Operation Manual
BK5000
Bus Coupler for CAN-CAL
2006-11-27
Version: 1.12
Table of Contents
Table of Contents
1. Foreword 1
Notes on the documentation 1
Safety Instructions 2
2. Configuration of the Bus Coupler 3
3. Connector Pin Assignment 4
4. Data Exchange 4
5. LEDs 5
Module Status LEDs "MS" 5
Network Status LEDs "NS" 5
Input/Output Status "I/O" 5
6. Appendix 6
The Register of the bus coupler BK5000 6
Default values 7
Module Capabilities 7
Module Identification 7
Support and Service 8
Foreword
Foreword
Notes on the documentation
This description is only intended for the use of trained specialists in control and automation engineering
who are familiar with the applicable national standards. It is essential that the following notes and
explanations are followed when installing and commissioning these components.
Liability Conditions
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
The documentation has been prepared with care. The products described are, however, constantly under
development. For that reason the documentation is not in every case checked for consistency with
performance data, standards or other characteristics. None of the statements of this manual represents a
guarantee (Garantie) in the meaning of § 443 BGB of the German Civil Code or a statement about the
contractually expected fitness for a particular purpose in the meaning of § 434 par. 1 sentence 1 BGB. In
the event that it contains technical or editorial errors, we retain the right to make alterations at any time
and without warning. No claims for the modification of products that have already been supplied may be
made on the basis of the data, diagrams and descriptions in this documentation.
Delivery conditions
In addition, the general delivery conditions of the company Beckhoff Automation GmbH apply.
Copyright
©
This documentation is copyrighted. Any reproduction or third party use of this publication, whether in
whole or in part, without the written permission of Beckhoff Automation GmbH, is forbidden.
BK5000 1
Foreword
i
2
Safety Instructions
State at Delivery
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH.
Description of safety symbols
The following safety symbols are used in this documentation. They are intended to alert the reader to the
associated safety instructions..
This symbol is intended to highlight risks for the life or health of personnel.
Danger
This symbol is intended to highlight risks for equipment, materials or the
Attention
Note
environment.
This symbol indicates information that contributes to better understanding.
2 BK5000
Configuration of the Bus Coupler
Configuration of the Bus Coupler
Switch all DIP-Switches to OFF and then power the bus coupler. The
four upper status LEDs are blinking. The baud rate is now selected
with the DIP-Switches 1 to 3. For details see table below.
All DIP-switches to off,
then power bus coupler
Select baud rate
1 MBit
500 kBit
250 kBit
125 kBit
100 kBit
50 kBit
20 kBit
10 kBit
baud rate 1 2 3 4 5 6 7 8
off off off
on off off
off on off
on on off
off off on
on off on
off on on
on on on
Select node class
The node class is now configured with DIP switch 5. Off means node class
0 (without master). Switch 5 to ON means node class 2 (with DBT/NMT
master).
Store configuration The configuration of the DIP switch settings 1, 2, 3 and 5 is stored as soon
as Switch 8 is switched to ON. Afterwards the LEDs remain on constantly.
Power down bus coupler
Select node ID
Switch on bus coupler
Now power down (switch off) the bus coupler and then select the node ID
with DIP switch 1 to 8. Switch 1 is the least significant bit 20 and switch 8 is
the most significant bit 27. In switch position ON the Bit is set.
With node class 1 an ID between 1 and 255 can be selected. At node class
0 only IDs between 1 and 65 are allowed. The bus coupler is now ready for
operation and you can power it again.
BK5000 3
Connector Pin Assignment
Connector Pin Assignment
CAN-CAL Connector
Power supply
For Connecting the CAN bus cable the bus coupler comes with a 5pin
connector. Pin 1 is on the top side of the bus coupler. The pictures shows
the socket at the bus coupler. The power supply has to be connected at the
terminals on the right hand side of the bus couplers (labelled with 24 V and
0 V)
4
Data Exchange
Channel enumeration
8 digital inputs form one
digital channel
All input and output channels of the same kind are enumerated, counting
from the bus coupler onwards. So all analogue inputs are enumerated and
all analogue outputs get separate numbers. Enumeration starts with 0, so
the first channel of the first analog input terminal after the bus coupler has
the relative channel number 0. The second channel of this terminal gets
channel number 1, and number 2 is assigned to the first channel of the next
analog input terminal, assuming that the first terminal has two channels.
Analogue inputs and output data is 16 bit wide and transmitted in 2 Bytes:
first the LSB and then the MSB.
Digital I/O data is transmitted in byte-wise. Therefore the digital I/Os are
combined in groups of eight that form one channel. The relatively first
digital input after the bus coupler is found in bit 0 of the first digital input
channel. The second input is found in Bit 1. The 7th digital input in the
terminal row is found in bit 6 of the first channel, and the 9th input is found in
bit 0 of the second digital input channel. If there are non-digital terminals in
between these are not considered for the digital channels.
Pin assignment CAN-CAL connector
1
2
3
4
5
n.c.
CAN-H
GND
CAN-L
CAN-GND
4 BK5000
LEDs
LEDs
LED "CAN-ERR" The red LED is on:
LED "RUN" the green LED is on:
LED "TX OVERFLOW" the red LED is on:
LED " RX OVERFLOW" the red LED is on:
LED "I/O RUN" the green LED is on:
LED "I/O ERR" the red LED is on:
Module Status LEDs "MS"
• CAN warning level exceeded or
• CAN Bus Off Status reached
• Status O.K.
Network Status LEDs "NS"
• Transmit Queue Overrun
• Receive Queue Overrun
Input/Output Status "I/O"
• the terminal bus works fine
• I/O error
BK5000 5
Appendix
Appendix
Description Value
Terminal number
Table number
Register number
Register number
Register number
Register number
Register number
Register number
Register number
Register number
Register number
Register number
Register number
Register number
Register number
The Register of the bus coupler BK5000
range
0
100 Rd/Wr with Software write protection
0 CAL baud rate 4
1 CAL Node class 0
2 CAL Guard time 300
3 CAL Lifetime 2
4 Mode of the first eight analogue
terminals
0 :Polling
1 : Cycle
2 : Change of Value
4.2*n –
4.2*n+1
5 – 12 Mode of digital terminals
m.2*n –
m.2*n+1
13 Timer 1 Mode Cycle 0
14 Timer 2 Mode Cycle 100
15 Timer 3 Mode Cycle 200
16 Timer 4 Mode Cycle 300
17 Assignment of the first 8 analogue
17.2*n –
17.2*n+1
18 – 25 Assignment of the digital terminals to
m.2*n –
m.2*n+1
26 Fieldbus errors
Mode n+1 terminal
(n = 0 – 7 )
0 :Polling
1 : Cycle
2 : Change of Value
Mode n+1 terminal
(m = 5 – 12; n = 0 – 7 )
terminals to timer
0 : Timer 1
1 : Timer 2
2 : Timer 3
3 : Timer 4
Assingment n+1st terminal
(n = 0 – 7 )
timer
0 : Timer 1
1 : Timer 2
2 : Timer 3
3 : Timer 4
Assignment n+1st terminal
(m = 18 – 25; n = 0 – 7 )
26.15 : CAN BUSOFF (1)
26.14 : CAN ERROR (0)
26.13 : CAN OVERRUN (0)
26.12 : CAN GUARDFAIL (1)
26.11 : CAN NOTOPERATIONAL (0)
26.10 :-...
26.0 :--
0
0, 1, 2, 0
0xAAAA
0, 1, 2 2
0
0, 1, 2, 3 0
0
0, 1, 2, 3 0
0x9000
6
Default
values
6 BK5000
Appendix
Default values
Description Value range Default
values
Terminal number
Table number
Register number
Register number
Register content
Register number
Register number
Register conent
Register number
Register number
Register number
Register number
Register number
Register number
0
0 Rd/Wr with Software write protection
0 reserved for ADS
1 Fieldbus interface
1.0 PLC Interface 0/1 0
1.1 - 1.2 Send channel of events 0 - 3 0
2 Terminal bus 0
2.0 Auto reset 0
2.1 Device diagnosis 0
2.2 Map diagnosis data of digital terminals in
process image
3 Process image description
3.0 Process image active 0/1 1
3.1 Configuration type 0/1 1
3.2 Complex terminal mapping 0/1 0
3.3 Data format of complex terminals 0/1 0
3.4 Data format digital terminals 0/1 0
3.5 Alignment of complex terminals 0/1 0
3.6 Inputs PI synchronously 0/1 0
3.7 Output PI synchronously 0/1 0
3.8 - 3.9 Reaction on fieldbus error 0,1,2 0
3.10 -
3.11
4,5, 6 --
7 Offset PLC Interface Master -> Slave 0 - 255 0
8 Offset PLC Interface Slave ->Master 0 - 255 0
9 Waiting time after SYNC_0 Command 0 - 65535 200
10 Waiting time after SYNC_1 Command 0 - 65535 200
11 Support of all data formats 0/1 0
12 Reserved
13 Comparison mask for digital Diagnosis
14 Comparison mask for digital Diagnosis
Reaction on terminal bus error 0,1,2 2
2-Bit terminals
4-Bit terminals
1
0x0002
0x0802
Module Capabilities
LMT class [0] NMT network class[0 or 2] DBT class[0 or 2]
NMT node class[0 or 2]
Module Identification
Manufacturer Name: BKH__
Product Name: BUSKL__
Serial Number: 00000000000000
BK5000 7
Appendix
Support and Service
BECKHOFF and their partners around the world offer comprehensive service
and support, making available fast and competent assistance with all
questions related to BECKHOFF products and system solutions.
BECKHOFF Support
Support offers you comprehensive technical assistance, helping you no
only with the application of individual BECKHOFF products, but also with
other, wide-ranging services:
• world-wide support
• design, programming and commissioning of complex automation
systems
• and extensive training program for BECKHOFF system components
Hotline:
Fax:
e-mail:
BECKHOFF Service
The BECKHOFF Service Center supports you in all matters of after-sales
service:
Hotline:
Fax:
e-mail:
Company headquarters
BECKHOFF Autormation GmbH
Eiserstr. 5
D-33415 Verl
Germany
Phone:
Fax:
e-mail:
The addresses of BECKHOFF's branch offices and representatives round the
world can be found on her internet pages:
http://www.beckhoff.com
You will also find further documentation for BECKHOFF components there.
+49(0)5246/963-157
• on-site service
• repair service
• spare parts service
• hotline service
+49(0)5246/963-199
support@beckhoff.com
+49(0)5246/963-460
+49(0)5246/963-479
service@beckhoff.com
+49(0)5246/963-0
+49(0)5246/963-198
info@beckhoff.com
8
8 BK5000
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