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PC6RO
User Manual
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PCE Electronics PC6RO User Manual

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05/08/2014 V1.0
P.O.Box 164 Seven Hills 1730 NSW AUSTRALIA
IO Module
User Manual
PROCON ELECTRONICS 2 CANopen PC6RO
Disclaimer
Procon Electronics makes no representations or warranties with respect to the contents hereof. In addition, information contained herein are subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Procon Electronics assumes no responsibility, express or implied, for errors or omissions or any damages resulting from the use of the information contained in this publication.
All trademarks belong to their respective owners.
PROCON ELECTRONICS 3 CANopen PC6RO
TABLE OF CONTENTS
1. INTRODUCTION ............................................................................................ 5
2. TECHNICAL SPECIFICATION ........................................................................... 6
3. PHYSICAL INFORMATION .............................................................................. 7
3.1 PHYSICAL DIMENSIONS ................................................................................................................... 7
3.2 DIN RAIL BUS ADAPTOR .................................................................................................................. 8
3.3 INSTALLING THE MODULE ONTO THE DIN RAIL ..................................................................................... 8
3.4 REMOVING THE MODULE FROM THE DIN RAIL ..................................................................................... 9
3.5 GROUNDING/SHIELDING ................................................................................................................. 9
3.6 NETWORK TERMINATION ................................................................................................................ 9
4. SETTING THE NODE ID AND BAUD RATE ...................................................... 10
4.1 CHANGING THE DIP SWITCH TO SET THE NODE ID AND BAUD RATE ....................................................... 10
4.2 SETTING THE NODE ID USING THE DIP SWITCHES ............................................................................... 11
4.3 SETTING THE BAUD RATE USING THE DIP SWITCHES ........................................................................... 11
4.4 SETTING THE NODE ID USING SOFTWARE.......................................................................................... 11
4.5 SETTING THE BAUD RATE USING SOFTWARE. ...................................................................................... 12
5. WIRING ...................................................................................................... 13
5.1 POWER SUPPLY AND COMMUNICATIONS WIRING .............................................................................. 13
5.2 WIRING THE RELAY OUTPUTS.......................................................................................................... 14
6. INDICATORS ............................................................................................... 15
6.1 FRONT PANEL INDICATORS ............................................................................................................. 15
6.2 RUN INDICATOR (R) ..................................................................................................................... 16
6.3 ERROR INDICATOR (T)................................................................................................................... 16
7. IMPLEMENTED CANOPEN OBJECTS ............................................................. 17
7.1 OBJECT BLOCK DIAGRAMS ............................................................................................................. 17
7.1.1 Block diagram for relay outputs ..................................................................................... 17
7.2 COMMUNICATION SEGMENT ......................................................................................................... 18
7.2.1 Object 1000h: Device Type ............................................................................................. 18
7.2.2 Object 1001h: Error Register .......................................................................................... 18
7.2.3 Object 1003h: Pre-defined Error Field ............................................................................ 19
7.2.4 Object 1005h: COB-ID SYNC............................................................................................ 22
7.2.5 Object 1008h: Manufacturer Device Name .................................................................... 22
7.2.6 Object 1009h: Manufacturer Hardware Version ............................................................ 23
7.2.7 Object 100Ah: Manufacturer Software Version ............................................................. 23
7.2.8 Object 100Ch: Guard Time ............................................................................................. 24
7.2.9 Object 100Dh: Life Time Factor ...................................................................................... 24
7.2.10 Object 1010h: Store Parameter Field ............................................................................. 25
7.2.11 Object 1011h: Restore Default Parameters .................................................................... 26
7.2.12 Object 1014h: COB-ID EMCY ........................................................................................... 28
7.2.13 Object 1015h: Inhibit Time Emergency .......................................................................... 29
7.2.14 Object 1016h: Heartbeat Consumer Entries ................................................................... 29
7.2.15 Object 1017h: Producer Heartbeat Time........................................................................ 30
7.2.16 Object 1018h: Identity Object ........................................................................................ 31
7.2.17 Object 1029h: Error Behaviour ....................................................................................... 33
7.2.18 Object 1200h: Server SDO Parameter 1 ......................................................................... 34
7.2.19 Object 1400h: Receive PDO Communication Parameter 1............................................. 35
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7.2.20 Object 1600h: Receive PDO Mapping Parameter 1 ........................................................ 36
7.3 MANUFACTURER SEGMENT ........................................................................................................... 39
7.3.1 Object 2001h: Module ID................................................................................................ 39
7.3.2 Object 2002h: Module Baud Rate................................................................................... 39
7.3.3 Object 2003h: Module DIP Switch .................................................................................. 40
7.4 DEVICE PROFILE SEGMENT ............................................................................................................ 41
7.4.1 Object 6200h: Write State 6 Output Lines ...................................................................... 41
7.4.2 Object 6202h: Polarity 6 Output Lines ............................................................................ 42
7.4.3 Object 6206h: Error Mode 6 Output Lines ..................................................................... 43
7.4.4 Object 6207h: Fault State 6 Output Lines ....................................................................... 44
7.4.5 Object 6220h: Write State 1 Output Line 1-6 ................................................................. 45
8. SAFETY GUIDELINES .................................................................................... 47
8.1 INTRODUCTION ........................................................................................................................... 47
8.2 INTENDED USE ............................................................................................................................ 47
8.3 TRANSPORT AND STORAGE............................................................................................................. 47
8.4 INSTALLATION ............................................................................................................................. 47
PROCON ELECTRONICS 5 CANopen PC6RO
1. Introduction
The PC6RO module has 6 normally open/ normally closed relay outputs. These modules may be used when a higher drive capability is required, or when isolation between outputs are required.
The module plugs into a special bus connector which fits inside the DIN rail. The power supply voltage and the CAN bus signals are connected via this bus connector.
The CAN interface is electrically isolated and is compliant with ISO 11898.
The module has been equipped with status led’s which are used to indicate the status of the Inputs and communications. This visual indication assists with fault finding and diagnostics.
The CANopen node ID and bit rate can be setup by DIP switches or software.
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2. Technical Specification
Power Supply
Logic Supply Voltage
24 Vdc
Logic Supply Current
71mA
Relay Outputs
Output Points
6
Maximum Current
1A @ 220VAC / 1A @ 28VDC
Isolation
4000Vrms between field and logic 1500Vrms between outputs
CANopen Data
NMT
Slave
Error Control
Node Guarding / Consumer Heartbeat
Node ID
DIP switch or software
Number of PDO
1 Rx
PDO Modes
Event Controlled Asynchronous, Event Timer Asynchronous, Sync - Acyclic, Sync – Cyclic.
PDO Mapping
Variable
PDO Linking
Supported
Number of SDO
1 Server
Error Message
Yes
Temperature
Operating Temperature.
-20°C to + 70°C
Storage Temperature
-40°C to + 85°C
Connectors
Logic Power and Comms.
5 way connector that clips onto DIN rail
Inputs
6 x 3 Way screw connector on top and bottom
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3. Physical Information
3.1 Physical Dimensions
The PC6RO enclosure is shown below. The module clips directly onto an industry standard DIN rail. Field wiring is on the top and bottom of the module via 6 plug-in connectors. The module power and CAN communications wiring is on a separate connector which clips onto the DIN rail on the back of the housing.
Allow at least 25mm on top and below the module to accommodate the wiring. Ensure that enough space is kept above and below the module for good ventilation.
113.0mm 17.6mm
1
1 0
.
5
m m
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3.2 DIN rail Bus adaptor
The BUS connector allows side-by-side installation of the Modules. The picture below shows multiple BUS connectors installed on a DIN rail. First, install the BUS connector onto the DIN rail, then slide into the adjacent BUS connector.
3.3 Installing the module onto the DIN rail
The modules are designed to be installed on a standard 35 mm DIN rail. Snap the BUS connector first into the rail as shown above. Next clip the top of the module onto the DIN rail and pivot the Module onto the DIN rail. The spring loaded clasp will latch around onto the DIN resulting in a firmly seated product. Do not force the module onto the connector otherwise the module or connector may be damaged.
Note: The modules are not designed for hot plug in. The power must be turned off before the modules are plugged into the base.
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3.4 Removing the module from the DIN rail
To remove the module from the DIN Rail, use a flat blade screwdriver to pry the spring loaded clasp away from the DIN rail in the manner shown in the picture below. Next pivot the module up and away from the DIN rail and remove.
3.5 Grounding/Shielding
In most cases, the modules will be installed in an enclosure along with other devices which generate electromagnetic radiation. Examples of these devices are relays and contactors, transformers, motor controllers etc. This electromagnetic radiation can induce electrical noise into both power and signal lines, as well as direct radiation into the module causing negative effects on the system. Appropriate grounding, shielding and other protective steps should be taken at the installation stage to prevent these effects. These protective steps include control cabinet grounding, module grounding, cable shield grounding, protective elements for electromagnetic switching devices, correct wiring as well as consideration of cable types and their cross sections.
3.6 Network Termination
Transmission line effects often present a problem on data communication networks. These problems include reflections and signal attenuation.
To eliminate the presence of reflections from the end of the cable, the cable must be terminated at both ends with a resistor across the line equal to its characteristic impedance. Both ends must be terminated since the direction of propagation is bi-directional. This termination is typically 120 ohms.
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4. Setting the Node ID and baud rate
The DIP switches are provided to manually configure the module node ID and baud rate. Switches 1 through 5 set the node ID sequentially starting at 1 and ending at 31. Switches 6, 7 & 8 set the baud rate. When the ID switches are all set to zero, the ID is taken from internal memory. When the baud rate switches are all set to zero, the baud rate is taken from the internal memory. The user must first configure the module by writing the correct values to the module.
4.1 Changing the DIP switch to set the Node ID and baud rate
The software in the module samples the dip switches on a reset when the power is cycled. Once sampled, the software writes the settings to the CAN port. The user is welcome to change the dip switches while the module is powered, however, a reset must be initiated afterward.
The DIP switch can be toggled using a small flat blade screwdriver, or equivalent tool, as shown in the picture below.
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4.2 Setting the Node ID using the DIP switches
The following table assists with the setting up of DIP switches for the required NODE ID.
NODE ID
SWITCH SETTING
SW8
SW7
SW6
SW5
SW4
SW3
SW2
SW1
Software
- - -
Off
Off
Off
Off
Off 1 - - -
Off
Off
Off
Off
On 2 - - -
Off
Off
Off
On
Off 3 - - -
Off
Off
Off
On
On
4 - - - Off
Off
On
Off
Off 4 - - -
Off
Off
On
Off
On
6 - - - Off
Off
On
On
Off
- - - - - - - - -
31 - - - On
On
On
On
On
4.3 Setting the Baud Rate using the DIP switches
The following table assists with the setting up of DIP switches for the required Baud Rate.
BAUD
RATE
SWITCH SETTING
kbits/s
SW8
SW7
SW6
SW5
SW4
SW3
SW2
SW1
Software
Off
Off
Off
20
Off
Off
On - - - - - 50
Off
On
Off - - - - - 125
Off
On
On - - - -
-
250
On
Off
Off - - - -
-
500
On
Off
On - - - -
-
800
On
On
Off - - - - - 1000
On
On
On - - - - -
4.4 Setting the Node ID using software.
In order to use the node ID from memory, ensure that all of the node ID dip switches are in the OFF position.
Before the internal node id is selected, the user must first write the correct id value to the Module ID object in the manufacturer segment. The object address is 2001h.
The node id can be configured from 1 to 127.
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4.5 Setting the baud rate using software.
In order to use the baud rate from memory, ensure that all of the baud rate dip switches are in the OFF position.
Before the internal baud rate is selected, the user must first write the correct baud rate value to the Module Baud Rate object in the manufacturer segment. The object address is 2002h.
The following baud rates are supported.
BAUD RATE
OBJECT VALUE (2002h)
kbits/s
20 1 50 2 100 3 125 4 250 5 500 6 800
7
1000
8
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5. Wiring
5.1 Power supply and Communications Wiring
The following diagram shows the wiring for the power and CAN communications.
Terminal
Description
1
Power 0V
The DC power supply 0V connection.
2
Power +24V
The DC power supply positive connection. 12V to 24VDC.
3
CAN GND
The CAN circuit is isolated from the DC power supply for the module. The CAN GND connection is not connected to the DC power supply GND. Use a separate ground wire to connect all of the CAN GND terminals on the modules together. This ensures that all of the modules are at the same potential. The ground wire must be earthed at one end only.
4
CANL
CANL network connection
5
CANH
CANH network connection
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5.2 Wiring the relay outputs
The following diagram shows how the relay contacts are connected to the wiring terminals.
COM 1 N/C 1 N/O 1 COM 2 N/C 2 N/O 2 COM 3 N/C 3 N/O 3 COM 4 N/C 4 N/O 4 COM 5 N/C 5 N/O 5 COM 6 N/C 6 N/O 6
1 2 3 4 5 6 7 8
9 10 11 12 13 14 15 16 17 18
1
2
3
4
6
5
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6. Indicators
6.1 Front panel indicators
The CAN communications uses an error LED (T) and a run LED (R). The run LED indicates the CANopen state. The error LED is shows errors of the network.
Power: Flashes to indicate the CPU is running. CAN (R): Indicates the CANopen run state. CAN (T): Indicates a CANopen error. Output Status: “OFF” when the output is off
“ON” when the output is on.
6RO
1 2 3 4
5 6
P R T
OFF ON
1 2
3 4
5 6 7 8
R = CANopen
RUN state
P = Power
T = CANopen
Error
Output Status
1 - 6
Switch 1
Switch 8
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6.2 Run indicator (R)
RUN LED
State
Description
Single flash
STOPPED
The device is in STOPPED state.
Blinking
PRE-OPERATIONAL
The device is in PRE- OPERATIONAL state.
On
RUN
The device is in RUN state.
6.3 Error indicator (T)
ERROR LED
State
Description
Off
no error
The device is in working condition.
Single flash
warning limit reached
At least one of the error counters of the CAN controller has reached or exceeded the warning limit.
Double flash
Error Control Event
A guard event (NMT- Slave or NMT­Master) or a Heartbeat event has occurred.
On
Bus Off
The CAN controller is bus-off.
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7. Implemented CANopen Objects
7.1 Object Block Diagrams
7.1.1 Block diagram for relay outputs
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7.2 Communication Segment
7.2.1 Object 1000h: Device Type
The device type specifies the kind of device. The lower 16 bit contain the device profile number and the upper 16 bit an additional information.
INDEX
1000
Name
Device Type
Object Code
Variable
Data Type
UNSIGNED32
Access
CONST
PDO Mapping
No
Default Value
0x00020191
7.2.2 Object 1001h: Error Register
The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set.
Bit
Meaning
0
generic error
1 - 2 - 3 - 4
communication error (overrun, error state)
5 - 6 - 7
-
INDEX
1001
Name
Error Register
Object Code
Variable
Data Type
UNSIGNED8
Access
RO
PDO Mapping
No
Default Value
0x00
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7.2.3 Object 1003h: Pre-defined Error Field
This object holds errors that have occurred on the device and have been signalled via Emergency Object. It is an error history. Writing to sub index 0 deletes the entire error history.
ERROR
CODE
Communications Error
0x8100
CAN Overrun Error
0x8110
CAN in error passive
0x8120
Heart Beat or life guard error
0x8130
CAN recovered from bus-off
0x8140
PDO not processed due the length
0x8210
PDO length exceeded
0x8220
INDEX
1003
Name
Pre-defined Error Field
Object Code
Array
Data Type
UNSIGNED32
Sub-Index
000
Description
Number of Errors
Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
001
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
002
Description
Standard Error Field
Data Type
UNSIGNED32
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Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
003
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
004
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
005
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
006
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
PROCON ELECTRONICS 21 CANopen PC6RO
Default Value
0x00000000
Sub-Index
007
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
008
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
009
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
010
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
PROCON ELECTRONICS 22 CANopen PC6RO
7.2.4 Object 1005h: COB-ID SYNC
COB-ID of the Synchronization object. The device generates a SYNC message if bit 30 is set. The meaning of other bits is equal to the other communication objects.
INDEX
1005
Name
COB-ID SYNC
Object Code
Variable
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000080
7.2.5 Object 1008h: Manufacturer Device Name
Contains the device name.
INDEX
1008
Name
Manufacturer Device Name
Object Code
Variable
Data Type
VISIBLE_STRING
Access
CONST
PDO Mapping
No
Default Value
PC6RO
PROCON ELECTRONICS 23 CANopen PC6RO
7.2.6 Object 1009h: Manufacturer Hardware Version
Contains the device hardware version.
INDEX
1009
Name
Manufacturer Hardware Version
Object Code
Variable
Data Type
VISIBLE_STRING
Access
CONST
PDO Mapping
No
Default Value
V01.00
7.2.7 Object 100Ah: Manufacturer Software Version
Contains the device software version.
INDEX
100A
Name
Manufacturer Software Version
Object Code
Variable
Data Type
VISIBLE_STRING
Access
CONST
PDO Mapping
No
Default Value
V01.00
PROCON ELECTRONICS 24 CANopen PC6RO
7.2.8 Object 100Ch: Guard Time
This entry contains the guard time in milli-seconds. It is 0, if not used.
INDEX
100C
Name
Guard Time
Object Code
Variable
Data Type
UNSIGNED16
Access
RW
PDO Mapping
No
Default Value
0x00000000
Unit
ms
7.2.9 Object 100Dh: Life Time Factor
The life time factor multiplied with the guard time gives the life time for the device. It is 0, if not used.
INDEX
100D
Name
Life Time Factor
Object Code
Variable
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0x00000000
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7.2.10 Object 1010h: Store Parameter Field
This entry supports saving of parameters in non-volatile memory. With a read access the device provides information about its saving capabilities. Several parameter groups are distinguished.
Sub index 1 : all parameters Sub index 2 : communication parameters Sub index 3 : application parameters Sub index 4 - 127: manufacturer defined parameters
For saving the signature "save" (0x65766173) must be written. The following parameters can be saved or loaded:
Communication Parameter
Object
COB-ID SYNC
1005h
Guard Time
100Ch
Life Time Factor
100Dh
COB-ID EMCY
1014h
Heartbeat Consumer Entries
1016h
Producer Heartbeat Time
1017h
PDO length exceeded
1029h
Manufacturer Specific Parameter
Object
Module ID
2001h
Module Baud Rate
2002h
Application Parameter
Object
Polarity 6 Output Lines
6202h
Error Mode 6 Output Lines
6206h
Fault State 6 Output Lines
6207h
INDEX
1010
Name
Store Parameter Field
Object Code
Array
Data Type
UNSIGNED32
Sub-Index
000
Description
Number of Entries
Access
RO
PDO Mapping
No
Default Value
0x4
Sub-Index
001
Description
Save all Parameters
PROCON ELECTRONICS 26 CANopen PC6RO
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
002
Description
Save Communication
Parameters
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
003
Description
Save Application Parameters
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
004
Description
Save Manufacturers
Parameters
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
7.2.11 Object 1011h: Restore Default Parameters
This entry supports restoring of default parameters. With a read access the device provides information about its capabilities to restore these values. Several parameter groups are distinguished.
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Sub index 1 : all parameters Sub index 2 : communication parameters Sub index 3 : application parameters Sub index 4 - 127: manufacturer defined parameters
For restoring the signature "load" (0x64616f6c) must be written.
INDEX
1011
Name
Restore Default Parameters
Object Code
Array
Data Type
UNSIGNED32
Sub-Index
000
Description
Number of Entries
Access
RO
PDO Mapping
No
Default Value
0x4
Sub-Index
001
Description
Restore all Default Parameters
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
002
Description
Restore Communication Default
Parameters
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
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Sub-Index
003
Description
Restore Application Default
Parameters
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
004
Description
Restore Manufacturers Default
Parameters
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
7.2.12 Object 1014h: COB-ID EMCY
COB-ID used for emergency message (Emergency Producer).
INDEX
1014
Name
COB-ID EMCY
Object Code
Variable
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000080
PROCON ELECTRONICS 29 CANopen PC6RO
7.2.13 Object 1015h: Inhibit Time Emergency
Inhibit Time used for emergency message (Emergency Producer). The time has to be a multiple of 100 us.
INDEX
1015
Name
Inhibit Time Emergency
Object Code
Variable
Data Type
UNSIGNED16
Access
RW
PDO Mapping
No
Default Value
0x0
7.2.14 Object 1016h: Heartbeat Consumer Entries
The consumer heartbeat time defines the expected heartbeat cycle time and thus has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat.
The bits 31 - 24 of each sub-index has to be 0. The bits 23 - 16 contain the node-id. The lower 16 bits contain the heartbeat time
INDEX
1016
Name
Heartbeat Consumer Entries
Object Code
Array
Data Type
UNSIGNED32
Sub-Index
000
Description
Number of Entries
Access
RO
PDO Mapping
No
Default Value
0x02
Sub-Index
001
Description
Consumer Heartbeat Time 1
Data Type
UNSIGNED32
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Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
002
Description
Consumer Heartbeat Time 2
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000000
7.2.15 Object 1017h: Producer Heartbeat Time
The producer heartbeat time defines the cycle time of the heartbeat. If the time is 0 it is not used. The time has to be a multiple of 1 msec
INDEX
1017
Name
Producer Heartbeat Time
Object Code
Variable
Data Type
UNSIGNED16
Access
RW
PDO Mapping
No
Default Value
0x00000000
PROCON ELECTRONICS 31 CANopen PC6RO
7.2.16 Object 1018h: Identity Object
This object contains general information about the device. Sub-Index 1 contains a unique value allocated each manufacturer. Sub-Index 2 identifies the manufacturer specific product code (device version). Sub-Index 3 contains the revision number. Bit 31-16 is the major revision number and Bit 15-0 the minor revision number. Sub-Index 4 identified a manufacturer specific serial number.
INDEX
1018
Name
Identity Object
Object Code
Record
Data Type
IDENTITY
Sub-Index
000
Description
number of entries
Access
RO
PDO Mapping
No
Default Value
0x4
Sub-Index
001
Description
Vendor Id
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x000003AD
Sub-Index
002
Description
Product Code
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x0
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Sub-Index
003
Description
Revision number
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x0
Sub-Index
004
Description
Serial number
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0
PROCON ELECTRONICS 33 CANopen PC6RO
7.2.17 Object 1029h: Error Behaviour
Sub index 000 contains the number of error classes. Sub index 001 contains the error class for a communication error. Sub indices 001 to 254 contain device profile or manufacturer specific error classes.
The value of an error class can be: 0 = pre - operational 1 = no state change 2 = stopped 3 .. 127 reserved
INDEX
1029
Name
Error Behaviour
Object Code
Array
Data Type
UNSIGNED8
Sub-Index
000
Description
Number of Entries
Access
RO
PDO Mapping
No
Default Value
1
Sub-Index
001
Description
Communication Error
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0x0
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7.2.18 Object 1200h: Server SDO Parameter 1
The object contains the parameters for the SDOs for which the device is the server.
INDEX
1200
Name
Server SDO Parameter 1
Object Code
Record
Data Type
SDO_PARAMETER
Sub-Index
000
Description
Number of Entries
Access
RO
PDO Mapping
No
Default Value
2
Sub-Index
001
Description
COB-ID Client -> Server
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000600
Sub-Index
002
Description
COB-ID Server -> Client
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000580
PROCON ELECTRONICS 35 CANopen PC6RO
7.2.19 Object 1400h: Receive PDO Communication Parameter 1
It contains the communication parameters of the current PDO the device is able to receive. Sub-index 0 contains the number of PDO-parameters implemented. Sub index 1 describes the COB-ID. If bit 31 is set the PDO is disabled. The transmission mode is defined by sub-index 2. An inhibit time can be defined on sub-index 3 in 100 us. At the 5th sub-index can be defined an event time for asynchronous pdos.
INDEX
1400
Name
Receive PDO Communication Parameter 1
Object Code
Record
Data Type
PDO_COMM_PAR
Sub-Index
000
Description
Number of Entries
Access
RO
PDO Mapping
No
Default Value
0x03
Sub-Index
001
Description
COB-ID
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00000200
Sub-Index
002
Description
Transmission Type
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0xFF
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Sub-Index
003
Description
Inhibit Time
Data Type
UNSIGNED16
Access
RW
PDO Mapping
No
Default Value
0x0
Unit
100 us
7.2.20 Object 1600h: Receive PDO Mapping Parameter 1
The sub-indices contain the indices, the sub-indices and the lengths of the mapped sub-indices. Their structure is as follows:
index (16bit) sub-index (8bit) length (8bit)
INDEX
1600
Name
Receive PDO Mapping
Parameter 1
Object Code
Record
Data Type
PDO_MAPPING
Sub-Index
000
Description
Number of Entries
Access
RW
PDO Mapping
No
Default Value
0x08
Sub-Index
001
Description
Mapping Entry 1
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x62000108
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Sub-Index
002
Description
Mapping Entry 2
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00050008
Sub-Index
003
Description
Mapping Entry 3
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00050008
Sub-Index
004
Description
Mapping Entry 4
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00050008
Sub-Index
005
Description
Mapping Entry 5
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00050008
Sub-Index
006
Description
Mapping Entry 6
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Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00050008
Sub-Index
007
Description
Mapping Entry 7
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00050008
Sub-Index
008
Description
Mapping Entry 8
Data Type
UNSIGNED32
Access
RW
PDO Mapping
No
Default Value
0x00050008
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7.3 Manufacturer Segment
7.3.1 Object 2001h: Module ID
INDEX
2001
Name
Module ID
Object Code
Variable
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0x7F
7.3.2 Object 2002h: Module Baud Rate
INDEX
2002
Name
Module Baud Rate
Object Code
Variable
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0x04
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7.3.3 Object 2003h: Module DIP Switch
INDEX
2003
Name
Module DIP Switch
Object Code
Variable
Data Type
UNSIGNED8
Access
RO
PDO Mapping
No
Default Value
0x00
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7.4 Device Profile Segment
7.4.1 Object 6200h: Write State 6 Output Lines
Sets a group of 6 output lines as a byte of information.
INDEX
6200
Name
Write State 6 Output Lines
Object Code
Array
Data Type
UNSIGNED8
Sub-Index
000
Description
Number of Elements
Access
RO
PDO Mapping
No
Default Value
0x1
Sub-Index
001
Description
digital Outputs 1-6
Data Type
UNSIGNED8
Access
RWW
PDO Mapping
Yes
Default Value
0
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7.4.2 Object 6202h: Polarity 6 Output Lines
Defines the polarity of a group of 6 output lines.
INDEX
6202
Name
Polarity 6 Output Lines
Object Code
Array
Data Type
UNSIGNED8
Sub-Index
000
Description
Number of Elements
Access
RO
PDO Mapping
No
Default Value
0x1
Sub-Index
001
Description
Polarity for digital Outputs 1-6
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0x00
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7.4.3 Object 6206h: Error Mode 6 Output Lines
This object indicates, whether an output is set to a pre-defined error value (see 6207 h object) in case of an internal device failure or a 'Stop Remote Node' indication. 1 = output value shall take the pre-defined condition specified in 6207 h object 0 = output value shall be kept if an error occurs
INDEX
6206
Name
Error Mode 6 Output Lines
Object Code
Array
Data Type
UNSIGNED8
Sub-Index
000
Description
Number of Elements
Access
RO
PDO Mapping
No
Default Value
0x1
Sub-Index
001
Description
Fault Mode for digital Outputs 1-
6
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0x3F
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7.4.4 Object 6207h: Fault State 6 Output Lines
Output line fault state. This defines the default output state on detecting a fault condition. Defined for groups of 8 outputs. The corresponding bit must be set in the default output line mode.
INDEX
6207
Name
Fault State 6 Output Lines
Object Code
Array
Data Type
UNSIGNED8
Sub-Index
000
Description
Number of Elements
Access
RO
PDO Mapping
No
Default Value
0x1
Sub-Index
001
Description
Fault State for digital Outputs 1-
6
Data Type
UNSIGNED8
Access
RW
PDO Mapping
No
Default Value
0x00
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7.4.5 Object 6220h: Write State 1 Output Line 1-6
Sets a single output line information.
INDEX
6220
Name
Write State 1 Output Line 1-6
Object Code
Array
Data Type
BOOLEAN
Sub-Index
000
Description
Number of Elements
Access
RO
PDO Mapping
No
Default Value
0x6
Sub-Index
001
Description
digital Output 1
Data Type
BOOLEAN
Access
RWW
PDO Mapping
No
Default Value
0
Sub-Index
002
Description
digital Output 2
Data Type
BOOLEAN
Access
RWW
PDO Mapping
No
Default Value
0
Sub-Index
003
Description
digital Output 3
PROCON ELECTRONICS 46 CANopen PC6RO
Data Type
BOOLEAN
Access
RWW
PDO Mapping
No
Default Value
0
Sub-Index
004
Description
digital Output 4
Data Type
BOOLEAN
Access
RWW
PDO Mapping
No
Default Value
0
Sub-Index
005
Description
digital Output 5
Data Type
BOOLEAN
Access
RWW
PDO Mapping
No
Default Value
0
Sub-Index
006
Description
digital Output 6
Data Type
BOOLEAN
Access
RWW
PDO Mapping
No
Default Value
0
PROCON ELECTRONICS 47 CANopen PC6RO
8. SAFETY GUIDELINES
8.1 Introduction
The IO Modules have been designed developed or manufactured for conventional use in industry. They were not designed, developed and manufactured for any use involving serious risks or hazard s that without the implementation of exceptionally stringent safety precautions could lead to death, injury, serious physical damage or loss of any other kind . Such risks and hazard s include in particular the use of these devices to monitor nuclear reactions in nuclear power plants, as well as flight control system s, flight safety, the control of mass transportation system s, medical life support system s, and the control of weapons system s.
When using IO Modules with programmable logic controllers and when using operating and monitoring devices as control system s in conjunction with a Soft PLC, the safety precautions app lying to industrial control system s (e.g. the provision of safety devices such as emergency stop circuits, etc.) in accordance with applicable national and international regulations must be observed. The same app lies for all other devices connected to the system, such as drives. All tasks such as installation, commissioning and service may only be carried out by qualified personnel. Qualified personnel are persons who are familiar with the transport, mounting, installation, commissioning and operation of the product and have the appropriate qualifications. National accident prevention guidelines must be followed. The safety guidelines, connection descriptions and limit values listed in the technical data must be read carefully before installation and commissioning and must be observed.
8.2 Intended Use
Electronic devices are generally not fail-safe. In the event of a failure on the IO Modules, operating or monitoring device or uninterruptible power supply, the user is responsible for ensuring that other devices that may be connected, such as motors, are made safe.
8.3 Transport and Storage
During transport and storage, devices must be protected from excessive stress (mechanical load, temperature, humidity, aggressive atmosphere).
8.4 Installation
The installation must take place according to the documentation. The IO Modules are only allowed to be installed wit out voltage app lied and by qualified
personnel.
General safety regulations and nationally applicable accident prevention guidelines must
be observed. Electrical installation must be carried out according to the relevant guidelines (e.g. line cross section, fuse, protective ground connection).
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