BECKHOFF New Automation Technology page 1/4
Beckhoff CANopen devices:
now according to CANopen version 4
New Features + tips for integration in existing networks
Since firmware release C1 the Beckhoff CANopen devices BK5120, BK5110 and LC5100
comply with the CANopen communication profile DS301 Version 4.01 and with the new CiA
recommendation for the LED behaviour DRP303-3. The bus couplers have gained many new
features. Furthermore, the performance of the firmware was significantly improved. The Beckhoff
CANopen devices pass the new CANopen conformance test. Unfortunately the update implies to
some minor functional changes, which generally do not lead to compatibility problems.
1. PDO Behaviour ..........................................................................................................1
1.1 Default Identifier für PDO3 + 4 ...............................................................................1
1.2 Firmware performance improved ...........................................................................2
1.3 PDO event timer now supported ............................................................................ 2
1.4 PDO fully synchronised with I/O-Update ................................................................2
2. LED Behaviour...........................................................................................................2
2.1 LED behaviour now according to DRP303-3..........................................................2
3. Object Dictionary........................................................................................................3
3.1 Identity Object now supported................................................................................3
3.2 0x100E: Guarding-Identifier now Read-Only..........................................................3
3.3 Object 0x1004 removed ......................................................................................... 3
3.4 Time-Out at SYNC monitoring extended................................................................3
4. Network Management................................................................................................3
4.1 Boot-Up message now uses guarding identifier.....................................................3
4.2 Heartbeat now supported ....................................................................................... 4
5. Miscellaneous: ...........................................................................................................4
5.1 Firmware-Update now via CANopen possible........................................................4
5.2 Firmware-Update via serial interface......................................................................4
5.3 Downgrading to firmware version BA .....................................................................4
1. PDO Behaviour
1.1 Default Identifier für PDO3 + 4
New: The Rx- and Tx-PDOs 3+4 now have default identifiers. The same identifiers are used
that so far have been assigned via object 0x5500. The Default mapping was not
changed and the PDOs are only activated if the corresponding process data is present.
Advantage: Now up to 12 analogue input and output channels can be used without the need to
activate the PDOs at boot-up via identifier distribution.
Effects when using new bus couplers in existing networks: none
Update info CANopen version 3 to version 4.01 2002-04-30
BECKHOFF New Automation Technology page 2/4
1.2 Firmware performance improved
New: PDO handling is now significantly quicker (about factor 3-4).
Advantage: Shorter reaction times at input or output changes, higher sample rate.
Effects when using new bus couplers in existing networks: Possibly the bus load increases
– especially when PDOs with analogue input data are communicated event driven (and
“undamped”). Possible action:
1. Use the event timer (see below) to activate cyclic update of the PDOs with analogue
input data (with disabled Global Interrupt Enable 0x6423!) or
2. send these PDOs synchronously (change transmission type from 255 or 254 e.g. to
1,2 or 5). Note: When using the Beckhoff CANopen PCI cards FC510x you can find the
busload directly in a variable.
1.3 PDO event timer now supported
New: TxPDOs: Even if no event has occurred, event driven PDOs are sent once the event
timer has expired. In case of an event the event timer is reset. Note: the event “change
of analogue input“ is switched on or off (default) via object 0x6423. RxPDOs: The event
timer is used as watchdog to monitor the reception of event driven PDOs. In case no
PDO has been received during the configured time span, the bus node enters the error
state.
Advantage: The PDO transmission behaviour can now be adjusted even more individually. E.g.
TxPDOs with analogue inputs can be sent with cycle times independent of the SYNC
rate. The reception of event driven PDOs can be monitored.
Effects when using new bus couplers in existing networks: none
1.4 PDO fully synchronised with I/O-Update
New: If all PDOs are set to synchronous communication (transmission type 0...240) the I/O-
Update is triggered by the reception of the SYNC telegram.
Advantage: Full synchronisation of the I/O behaviour (so far only the communication was
synchronised).
Effects when using new bus couplers in existing networks: none
2. LED Behaviour
2.1 LED behaviour now according to DRP303-3
New: The LED behaviour was adapted to the new CiA recommendation DRP303-3. Changes:
Device State LED behaviour old LED behaviour new
Device stopped RUN LED off RUN LED blinks once,
then 1 s break
CAN warning limit
exceeded
ERR LED blinks
continuously
ERR LED blinks once,
then 1 s break
Event Timer: RxPDO
missing
Update info CANopen version 3 to version 4.01 2002-04-30
- ERR LED blinks 4 times,
then 1 s break
BECKHOFF New Automation Technology page 3/4
Advantage: Uniform and manufacturer independent LED behaviour
Effects when using new bus couplers in existing networks: Optical diagnosis in error case
has changed minimally. No change in normal operation.
3. Object Dictionary
3.1 Identity Object now supported
New: The new CANopen Identity Object 0x1018 is now supported. It provides the following
information about the device:
Sub index 1: Vendor ID. Beckhoff has the Vendor ID 2.
Sub index 2: Product Code. BK5120: 0x11400; BK5110: 0x113F6; LC5100: 0x113EC;
IPwxyz-B510: 0x2wxyz; IL2301-B510: 0x2008FD.
Sub index 3: Revision Number
Sub index 4: Production date; Low Word, High Byte: Calendar week (dec), Low Byte:
Calendar year
Advantage: Additional information about the device is provided manufacturer independently.
Effects when using new bus couplers in existing networks: none
3.2 0x100E: Guarding-Identifier now Read-Only
New: The default identifier for the Guarding and Heartbeat Protocol may not be changed any
more.
Advantage: Clear assignment of the corresponding CAN Frames to the node addresses.
Effects when using new bus couplers in existing networks: Only, if Guarding identifier was
changed.
3.3 Object 0x1004 removed
New: In CANopen Version 4.0 Object 0x1004 (Number of PDOs) is not supported any more,
as it did not provide valuable information.
Advantage: reduced memory usage.
Effects when using new bus couplers in existing networks: Only, if number of PDOs was
derived from object 0x1004.
3.4 Time-Out at SYNC monitoring extended
New: The watchdog for the SNYC monitoring is now set to the 1,5-fold of the value in Object
0x1006.
Advantage: Now the actually intended SYNC Interval can be written to Object 0x1006.
Effects when using new bus couplers in existing networks: none
4. Network Management
4.1 Boot-Up message now uses guarding identifier
New: The boot-up message, that Beckhoff had introduced, in CANopen version 4 now has
been defined manufacturer independently. Instead of an Emergency message without
data now a Guarding telegram with one data byte (0) is sent.
Update info CANopen version 3 to version 4.01 2002-04-30
BECKHOFF New Automation Technology page 4/4
Advantage: uniform definition, no change of the Data Length Code at run time any more.
Effects when using new bus couplers in existing networks: only, if boot-up message was
analysed.
4.2 Heartbeat now supported
New: In addition to the node monitoring via Guarding protocol (cyclic scanning of node state
via remote frame) now heartbeat is supported as well.
Advantage: Reduction of the bus load, individual monitoring cycle times configurable, no
Remote frames required any more (are not fully supported by some CAN controller).
Effects when using new bus couplers in existing networks: none
5. Miscellaneous:
5.1 Firmware-Update now via CANopen possible
New: Since Version C1 future Firmware updates can be performed via CANopen as well.
This requires the Beckhoff CANopen card FC5101 or FC5102 (from Firmware 0.74) and
TwinCAT. The download software can be found in the download section of the Beckhoff
homepage or directly at
ftp.beckhoff.com/config/busterm/BK51x0/FC510xNodeUpdate.zip
Advantage: It is not necessary any more to perform a firmware update for each node
individually via the serial interface. All Firmware update of one device type can be done
at the same time.
Effects when using new bus couplers in existing networks: none
Note: Firmware update via CAN is only supported from Firmware Version C1 on, updates to
C1 therefore have to be done via serial interface.
5.2 Firmware-Update via serial interface
For a firmware update via serial interface a KS-2000 interface cable and the update software is
required (see Beckhoff homepage or directly at
ftp://ftp.beckhoff.com/config/busterm/FirmwareUpdate_v126.exe)
5.3 Downgrading to firmware version BA
In case you want to continue using BK5120 CANopen Bus Coupler with Firmware version BA
(CANopen version 3), you can order these using product code BK5120-0010. Devices that
already have firmware version C1 you can „downgrade“ to BA as well. The firmware can be
found at the Beckhoff homepage or directly at
ftp.beckhoff.com/config/busterm/BK51x0/BK51x0BA.zip
If you have any further questions regarding the new firmware version please contact you local
Beckhoff representative or the Beckhoff support hotline, phone +49 (0)5246 / 963-157. email:
support@beckhoff.com
Update info CANopen version 3 to version 4.01 2002-04-30
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