
8.1
The Object Dictionary
The Object Dictionary
Index Ranges
There are three zones in the object dictionary:
Index
Zone
Function
Documentation
(hexadecimal)
1000-1FFF
2000-5FFF
6000-9FFF
Communication
profile zone
Communication
capacities
Objects of the
Communication Profile
1000H to 1FFFH , p. 134
Manufacturer-
specific zone
Diagnostics information, Manufacturer-specific Zone
some I/O data
Objects 2000H to 5FFFH,
p. 171
Device-specific
profile zone
I/O data
Hardware Profile Objects
6000H to 9FFFH , p. 175
It is possible to map manufacturer-specific and device-specific objects in the PDO
objects, which are then sent via the product.
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The Object Dictionary
8.2
Objects of the Communication Profile 1000H to
1FFFH
At a Glance
Introduction
This section lists the objects relating to the communication profile. Each object, with
all its technical characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
Topic
Page
135
Object 1000H: Device Type
Object 1001H: Error Register
136
137
138
140
141
142
143
144
145
146
148
150
151
152
153
154
155
156
157
159
161
164
167
169
Object 1002H: Manufacturer Status Register
Object 1003H: Pre-defined Error Field
Object 1005H: COB-ID SYNC Message
Object 1006H: Communication Cycle Period
Object 1008H: Manufacturer Device Name
Object 100AH: Manufacturer Software Version (MSV)
Object 100CH: Guard Time
Object 100DH: Life Time Factor
Object 1010H: Store Parameters
Object 1011H: Restore Default Parameters
Object 1014H: COB-ID Emergency Message (EMCY)
Object 1016H: Consumer Heartbeat Time
Object 1017H: Producer Heartbeat Time
Object 1018H: Identity Object
Object 1200H: Server SDO Parameter
Object 1400H: 1st Receive PDO Communication Parameter
Object 1405H: 2nd Receive PDO Communication Parameter
Object 1600H: 1st Receive PDO Mapping Parameter
Object 1605H: 2nd Receive PDO Mapping Parameter
Object 1800H: 1st Transmit PDO Communication Parameter
Object 1805H: 2nd Transmit PDO Communication Parameter
Object 1A00H: 1st Transmit PDO Mapping Parameter
Object 1A05H: 2nd Transmit PDO Mapping Parameter
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The Object Dictionary
Object 1000H: Device Type
Description
This object indicates the device type and its functionalities.
The least significant word indicates the profile number (401 or 191H, for CANopen
standard inputs / outputs).
The most significant word is known as the "additional information" and provides
details of the device's functionalities:
Bit
0
Valid if bit = 1
The device has discrete inputs
The device has discrete outputs
The device has analog inputs
The device has analog outputs
1
2
3
Splitter box
Hexadecimal code Decimal code
FTB 1CN16EP0
FTB 1CN16EM0
FTB 1CN16CP0
FTB 1CN16CM0
FTB 1CN08E08SP0
FTB 1CN08E08CM0
FTB 1CN12E04SP0
010191H
010191H
030191H
030191H
030191H
030191H
030191H
65 937
65 937
197 009
197 009
197 009
197 009
197 009
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description Data type
UNSIGNED32
Default value
Access
PDO Mapping Backed up
no no
-
-
See list
ro
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The Object Dictionary
Object 1001H: Error Register
Description
This object is used by the device to display internal faults. When a fault is detected,
the corresponding bit is therefore activated.
The following faults can be displayed:
Bit
0
Meaning
Comments
Generic error
-
1
Current fault (overload or short- -
circuit)
2
3
4
5
6
7
Voltage fault
-
Temperature
Unchecked
-
Communication error
Reserved
Unchecked
Unchecked
Detection of wire cut
Reserved
Specific to the manufacturer
Characteristics
The characteristics of this object are given in the following FTB splitter box table:
Sub-index
Description
Data type
Default value Access
ro
PDO Mapping Backed up
-
-
UNSIGNED8
-
no
no
136
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The Object Dictionary
Object 1002H: Manufacturer Status Register
Description
The diagnostics data is saved in this 32-bit field.
The least significant word (LSW) contains the error code.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Acces PDO
Backed up
s
Mapping
0
-
UNSIGNED32 80H (see note)
ro
no
no
Note: At initial start-up, channels 10 to 17 are configured as "diagnostics inputs"
by default.
Assignment of
Bits
Note: Bit Values:
0: no fault
1: fault
The following table indicates the assignment of the 32 bit set:
Bit
Meaning
Sensor under voltage < 18V
Notes
0
1
No voltage in sensor < 12V
Actuator under voltage < 18V
No voltage in actuator < 12V
Sensor power supply short-circuit in M12
Actuator short-circuit
2
3
4
5
Only where output is set-up
Only where output is set-up
6
Actuator warning
7
Detection of wire cut
8 to 31
Reserved
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The Object Dictionary
Object 1003H: Pre-defined Error Field
Description
This object is a double word used to store the most recent faults, as well as their
characteristics:
The Error Code is stored to the least significant word.
The sub-index 0 contains the number of stored errors.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default
value
Access PDO Mapping
Backed up
0
Number of stored UNSIGNED8
errors
0
rw
no
no
1
2
Most recent error UNSIGNED32
-
-
ro
ro
no
no
no
no
Second to last
error
UNSIGNED32
...
10
Appearance of a
New Fault
When a new fault appears, the codes already present are moved into the upper level
sub-indexes: the fault in sub-index 1 is moved to sub-index 2, the fault in sub-index
2 is moved to sub-index 3, the fault in sub-index 10 disappears.
Clearing Faults
The fault code history can only be cleared by writing the value 0 in the sub-index 0
of object 1003H.
Note: Clearing a fault does not delete the error code from the Predefined Error
Field (PEF).
Indicating Faults
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).
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The Object Dictionary
Error Code
Meanings
The table below lists the error codes and their meanings:
Error
code
Diagnostics
Meaning
0000H
1000H
2100H
ERROR_RESET_OR_NO_ERROR
GENERIC_ERROR
Clearing of one, or all, errors
Internal communication error
CURRENT_DEVICE_INPUT_SIDE
Sensor power supply short-circuit
(M12 connector)
2320H
3100H
SHORT_CIRCUIT_AT_OUTPUTS
MAINS_VOLTAGE
Output short-circuit
Sensor/splitter box voltage is lower
than approximately 12V
3120H
3310H
3320H
6101H
6102H
8100H
INPUT_VOLTAGE_TOO_LOW
OUTPUT_VOLTAGE_TOO_HIGH
OUTPUT_VOLTAGE_TOO_LOW
SOFTWARE_RX_QUEUE_OVERRUN
SOFTWARE_TX_QUEUE_OVERRUN
COMMUNICATION
Splitter box has detected under-
voltage in the sensor
Splitter box has detected over-
voltage in the actuator
The splitter box has detected under-
voltage in the actuator (see note)
The receive buffer has exceeded its
internal memory capacity
The transmit buffer has exceeded its
internal memory capacity
Synchronization, transmit/receive
error counter > 96
8120H
8130H
8140H
CAN_IN_ERROR_PASSIVE_MODE
LIFE_GUARD_ERROR
BUS_OFF
CAN controller interrupted
Node-Guarding error
The CAN frame error counter has
exceeded its capacity
9000H
F000H
EXTERNAL_ERROR
Detection of wire cut
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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The Object Dictionary
Object 1005H: COB-ID SYNC Message
Description
This object contains the synchronization message identifier.
The characteristics of this object are outlined in the following table:
Object
Characteristics
Sub-index
Description Data type
Default
value
Access PDO
Mapping
no
Backed up
0
-
UNSIGNED32
80H
rw
yes
140
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The Object Dictionary
Object 1006H: Communication Cycle Period
Description
This object describes the time interval between two SYNC signals in microseconds.
This interval must be at least 10 ms with a minimum increment of 1ms. The entry
must be a double word.
If a value between 10,000 and 10,000,000 is entered, the splitter must receive a
SYNC signal within this time interval. If not, it switches to "Pre-Operational" status.
Maximum tolerance is 1% of the configured value. Monitoring of elapsed times starts
when the first SYNC signal is received.
Object
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
-
UNSIGNED32
0
ro
no
no
Note: It is not advisable to use this object as it can create communication errors in
slow speed.
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The Object Dictionary
Object 1008H: Manufacturer Device Name
Description
This object contains the device name.
Object
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description Data type Default value
- STRING See the table below
Access PDO Mapping Backed up
ro no no
0
The default value depends on the splitter box reference:
Splitter box references
FTB 1CN08E08SP0
FTB 1CN12E04SP0
FTB 1CN16EP0
Default values
FTB1CN08E08SP0
FTB1CN12E04SP0
FTB1CN16EP0
FTB 1CN16EM0
FTB1CN16EM0
FTB1CN16CP0
FTB1CN16CM0
FTB1CN08E08CM0
FTB 1CN16CP0
FTB 1CN16CM0
FTB 1CN08E08CM0
(see Splitter Box Inputs and Outputs, p. 12)
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The Object Dictionary
Object 100AH: Manufacturer Software Version (MSV)
Description
This object contains details of the device software version, in the form 'SWxx.yy'.
The characteristics of this object are outlined in the following table:
Object
Characteristics
Sub-index
Description Data type Default
value
Access PDO
Mapping
no
Backed up
0
-
STRING
Depending ro
on the
no
splitter box
version
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The Object Dictionary
Object 100CH: Guard Time
Description
The object 100CH contains the ''Guard-Time'' parameter expressed in milliseconds.
See "Node-Guarding" and "Life-Guarding" Monitoring Protocols, p. 62.
Object
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
-
UNSIGNED16
0
rw
no
yes
Common typical values for the "Guard-Time" parameter lie between 250 ms and 2s.
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The Object Dictionary
Object 100DH: Life Time Factor
Description
This object contains the "Life-Time-Factor" parameter. It is used to calculate the
"Life-Time".
Object
The characteristics of this object are outlined in the table below: "Node-Guarding"
Characteristics
and "Life-Guarding" Monitoring Protocols, p. 62
Sub-index
Description Data type
Default
value
Access PDO
Mapping
no
Backed up
0
-
UNSIGNED8
0
rw
yes
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.
WARNING
RISK OF UNINTENDED DEVICE OPERATION
Set the "Life-Time-Factor" to a minimum value of 2 to prevent any inadvertent
change of state to "Pre-Operational" state. Depending on the I/O configuration, an
inadvertent change of state may result in unintended device operation.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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The Object Dictionary
Object 1010H: Store Parameters
Description
This object is used to store the parameters of the splitter box in backed up memory.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default
value
Acces PDO
Backed up
s
Mapping
0
1
2
Sub-index number
UNSIGNED8
UNSIGNED32
UNSIGNED32
4
-
ro
rw
rw
no
no
no
no
no
no
Store all parameters
Store communication
parameters (1000H–
1FFFH)
-
3
4
Store standardized
application parameters
(6000H–9FFFH)
UNSIGNED32
UNSIGNED32
-
-
rw
rw
no
no
no
no
Store manufacturer-
specific application
parameters (2000H–
5FFFH)
Operation
To save the parameters, the "save" ASCII character string (6576 6173H) must be
written to the corresponding sub-index:
Most significant word Least significant
word
Hex value
65H
e
76H
v
61H
a
73H
s
ISO 8859 (ASCII)
signature
The read result of a sub-index is always 0000 0001H.
146
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Back-up
Behavior
Writing a valid value
The device stores the parameters, and then confirms SDO transmission
(downloading initialization response).
Note: When storage fails, the splitter box returns an Abort SDO Transfer (Abort
Code:0606 0000H).
Writing an invalid value
The device refuses storage and replies with an "Abort SDO Transfer" (Abort
Code:0800 002xH with x=0...F).
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
The splitter box must be switched to the "Pre-Operational" state to save its
configuration. The saving process takes 1 to 2 seconds. If the save takes place in
the "Operational" state, the outputs will not be updated during the saving process.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
Storage Function During read access to an appropriate sub-index, the splitter box transmits
information on its storage function, in the following format:
Bit
32 to 2
1
0
Meaning if bit Reserved The splitter box does not store The splitter box does not store
= 0
parameters autonomously
parameters when it receives a
command
Meaning if bit Reserved The splitter box stores
= 1 parameters autonomously
The splitter box stores
parameters when it receives a
command
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The Object Dictionary
Object 1011H: Restore Default Parameters
Description
This object is used to restore the FTB splitter box's "factory" settings.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default
value
Acce PDO Mapping Backed up
ss
0
1
Sub-index number
UNSIGNED8
UNSIGNED32
4
-
ro
no
no
no
no
Restore all default
parameters.
rw
2
3
4
Restore default
communication
parameters (1000H–
1FFFH).
UNSIGNED32
UNSIGNED32
UNSIGNED32
-
-
-
rw
rw
rw
no
no
no
no
no
no
Restore default
standardized application
parameters (6000H–
9FFFH).
Restore default
manufacturer-specific
application parameters
(2000H–5FFFH).
Operation
To restore the parameters, the "load" ASCII character string (64616F6CH) must be
written to the corresponding sub-index:
Most significant word Least significant
word
ISO 8859
(ASCII)
d
a
o
l
signature
Hex value 64H
61H
6FH
6CH
The read result of a sub-index is always 0000 0001H.
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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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The Object Dictionary
Object 1014H: COB-ID Emergency Message (EMCY)
Description
This object contains the EMCY emergency message identifier.
The characteristics of this object are outlined in the following table:
Object
Properties
Sub-index
Description Data type
UNSIGNED32
Default value
Access PDO Mapping Backed up
0
-
80H + NODE-ID
rw
no
yes
150
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The Object Dictionary
Object 1016H: Consumer Heartbeat Time
Description
This object is used to monitor the communication of another product on the network.
It is particularly used to monitor the master. The value of this object defines the time
interval within which the monitored product must send a Heartbeat message.
The splitter box is designed in such a way that it can only monitor one product at a
time.
The value of this object must be greater than the value of object 1017H of the
monitored product.
The time must be a multiple of 1 ms.
Object
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
yes
0
1
Sub-index
number
UNSIGNED8
UNSIGNED32
1
ro
no
no
Consumer
0
rw
yes
heartbeat time
Content of
Variable
The content of sub-index 1 is as follows:
Bit
31 to 24
23 to 16
15 to 0
Value
0H (Reserved) Address of the monitored splitter Monitoring time in ms
box
If the value of the sub-index is 0, no splitter box is monitored.
"Node-Guarding" and "Life-Guarding" Monitoring Protocols, p. 62
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The Object Dictionary
Object 1017H: Producer Heartbeat Time
Description
This object is used to configure the time interval in ms within which the module must
produce the Hearbeat message.
The default monitoring method of the splitter is "Node Guarding". If a non-zero value
is written in this object the Heartbeat mechanism is used.
Object
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default value Access
0H rw
PDO
Mapping
Backed up
0
-
UNSIGNED16
no
yes
If the Heartbeat error monitoring protocol is selected, the splitter box sends a
Heartbeat message periodically, depending on the "Producer Heartbeat Time"
parameter. The products responsible for monitoring this message (Heartbeat
Consumer) generate a Heartbeat event if the message is not received within the
configured time (Consumer Heartbeat Time) in their object 1016H. "Node-
Guarding" and "Life-Guarding" Monitoring Protocols, p. 62
152
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The Object Dictionary
Object 1018H: Identity Object
Description
This object contains information about the splitter box. It indicates the
manufacturer's CiA identifier (vendor ID), the product code and the splitter box
revision numbers (revision number).
The revision information is coded in two parts:
the major revision part (most significant word) indicates an evolution in CANopen
functionalities,
the minor revision part (least significant word) indicates an evolution in splitter
functionalities only.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access PDO
Mapping
no
Backed up
0
Sub-index
number
UNSIGNED8
3H
ro
no
1
2
Vendor ID
UNSIGNED32
UNSIGNED32
0500 005AH
ro
ro
no
no
no
no
Product code
See the table
below
3
Revision
number
UNSIGNED32
-
ro
no
no
Default Value of
Sub-index 2
The default values of sub-index 2 are given in the table below:
Reference
Object code
9D4FH
E174H
FTB 1CN16EP0
FTB 1CN16EM0
FTB 1CN08E08CM0
FTB 1CN08E08SP0
FTB 1CN12E04SP0
FTB 1CN16CP0
FTB 1CN16CM0
E175H
9D51H
9D50H
CA49H
E176H
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The Object Dictionary
Object 1200H: Server SDO Parameter
Description
This object contains the message identifiers for SDO communication.
The characteristics of this object are outlined in the following table:
Object
Characteristics
Sub-index
Description
Data type
Default value
Access PDO Mapping Backed up
0
Sub-index
number
UNSIGNED8
2H
ro
ro
ro
no
no
no
no
no
no
1
2
Client to
Server
UNSIGNED32
UNSIGNED32
600H + Node ID
580H + Node ID
Server to
Client
154
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The Object Dictionary
Object 1400H: 1st Receive PDO Communication Parameter
Description
This object contains the receive PDO identifier.
The characteristics of this object are outlined in the following table:
Object
Characteristics
Sub-
Description
Data type
Default value
Acces PDO
Backed up
index
s
Mapping
0
1
2
Sub-index number
COB-ID
UNSIGNED8
2H
ro
rw
rw
no
no
no
yes
yes
yes
UNSIGNED32 0000 0200H + Node ID
UNSIGNED8 FFH (255 Dec)
Transmission mode
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Notes
Dec.
Hex.
Cyclic
Acyclic
Synchrono Asynchrono
us
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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The Object Dictionary
Object 1405H: 2nd Receive PDO Communication Parameter
Description
This object contains the receive PDO identifier.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value
Access
PDO
Backed up
Mapping
0
Sub-index
number
UNSIGNED8
2H
ro
no
yes
1
2
COB-ID
UNSIGNED32 0000 0300H + Node-ID
rw
rw
no
no
yes
yes
Transmission UNSIGNED8
mode
FFH (255 Dec)
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Notes
Dec.
Hex.
Cyclic
Acyclic
Synchrono Asynchron
us
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.
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The Object Dictionary
Object 1600H: 1st Receive PDO Mapping Parameter
Description
This object is used to describe the objects that will be transported by the first PDO.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default value Access
PDO Mapping Backed up
0
Sub-index
number
UNSIGNED8
See table
See table
See table
rw
rw
rw
no
no
no
yes
yes
yes
1
2
1st object in
the PDO
UNSIGNED32
UNSIGNED32
2nd object in
the PDO
...
8
Most recent
UNSIGNED32
See table
rw
no
yes
object in PDO
Sub-index
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16 (MSB)
15 to 8
7 to 0 (LSB)
Data
Index number of
object to be
transported
Sub-index number of Length of object to be
object to be
transported
transported
08H
Example
6200H
01H
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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The Object Dictionary
Default Values
The following table gives the default value of object 1600H depending on the splitter
reference:
Product references
Sub-index
Default value
1
FTB 1CN08E08SP0
FTB 1CN08E08CM0
FTB 1CN12E04SP0
0
1
6200 0108H
FTB 1CN16C•0
0
1
2
0
2
6200 0108H
6200 0208H
-
FTB 1CN16E•0
158
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The Object Dictionary
Object 1605H: 2nd Receive PDO Mapping Parameter
Description
This object is used to describe the objects that will be transported by the second
PDO.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index
Description
Data type
Default value Access
PDO Mapping Backed up
0
Sub-index
number
UNSIGNED8
See table
See table
See table
rw
rw
rw
no
no
no
yes
yes
yes
1
2
1st object in
the PDO
UNSIGNED32
UNSIGNED32
2nd object in
the PDO
...
8
Most recent
UNSIGNED32
See table
rw
no
yes
object in PDO
Sub-index
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16 (MSB)
15 to 8
7 to 0 (LSB)
Data
Index number of
object to be
transported
Sub-index number of Length of object to be
object to be
transported
transported
08H
Example
2000H
01H
Note:
The maximum total length of data that can be transported by the PDO is 8 bytes.
By default, the 2nd PDO transports objects 2000H and 2001H for the
configurable splitters.
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The Object Dictionary
Default Values
The following table gives the default value of object 1605H depending on the splitter
reference:
Product references
Sub-index
Default value
1
FTB 1CN08E08SP0
FTB 1CN12E04SP0
FTB 1CN16•0
0
1
2000 0108H
FTB 1CN08E08CM0
0
1
2
0
1
2
3
2
2000 0108H
2001 0108H
3
FTB 1CN16CP0
FTB 1CN16CM0
2000 0108H
2001 0108H
2001 0208H
160
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The Object Dictionary
Object 1800H: 1st Transmit PDO Communication Parameter
Description
This object contains the PDO transmit identifier.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default value
Access PDO
Mapping
no
Backed up
0
Sub-index
number
UNSIGNED8
5H
ro
yes
1
2
COB-ID
UNSIGNED32
0000 0180H + Node ID
FFH (255 dec.)
rw
rw
no
no
yes
yes
Transmission UNSIGNED8
mode
3
4
5
Inhibit Time
Not available
Event Timer
UNSIGNED16
0
0
rw
rw
no
no
yes
yes
UNSIGNED16
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The Object Dictionary
Transmission
Mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Notes
Dec.
Hex.
Cyclic
Acyclic
Synchron Asynchro RTR only
ous
nous
0
0
x
x
Send PDO on first SYNC
message following an
event
1 to 240
1 to F0
x
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
Send PDO on event
(Change of state mode)
Note: For transmission modes corresponding to transfer codes 254 and 255, the
events that trigger a TPDO transmission are:
modification of transported data status,
the Event Timer has elapsed.
COB-ID
The structure of a COB-ID for CAN2.0 is shown in the following table:
Structure
Bit No.
Value
Meaning
31 (MSb)
0
1
0
1
0
0
X
The PDO object exists
The PDO object does not exist
RTR mechanism authorized
RTR mechanism not authorized
11-Bit ID (CAN 2.0A)
if bit 29 = 0
30
29
28 - 11
10 - 0 (LSb)
Bit 10 - 0 of the identifier
162
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The Object Dictionary
Inhibit Time
(Sub-index 3)
In the case of PDO transmission (Transmit PDO), the Inhibit Time can be entered in
this 16-bit field. After data has been changed, the PDO sender checks that an Inhibit
Time has expired since the last transmission. A new PDO transmission can only
take place if the Inhibit Time has expired. The Inhibit Time is useful for asynchronous
transmission (transmission mode 255), to avoid overloads on the CANopen bus.
The "Inhibit Time" is a multiple of 100 μs of the value written in sub-index 3 of objects
1800H and 1805H.
The following table gives some examples of values.
Value
Dec.
Inhibit Time in ms
Hex.
0000
0064
03E8
1388
2710
FFFF
0000
100
0
10
1000
5000
10000
65535
100
500
1000
6553.5
Event Timer
(Sub-index 5)
The Event Timer only works in asynchronous transmission mode (transmission
mode 255). If data changes before the Event Timer expires, a TPDO is sent. If a
value higher than 0 is written in the 16-bit field, the TPDO is sent after the Event
Timer expires. The value written in sub-index 5 of objects 1800H and 1805H
corresponds to the Event Timer in milliseconds. The data transfer takes place even
if there is no change to data.
The following table gives some examples of values.
Value
Dec.
Event Timer in ms
Hex.
0000
0064
03E8
1388
2710
FFFF
0000
100
0
100
1000
5000
10000
65535
1000
5000
10000
65535
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The Object Dictionary
Object 1805H: 2nd Transmit PDO Communication Parameter
Description
This object contains the Transmit PDO identifier.
Properties
Sub-index
The characteristics of this object are outlined in the following table:
Description
Data type
Default value
Acces PDO
Backed up
s
Mapping
0
Sub-index
number
UNSIGNED8
05H
ro
no
yes
1
2
COB-ID
UNSIGNED32
0000 0280H + Node ID
FFH (255 Dec
rw
rw
no
no
yes
yes
Transmission UNSIGNED8
mode
3
4
5
Inhibit Time
Not available
Event Timer
UNSIGNED16
0
0
rw
rw
no
no
yes
yes
UNSIGNED16
164
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The Object Dictionary
Transmission
mode
The PDO transmission mode can be configured as described in the table below.
Transfer code
Transmission mode
Notes
Dec.
Hex.
Cyclic
Acyclic
Synchrono Asynchron RTR only
us
ous
0
0
x
x
Send PDO on first
SYNC message
following an event
1 to 240
1 to F0
x
x
x
Send PDO every x
SYNC messages
241 to 251
252
F1 to FB Reserved
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
Send PDO on event
(Change of state
mode)
Note: For transmission modes corresponding to transfer codes 254 and 255, the
events that trigger a TPDOtransmission are:
modification of transported data status,
the Event Timer has elapsed.
COB-ID
The structure of a COB-ID for CAN2.0 is shown in the following table:
Structure
Bit No.
Value
Meaning
31 (MSb)
0
1
0
1
0
0
X
The PDO object exists
The PDO object does not exist
RTR mechanism authorized
RTR mechanism not authorized
11-Bit ID (CAN 2.0A)
if bit 29 = 0
30
29
28 - 11
10 - 0 (LSb)
Bit 10 - 0 of the identifier
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The Object Dictionary
Inhibit Time
(Sub-index 3)
In the case of PDO transmission (Transmit PDO), the Inhibit Time can be entered in
this 16-bit field. After data has been changed, the PDO sender checks that an Inibit
Time has expired since the last transmission. A new PDO transmission can only
take place if the Inhibit Time has expired. The Inhibit Time is useful for asynchronous
transmission (transmission mode 255), to avoid overloads on the CAN bus. The
Inhibit Time is a multiple of 100 μs of the value written in sub-index 3 of objects
1800H and 1805H.
The following table gives some examples of values.
Value
Dec.
Inhibit Time in ms
Hex.
0000
0064
03E8
1388
2710
FFFF
0000
100
0
10
1000
5000
10000
65535
100
500
1000
6553.5
Event Timer
(Sub-index 5)
The Event Timer only works in asynchronous transmission mode (transmission
mode 255). If data changes before the Event Timer expires, a TPDO is sent. If a
value higher than 0 is written in this 16-bit field, the TPDO is sent after the Event
Timer expires. The value written in sub-index 5 of objects 1800H and 1805H
corresponds to the Event Timer in milliseconds. The data transfer takes place even
if there is no change to data.
The following table gives some examples of values.
Value
Dec.
Event Timer in ms
Hex.
0000
0064
03E8
1388
2710
FFFF
0000
100
0
100
1000
5000
10000
65535
1000
5000
10000
65535
166
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The Object Dictionary
Object 1A00H: 1st Transmit PDO Mapping Parameter
Description
This object describes the objects that will be transported by the PDO.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default
value
Access
PDO
Mapping
Backed up
0
1
2
Sub-index
number
UNSIGNED8
UNSIGNED32
See table
See table
See table
rw
no
no
no
yes
1st object in the
PDO
rw
yes
2nd object in the UNSIGNED32
PDO
rw
yes
...
8
Most recent
UNSIGNED32
-
rw
no
yes
object in PDO
Data Field
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16
15 to 8
7 to 0
Data
Index number of object Sub-index number of
Length of object to be
to be transported
6000H
object to be transported transported
Example
01H
08H
Note:
The maximum total length of data that can be transported by the PDO is 8 bytes.
By default, the 1st Transmit PDO transports object 6000H.
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The Object Dictionary
Default Values
The following table gives the default value of object 1A00H depending on the splitter
reference:
Product references
Sub-index
Default value
1
FTB 1CN08E08SP0
0
1
0
1
2
6000 0108H
2
FTB 1CN08E08CM0
FTB 1CN12E04SP0
FTB 1CN16E•0
6000 0108H
6000 0208H
FTB 1CN16C•0
168
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The Object Dictionary
Object 1A05H: 2nd Transmit PDO Mapping Parameter
Description
This object describes the objects that will be transported by the PDO.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-index
Description
Data type
Default value Access
PDO Mapping Backed up
0
Sub-index
number
UNSIGNED8
See table
See table
See table
rw
rw
rw
no
no
no
yes
yes
yes
1
2
1st object in
the PDO
UNSIGNED32
UNSIGNED32
2nd object in
the PDO
...
8
Most recent
UNSIGNED32
See table
rw
no
yes
object in PDO
Data Field
Structure
Each data object to be transported is represented in the following manner:
Bits
31 to 16 (MSB)
15 to 8
7 to 0 (LSB)
Data
Index number of
object to be
transported
Sub-index number of Length of object to be
object to be
transported
transported
08H
Example
3000H
01H
Note:
The maximum total length of data that can be transported by the PDO is 8 bytes.
By default, object 1A05H is configured on object 3000H (see the table below).
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The Object Dictionary
Default Values
The following table gives the default value of object 1A05H depending on the splitter
reference:
Product references
Sub-index
Default value
2
FTB 1CN16E•0
0
1
2
0
1
2
3
4
0
1
2
3
4
5
6
3000 0108H
3000 0208H
4
FTB 1CN08E08CM0
FTB 1CN12E04SP0
FTB 1CN08E08SP0
3000 0108H
3000 0208H
3000 0308H
3000 0508H
6
FTB 1CN16C•0
3000 0108H
3000 0208H
3000 0308H
3000 0408H
3000 0508H
3000 0608H
170
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The Object Dictionary
8.3
Manufacturer-specific Zone Objects 2000H to
5FFFH
At a Glance
Introduction
This section lists the objects from the manufacturer-specific zone. Each object, with
all its technical characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
Topic
Page
172
Object 2000H: Input / Diag Parameter
Object 2001H: Input/Output Parameter
Object 3000H: Manufacturer Specific Diagnostic
173
174
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The Object Dictionary
Object 2000H: Input / Diag Parameter
Description
For channels 10 to 17 (connector pin 2) this object is used to select the "input" or
"diagnostics input" function.
Channels 10 to 17 are configured as "diagnostics input" by default.
The diagnostics inputs enable the use of sensors integrating a wire cut detection
function.
Note: For configurable channels, this object's status is taken into account only if
the input channel is configured by the 2001H object.
The following table shows the configuration of channels 10 to 17 according to their
sub-index bit value:
Status
Description
0
1
Discrete input
Diagnostics input
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
UNSIGNED8
UNSIGNED8
1
ro
no
no
yes
yes
Input parameter/
diagnostics input
FFH
rw
Note: Channels 10 to 17 are configured as "diagnostics inputs" by default.
172
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The Object Dictionary
Object 2001H: Input/Output Parameter
Description
This object may only be used for Advantys splitter boxes with configurable channels:
Status
Description
Input
0
1
Output
Note: This object takes priority over the 2000H object.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
UNSIGNED8
2
0
ro
no
no
yes
yes
Parameterforinput/output UNSIGNED8
pin 4 (channels 00-07)
rw
2
Parameterforinput/output UNSIGNED8
pin 2 (channels 10-17)
0
rw
no
yes
Note: All channels are configured as "diagnostics input" by default.
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The Object Dictionary
Object 3000H: Manufacturer Specific Diagnostic
Description
This object provides information on the status of the Advantys FTB CANopen splitter
box.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
UNSIGNED8
UNSIGNED8
7
-
ro
ro
no
no
no
Common diagnostics (8
least significant MSR bits,
object 1002H)
yes
2
3
4
5
6
7
Sensor short-circuit (0-7
connectors)
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
-
-
-
-
-
-
ro
ro
ro
ro
ro
ro
yes
yes
yes
yes
yes
yes
no
no
no
no
no
no
Actuator stopped
(channels 00 - 07)
Actuator stopped
(channels 10 - 17)
Actuator overload
(channels 00-07)
Actuator overload
(channels 10-17)
Diagnostics inputs
Note: The sub-indexes are only present in the 3000H object if the Advantys FTB
splitter box offers the corresponding functions.
174
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The Object Dictionary
8.4
Hardware Profile Objects 6000H to 9FFFH
At a Glance
Introduction
This section lists the objects relating to the hardware profile. Each object, with all its
technical characteristics, is described according to the CANopen standard.
What's in this
Section?
This section contains the following topics:
Topic
Page
176
Object 6000H: Read Inputs 8 Bits
Object 6100H: Read Input 16 Bits
Object 6102H: Polarity Input
177
178
179
180
181
182
183
184
185
Object 6103H: Filter Constant Input 16 Bits
Object 6200H: Write Outputs 8 Bits
Object 6300H: Write Outputs 16 Bits
Object 6302H: Polarity Outputs 16 Bits
Object 6306H:Fallback Mode 16 Bits
Object 6307H: Fallback Value 16 Bits
Object 6308H: Filter Mask Output 16 Bits
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The Object Dictionary
Object 6000H: Read Inputs 8 Bits
Description
This object contains the status of discrete inputs in 8 bit format.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
UNSIGNED8
UNSIGNED8
2
-
ro
ro
no
no
no
Read input pin 4
(channels 00-07)
yes
2
Read input pin 2
(channels 10-17)
UNSIGNED8
-
ro
yes
no
The meaning of each bit is given in the following table:
Bit No.
Sub-index 1
Sub-index 2
0
1
2
3
4
5
6
7
Read input pin 4 channel 00
Read input pin 4 channel 01
Read input pin 4 channel 02
Read input pin 4 channel 03
Read input pin 4 channel 04
Read input pin 4 channel 05
Read input pin 4 channel 06
Read input pin 4 channel 07
Read input pin 2 channel 10
Read input pin 2 channel 11
Read input pin 2 channel 12
Read input pin 2 channel 13
Read input pin 2 channel 14
Read input pin 2 channel 15
Read input pin 2 channel 16
Read input pin 2 channel 17
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The Object Dictionary
Object 6100H: Read Input 16 Bits
Description
This object contains the status of discrete inputs in 16 bit format.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-
index
Description
Data type
Default value Access PDO
Mapping
no
yes
Backed up
0
1
Sub-index number
Read input 16 bits
UNSIGNED8
UNSIGNED16
1
-
ro
ro
no
no
The meaning of each bit is given in the following table:
Bit No.
Least significant meaning Bit No.
Most significant meaning
Read channel 10
Read channel 11
Read channel 12
Read channel 13
Read channel 14
Read channel 15
Read channel 16
Read channel 17
0
1
2
3
4
5
6
7
Read channel 00
Read channel 01
Read channel 02
Read channel 03
Read channel 04
Read channel 05
Read channel 06
Read channel 07
8
9
10
11
12
13
14
15
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The Object Dictionary
Object 6102H: Polarity Input
Description
This object is used to define the polarity of inputs.
Value
Input type
not reversed
reversed
0
1
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
index
Description
Data type
Default
value
Access PDO
Mapping
no
no
Backed up
0
1
Sub-index number
Polarity of inputs
UNSIGNED8
UNSIGNED16
1
0
ro
yes
yes
rw
178
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The Object Dictionary
Object 6103H: Filter Constant Input 16 Bits
Description
This object is used to configure the mask for inputs.
Value
Input type
Input read
0
1
Ignored input
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
1
Sub-index number
Filtering constant
UNSIGNED8
UNSIGNED16
1
0
ro
no
no
yes
yes
rw
Note: Important notes
By entering the value 1, no input update is implemented.
Once the filter is enabled, the input no longer changes even if the polarity is
changed.
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The Object Dictionary
Object 6200H: Write Outputs 8 Bits
Description
This object is used to command outputs per byte.
Note: The bits corresponding to a configured input channel are not used.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
UNSIGNED8
2
0
ro
no
yes
yes
Write outputs 8 bits pin 4 UNSIGNED8
(channels 00-07)
rw
yes
2
Write outputs 8 bits pin 2 UNSIGNED8
(channels 10-17)
0
rw
yes
yes
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
It is not advisable to use the 6200H and 6300H objects simultaneously.
Where both these objects are used, the Advantys FTB splitter box executes the
most recent command received.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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The Object Dictionary
Object 6300H: Write Outputs 16 Bits
Description
This object is used to command the state of discrete outputs.
Note: The bits corresponding to a configured input channel are ignored.
Characteristics
The characteristics of this object are outlined in the following table:
Sub-index Description
Data type
Default value Access PDO
Mapping
no
yes
Backed up
0
1
Sub-index number
Write outputs 16 bits
UNSIGNED8
UNSIGNED16
1
0
ro
yes
yes
rw
WARNING
RISK OF UNINTENDED EQUIPMENT OPERATION
It is not advisable to use the 6200H and 6300H objects simultaneously.
Where both these objects are used, the Advantys FTB splitter box executes the
most recent command received.
Failure to follow this instruction can result in death, serious injury, or
equipment damage.
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The Object Dictionary
Object 6302H: Polarity Outputs 16 Bits
Description
This object is used to define the polarity of an output.
The characteristics of this object are outlined in the following table:
Characteristics
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
Output polarity
UNSIGNED8
UNSIGNED16
1
0
ro
no
no
yes
yes
rw
Polarity
Value
Output type
0
1
Not reversed
Reversed
182
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The Object Dictionary
Object 6306H:Fallback Mode 16 Bits
Description
This object is used to define discrete output status value in the event of an error. This
value is either that defined by the 6307H object, or the most recent value received
before error occurrence (maintain mode).
Value
State of value
0
1
Maintain
Fallback (see object 6307H)
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
Fallback mode
UNSIGNED8
UNSIGNED16
1
ro
no
no
yes
yes
FFFFH
rw
Note: When the value of object 6306H is FFFFH, all discrete outputs take the
fallback value defined by object 6307H in the event of a fault.
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The Object Dictionary
Object 6307H: Fallback Value 16 Bits
Description
The value defined in this object is the value taken by the discrete output in the event
of an error, where the bit corresponding to the 6306H object is at 1.
Value
Output value in the event of a fault.
0
1
Set to 0
Set to 1
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
index
Description
Data type
Default value Access PDO
Mapping
no
yes
Backed up
0
1
Sub-index number
Fallback value
UNSIGNED8
UNSIGNED16
1
0
ro
yes
yes
rw
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The Object Dictionary
Object 6308H: Filter Mask Output 16 Bits
Description
This object is used to configure the mask for outputs.
Status
Description
0
1
Current output value is frozen
Authorizes writing output (see objects
6200H and 6300H)
Characteristics
The characteristics of this object are outlined in the following table:
Sub-
Description
Data type
Default value Access PDO Mapping Backed up
index
0
1
Sub-index number
Output mask filter
UNSIGNED8
UNSIGNED16
1
ro
no
no
yes
yes
FFFFH
rw
Note: When the value of object 6308H is FFFFH, all discrete outputs have write
authorization.
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The Object Dictionary
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Appendices
At a Glance
Introduction
This appendix provides information on common IEC symbols used in this manual.
The appendix contains the following chapters:
What's in this
Appendix?
Chapter
Chapter Name
Page
189
A
IEC Symbols
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Appendices
188
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IEC Symbols
Symbols
Common IEC symbols are illustrated and defined in the table below:
Fuse
Load
L
AC power
~
DC power
_
_
Digital sensor/input, for example, contact, switch, initiator, light
barrier, and so on.
Earth ground
2-wire sensor
_
+
+
_
Thermocouple element
190
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Glossary
C
CAL
CAN Application Layer. 'Application' Layer (ISO/OSI layer 7 for systems intercon-
nection model) defined by CAN in Automation (CiA).
CAN
CE
Controller Area Network.
European Community
CiA
CAN in Automation (declared association); CAN bus manufacturers and users
organization.
CiA Draft
Standard 102
Description of the CAN physical communication (layer 2) for industrial applications.
Description of the CAN physical communication (layer 2) for industrial applications.
Description of the communication profile for industrial systems.
CiA Draft
Standard 301
CiA Draft
Standard 302
CiA Draft
Description of the CAN physical communication (layer 2) for industrial applications.
Standard 401
CMS
COB
CAN Message Specification. 'Application' layer service for object usage and
management.
Communication Object. Messages are sent in COBs in a network, and are
considered as communication objects.
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Glossary
COB-ID
COB-Identifier. Each communication object is clearly identified by the COB-ID
identifier, which determines the object's priority.
CSMA/CA
Carrier Sense Multiple Access / Collision Avoidance (Multiple access using carrier
sensing with collision notification).
D
DBT
COB-ID Distributor. 'Application' layer service, used to assign COB-ID identifiers to
communication objects in CMS services.
DESINA
Standard relating to the connector technology of sensors and actuators, established
by a German association of machine manufacturers.
DI
Digital Input (discrete input)
German standards institute
Digital Output (discrete output)
DIN
DO
E
EDS
An Electronic Data Sheet is a file in standard ASCII format containing information on
a communication functionality of a network device and the content of its object
dictionary. The EDS also defines device-specific and manufacturer-specific objects.
EN
European standard
F
FTB
Advantys IP67 monobloc input/output splitter box.
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Glossary
I
IEC
International Electrotechnical Commission.
Island
On the Advantys Configuration Tool interface, the Advantys IP67 monobloc input/
output splitter box is referred to as "island".
ISO
International Standard Organization
L
LED
LMT
LSB
Light Emitting Diode
Layer Management. Parameter definition concerning different layers for a bus head.
Least Significant Byte. The part of a number, address or field that is written as the
value furthest to the right in conventional hexadecimal or binary notation.
LSb
Least Significant Bit. The part of a number, address or field that is written as the
value furthest to the right in conventional hexadecimal or binary notation.
M
MNS
MSB
Module-Network-Status
Most Significant Byte. The part of a number, address or field that is written as the
value furthest to the left in conventional hexadecimal or binary notation.
MSb
Most Significant Bit. The part of a number, address or field that is written as the value
furthest to the left in conventional hexadecimal or binary notation.
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Glossary
N
NMT
Network Management Telegram. NMT protocols offer services for network
initialization, error checking and checking device states.
O
OSI
Open Systems Interconnection
P
PDO
Process Data Object. On networks based on CAN technology, PDOs (Process Data
Objects) are transmitted as broadcast messages without confirmation or sent from
a producer device to a consumer device.
PLC
Programmable Logic Controller
R
ro
Read-only.
Read-write
rw
S
SDO
Service Data Object. On networks based on CAN technology, the field bus master
uses SDO (Service Data Object) messages for access (read/write) to the network
node object dictionaries.
Splitter box
Advantys IP67 monobloc input/output splitter box.
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Glossary
String
SYNC
ASCII character string
Synchronization object
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Glossary
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B
C
A
G
B
Ground Electrode
Connection, 21
Position, 21, 22
Guard Time, 144
Boot-Up, 53
C
CAN bus line, 49
CAN-H, 49
H
CAN-L, 49
CANopen
Heartbeat Time, 65
Description, 49
The Protocol, 49
Characteristics
Inputs, 29
I
I/O Status Diagnostics, 126
IEC symbols, 189
outputs, 29
Splitter box, 29
Installation, 17
Introduction to Wiring, 38
E
L
EDS
EDS File, 102
Life Guarding, 62
Life Time Factor, 145
Life-Time, 62
Existing EDS File, 103
EMC Compatibility, 23
Environment
environment, 28
Error Codes, 128
M
M12 Connectors
Assignment of Pins for a Field Bus, 44
Pin Assignment for Actuators and
Sensors, 30
F
Field Bus Status Diagnostics, 125
FTB, 12
Mini-Style 7/8" Connector, 32
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Index
Mode
Operational, 55
Pre-Operational, 55
N
Node Guarding, 62
Node-ID
Configuration, 46
O
Object Dictionary, 133
index ranges, 133
Overview, 16
P
PDO Object
mapping, 133
Physical layer, 49
CAN bus line, 49
Properties, 28
S
Software Diagnostics, 127
SUB-D Connectors
Assignment of Pins, 45
Symbols, 189
T
Tap-off, 40
The Device Profile, 52
Transmission Speed
Configuration, 46
U
Unit
Dimensions, 18, 19
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