GB
ESAB CANopen I/O Profile
Aristot
Rev . 1.100459 572 074 GB 080115
1 INTRODUCTION TO CANopen 3......................................
1.1 Network overview 3.........................................................
1.2 T echnical features for CANopen 3.............................................
2 UNIT OVERVIEW 4...................................................
2.1 Functional overview 4........................................................
2.2 Mechanical overview 4.......................................................
3 INSTALLATION AND CONFIGURATION 5..............................
3.1 Fieldbus connector 5........................................................
3.2 Configuration 5.............................................................
3.3 LED indicators 6............................................................
3.4 EDS file 7..................................................................
4 I/O DATA MAP 7.....................................................
4.1 IN I/O from Controller to Welding Equipment 7..................................
4.2 OUT I/O from Welding Equipment to Controller 7................................
5 FUNCTIONAL DESCRIPTION OF I/O 9.................................
5.1 IN I/O from Controller to Welding Equipment 9..................................
5.2 OUT I/O from Welding Equipment to Controller 1 1................................
Appendix 1 15..........................................................
Rights reserved to alter specifications without notice.
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1 INTRODUCTION TO CANopen
CANopen is an open communication profile based on the Controller Area Network
(CAN) bus system. It is internationally standardized in ISO 11898.
CANopen has an international user organization called CAN in Automation (CiA). For
further information regarding CANopen matters not associated with this ESAB
product, please contact CiA on e--mail: headquarters@can--cia.dewww.can.cia.de.
There is also information of a general kind available on the Internet at .
1.1 Network overview
The media of the fieldbus system is a shielded copper cable consisting of one
twisted pair of communication cable and two cables for external power supply. As
standard, the CANopen Esab products do not use external power supply.
The power supply for the bus is galvanically isolated with a DC/DC converter inside
the Esab equipment. The number of devices participating in each network is logically
limited by CANopen to 128, but physically the present generation of drives allows up
to 64 nodes in one network segment.
The baud rate can be changed from 10 kbit/s to 1Mbit/s at discrete levels. The
maximum possible size of the network for any particular data rate is limited by the
signal transit time required on the bus medium corresponding to the following table:
The baud rate and the node address for the welding node is set inside the Control
box (see chapter XX). The CANopen protocol supports both master--slave and
slave--slave communications. The data on the CANopen bus is updated when a
change is made or on request from another node.
1.2 Technical features for CANopen
Here follows a short list of some important features with the CANopen
communication standard:
S
CANopen specific cable (twisted pair).
S Access intelligence in low--level devices.
S Master--Slave and Peer--to--Peer capabilities.
S Selectable baud rates from 10kbit/s to 1Mbit/s.
S Max distance 5000m.
S Node removal without damaging the network.
S Use of scaled and open--styled connectors.
S Provision for the typical request /response oriented network communications.
S Provision for the efficient movement of I/O data.
S Fragmentation for moving larger bodies of information.
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2 UNIT OVERVIEW
This chapter provides an overview over the ESAB Aristo CANopen unit.
2.1 Functional overview
The ESAB unit for CANopen is a slave node that can be read and written to from a
CANopen master/slave. Via the host connector, the unit is connected to an
application that gets instant connection to a CANopen network.
2.2 Mechanical overview
DIP- switches and inditation LED
Connection box
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3 INSTALLATION AND CONFIGURATION
3.1 Fieldbus connector
9--pin male D--sub connector
Connector
pin
1 -- Reserved
2 CAN_L CAN_L Bus line (dominant low)
3 CAN_GND CAN ground
4 -- Reserved
5 CAN_SHIELDOptional CAN Shield
6 GND Optional ground
7 CAN_H CAN_H Bus line (dominant
8 -- Reserved
9 CAN_V+ Optional CAN external power
Signal Description
high)
supply
3.2 Configuration
Node Address
The Network node address is set with two rotary switches inside the Weld Data Unit
(ADDRESS_HIGH and ADDRESS_LOW), see Figure 1. Possible node addresses is
between 1--99 in decimal format. ADDRESS_HIGH is the one in the middle and
ADDRESS_LOW is the one to the right.
The node address is calculated in the following way:
Node address = ADDRESS_HIGH * 10 + ADDRESS_LOW * 1
Note: PDO 3 – 8 only have default COB--ID’s if the node address is less than 64.
Note: The node address can only be changed during operation.
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