turck BL20 User Manual

BL20 –
I/O-MODULES

USER MANUAL
FOR
CANopen

All brand and product names are trademarks or registered trade
marks of the owner concerned.

Edition 03/2008

© Hans Turck GmbH, Mülheim an der Ruhr

All rights reserved, including those of the translation.

No part of this manual may be reproduced in any form (printed,
photocopy, microfilm or any other process) or processed, dupli­cated or distributed by means of electronic systems without written
permission of Hans Turck GmbH & Co. KG, Mülheim an der Ruhr.

Subject to alterations without notice.

Safety Notes!

Before starting the installation

 Disconnect the power supply of the device.
 Ensure that devices cannot be accidentally restarted.
 Verify isolation from the supply.
 Earth and short circuit.
 Cover or enclose neighboring units that are live.
 Follow the engineering instructions (AWA) of the device

concerned.

 Only suitably qualified personnel in accordance with EN 50 110-

1/-2 (VDE 0 105 Part 100) may work on this device/system.

 Before installation and before touching the device ensure that

you are free of electrostatic charge.

 The functional earth (FE) must be connected to the protective

earth (PE) or to the potential equalization. The system installer is
responsible for implementing this connection.

 Connecting cables and signal lines should be installed so that

inductive or capacitive interference do not impair the automation
functions.

 Install automation devices and related operating elements in

such a way that they are well protected against unintentional
operation.

 Suitable safety hardware and software measures should be

implemented for the I/O interface so that a line or wire breakage
on the signal side does not result in undefined states in the auto­mation devices.

 Ensure a reliable electrical isolation of the low voltage for the 24

volt supply. Only use power supply units complying with IEC 60
364-4-41 (VDE 0 100 Part 410) or HD 384.4.41 S2.

 Deviations of the mains voltage from the rated value must not

exceed the tolerance limits given in the specifications, otherwise
this may cause malfunction and dangerous operation.

 Emergency stop devices complying with IEC/EN 60 204-1 must

be effective in all operating modes of the automation devices.
Unlatching the emergency-stop devices must not cause restart.

I

 Devices that are designed for mounting in housings or control

cabinets must only be operated and controlled after they have
been installed with the housing closed. Desktop or portable units
must only be operated and controlled in enclosed housings.

 Measures should be taken to ensure the proper restart of

programs interrupted after a voltage dip or failure. This should
not cause dangerous operating states even for a short time. If
necessary, emergency-stop devices should be implemented.

 Wherever faults in the automation system may cause damage to

persons or property, external measures must be implemented to
ensure a safe operating state in the event of a fault or malfunc­tion (for example, by means of separate limit switches, mechan­ical interlocks etc.).

 The electrical installation must be carried out in accordance with

the relevant regulations (e. g. with regard to cable cross
sections, fuses, PE).

 All work relating to transport, installation, commissioning and

maintenance must only be carried out by qualified personnel.
(IEC 60 364 and HD 384 and national work safety regulations).

 All shrouds and doors must be kept closed during operation.

II

Table of Contents

About this Manual

Documentation Concept...............................................................................0-2

Overview ....................................................................................................... 0-3

Prescribed Use........................................................................................0-3

Notes Concerning Planning /Installation of this Product ........................0-3

Description of Symbols Used.................................................................. 0-4

List of Revisions............................................................................................0-5

1 BL20 Philosophy

The Basic Concept........................................................................................ 1-2

BL20 Components........................................................................................1-5

Gateways................................................................................................. 1-5

Power Distribution Modules .................................................................... 1-6

Electronics Modules................................................................................1-7

Base Modules..........................................................................................1-9

End Plate ...............................................................................................1-11

End Bracket........................................................................................... 1-12

Jumpers.................................................................................................1-13

Marking Material....................................................................................1-14

Shield Connection, 2-Pole for Analog Modules ....................................1-15

2 Short description of CANopen

CANopen ......................................................................................................2-2

General....................................................................................................2-2

Communication ....................................................................................... 2-3

BL20 and CANopen......................................................................................2-7

Electronic data sheet – EDS file.................................................................... 2-8

3 BL20 - Gateway for CANopen

Introduction...................................................................................................3-2

Function ........................................................................................................3-3

Technical Information.................................................................................... 3-4

Technical Data ..............................................................................................3-6

General Technical Data........................................................................... 3-6

Structure Diagram of a Gateway...........................................................3-11

Technical Data BL20-GW-CANOPEN................................................... 3-11

D301087 0308 - BL20 CANopen i

Technical Data BL20-GWBR-CANOPEN..............................................3-13

Connections for data cables to BL20-GW-CANOPEN ...............................3-15

Fieldbus connection via SUB-D socket.................................................3-15

Fieldbus connection through direct wiring ............................................ 3-16

Connections of the data cables to BL20-GWBR-CANopen .......................3-18

Fieldbus connection via Open Style connector..................................... 3-18

Service Interface Connection................................................................3-20

Setting the bit transfer rate through DIP-switches......................................3-22

Node-ID Setting .......................................................................................... 3-24

Acceptance of the BL20 Station Configuration ..........................................3-26

Status Indicators/ Diagnostic Messages Gateway..................................... 3-27

Diagnostic Messages via LEDs............................................................. 3-27

4 BL20 - Communication in CANopen

Setting up communication............................................................................4-6

Minimum Boot-up ...................................................................................4-6

Identifier for the Standard Objects........................................................ 4-10

Set up Node Guarding Protocol............................................................4-13

Boot-up Message..................................................................................4-15

Parameterization through Service Data Objects (SDO) .............................. 4-16

Read (Read from Object Dictionary)......................................................4-17

Write (Write to Object Dictionary)..........................................................4-18

Commanded Parameter Storing/Restoring...........................................4-21

Transmission of Process Data Objects (PDO) ............................................4-22

Communication Parameter COB-ID......................................................4-22

Transmission Type ................................................................................4-23

Inhibit Time............................................................................................ 4-24

Event Timer ...........................................................................................4-24

Available PDOs......................................................................................4-25

Mapping Objects in PDOs..................................................................... 4-25

Default-PDOs and PDO-Mappings ....................................................... 4-26

BL20-Specific Default-PDOs.................................................................4-28

Mappable Objects.................................................................................4-32

Procedure for Altering PDO-Mappings .................................................4-34

Object Dictionary ........................................................................................ 4-35

Overview of all Objects.......................................................................... 4-35

Commands for "Parameter Save" and "Restore Defaults"................... 4-40

Objects for the Communication Profile ................................................. 4-42

Objects for the Transfer of Service Data............................................... 4-72

D301087 0308 - BL20 CANopenii

Objects for the Transfer of Process Output Data..................................4-74

Objects for the Transfer of Process Input data.....................................4-83

Objects for Network Management ........................................................4-92

Manufacturer Specific Objects............................................................ 4-103

I/O-Module Objects ..................................................................................4-110

Overview of the I/O-Module Objects................................................... 4-110

General I/O-Objects ............................................................................4-113

Objects for Digital Input Modules........................................................4-114

Objects for Digital Output Modules..................................................... 4-121

Objects for Analog Input Modules.......................................................4-137

Objects for Analog Output Modules.................................................... 4-155

Objects for RS232/RS4xx-modules ....................................................4-163

Objects for SSI-Modules.....................................................................4-176

Objects for Counter-Modules..............................................................4-199

Objects for SWIRE modules................................................................ 4-255

Representation of process input data................................................. 4-257

Representation of process output data...............................................4-261

5 Diagnostics - Emergency Frames

General..........................................................................................................5-2

Structure of the Emergency Frames............................................................. 5-3

Error Register .......................................................................................... 5-4

Gateway-Diagnostics....................................................................................5-5

I/O-Module Diagnostics................................................................................5-7

Digital Input Modules .............................................................................. 5-7

Digital Output Modules ........................................................................5-10

Analog Input Modules ...........................................................................5-11

Technology Modules.............................................................................5-16

6 Guidelines for Station Planning

Random Module Arrangement...................................................................... 6-2

Complete Planning..................................................................................6-2

Maximum System Extension...................................................................6-2

Power Supply................................................................................................6-5

Gateway Supply ...................................................................................... 6-5

Module Bus Refreshing........................................................................... 6-5

Creating Potential Groups.....................................................................6-11

Protecting the Service Interface on the Gateway..................................6-12

C-Rail (Cross Connection)..................................................................... 6-13

Direct Wiring of Relay Modules............................................................. 6-15

D301087 0308 - BL20 CANopen iii

Plugging and Pulling Electronics Modules..................................................6-16

Extending an Existing Station .....................................................................6-17

Firmware Download....................................................................................6-18

7 Guidelines for Electrical Installation

General Notes ............................................................................................... 7-2

General....................................................................................................7-2

Cable Routing.......................................................................................... 7-2

Cable Routing Inside and Outside of Cabinets.......................................7-2

Lightning Protection ................................................................................ 7-3

Transmission Cables ............................................................................... 7-3

Cable Types ............................................................................................7-4

Potential Relationships .................................................................................7-5

General....................................................................................................7-5

Potential-Free Installation........................................................................7-6

Non-isolated Installation.......................................................................... 7-6

Electromagnetic Compatibility (EMC)...........................................................7-7

Ensuring Electromagnetic Compatibility .................................................7-7

Grounding of Inactive Metal Components ..............................................7-7

PE Connection.........................................................................................7-8

Earth-Free Operation...............................................................................7-8

Mounting Rails.........................................................................................7-9

EMC Compliant Cabinet Installation ..................................................... 7-10

Shielding of cables......................................................................................7-11

Potential Compensation.............................................................................. 7-13

Switching Inductive Loads ....................................................................7-15

Protection against Electrostatic Discharge (ESD) .................................7-15

Bus Connection ..........................................................................................7-16

Two-Pole Shield Connection ......................................................................7-17

8 BL20-Approvals for Zone 2/ Division 2

Certified BL20-Components.........................................................................8-2

Certificates for Europe ..................................................................................8-4

Type Examination Certificate ..................................................................8-4

ATEX IEC Rev.1.doc..............................................................................8-10

Declaration of Conformity/ Konformitätserklärung................................8-11

Zertifikate für Europa ..................................................................................8-12

Baumusterprüfbescheinigung ...............................................................8-12

D301087 0308 - BL20 CANopeniv

ATEX IEC Rev.1.doc..............................................................................8-18

Declaration of Conformity/Konformitätserklärung.................................8-19

Certificates IECEx ....................................................................................... 8-20

IECEx Certificate of Conformity ............................................................8-20

ATEX IEC Rev.1.doc..............................................................................8-25

Certificates for the USA ..............................................................................8-26

Certificate Of Compliance.....................................................................8-26

Installation Drawings .............................................................................8-30

Certificates for Canada ............................................................................... 8-32

Certificate Of Compliance.....................................................................8-32

Installation Drawings .............................................................................8-36

9Glossary

10 Index

D301087 0308 - BL20 CANopen v

D301087 0308 - BL20 CANopenvi

About this Manual

Documentation Concept .................................................................... 2

Overview ............................................................................................ 3

Prescribed Use............................................................................................3

Notes Concerning Planning /Installation of this Product ............................3

Description of Symbols Used......................................................................4

List of Revisions ................................................................................ 5

D301087 0308 - BL20 CANopen 0-1

About this Manual

Documentation Concept

This manual contains all information about the BL20-gateway for
CANopen.

The following chapters contain a short BL20 system description, a
description of the field bus system CANopen, exact information
about function and structure of the BL20 CANopen-gateway as well
as all bus-specific information concerning the connection to auto­mation devices, the maximum system extension etc.

The bus-independent I/O-modules for BL20 as well as all further
fieldbus-independent chapters like mounting, labelling etc. are
described in a separate manual.

 BL20 I/O-modules

(TURCK-Documentation-No.: English D300717)

Furthermore, the manual contains a short description of the project
planning and diagnostics software for TURCK I/O-systems, the
software I/O-ASSISTANT.

D301087 0308 - BL20 CANopen0-2

Overview

Overview

Attention

Please read this section carefully. Safety aspects cannot be left to
chance when dealing with electrical equipment.

This manual includes all information necessary for the prescribed
use of BL20 products. It has been specially conceived for personnel
with the necessary qualifications.

Prescribed Use

Warning

The devices described in this manual must be used only in applica­tions prescribed in this manual or in the respective technical de­scriptions, and only with certified components and devices from
third party manufacturers.

Appropriate transport, storage, deployment and mounting as well as
careful operating and thorough maintenance guarantee the trouble­free and safe operation of these devices.

Notes Concerning Planning /Installation of this Product

Warning

All respective safety measures and accident protection guidelines
must be considered carefully and without exception.

D301087 0308 - BL20 CANopen 0-3

About this Manual

Description of Symbols Used

Warning

This sign can be found next to all notes that indicate a source of haz­ards. This can refer to danger to personnel or damage to the system
(hardware and software) and to the facility.

This sign means for the operator: work with extreme caution.

Attention

This sign can be found next to all notes that indicate a potential
hazard.

This can refer to possible danger to personnel and damages to the
system (hardware and software) and to the facility.

Note

This sign can be found next to all general notes that supply impor­tant information about one or more operating steps. These specific
notes are intended to make operation easier and avoid unnecessary
work due to incorrect operation.

D301087 0308 - BL20 CANopen0-4

List of Revisions

List of Revisions

In comparison to the previous manual edition, the following
changes/ revisions have been made:

Table 1:
List of revisions

Chapter Subject/

new changed

Description

Ch. 8 BL20-Approvals for Zone 2 X

Note

The publication of this manual renders all previous editions invalid.

D301087 0308 - BL20 CANopen 0-5

About this Manual

D301087 0308 - BL20 CANopen0-6

1 BL20 Philosophy

The Basic Concept ............................................................................ 2

BL20 Components ............................................................................. 5

Gateways.....................................................................................................5

– Gateways with integrated power supply .................................................5

– Gateways without power supply ............................................................6

Power Distribution Modules ........................................................................6

Electronics Modules....................................................................................7

Base Modules..............................................................................................9

End Plate ...................................................................................................11

End Bracket...............................................................................................12

Jumpers.....................................................................................................13

Marking Material........................................................................................14

Shield Connection, 2-Pole for Analog Modules ........................................15

D301087 0308 - BL20 CANopen 1-1

BL20 Philosophy

The Basic Concept

BL20 is a modular I/O system for use in industrial automation. It
connects the sensors and actuators in the field with the higher-level
master.

BL20 offers modules for practically all applications:

 Digital input and output modules
 Analog input and output modules
 Technology modules (counters, RS232 interface...)

A complete BL20 station counts as one station on the bus and
therefore occupies one fieldbus address in any given fieldbus struc­ture. A BL20 station consists of a gateway, power distribution
modules and I/O modules.

The connection to the relevant fieldbus is made via the bus-specific
gateway, which is responsible for the communication between the
BL20 station and the other fieldbus stations.

The communication within the BL20 station between the gateway
and the individual BL20 modules is regulated via an internal module
bus.

Note

The gateway is the only fieldbus-dependent module on a BL20 sta­tion. All other BL20 modules are not dependent on the fieldbus
used.

D301087 0308 - BL20 CANopen1-2

The Basic Concept

A

B

C

D

G

F

E

Figure 1:
Example of a
BL20 station

A Gateway
B Power distri-

bution module
C Electronics
module in block
design
D Electronics
module in slice
design

E End plate
F Base module

in slice design
G Base module
in block design

Flexibility

All BL20 stations can be planned to accommodate the exact
number of channels to suit your needs, because the modules are
available in block and slice design.

A BL20 station can contain modules in any combination, which
means it is possible to adapt the system to practically all applica­tions in automated industry.

Compactness

The slim design of the BL20 modules (gateway 50.4 mm / 1.98 inch,
slice 12.6 mm / 0.49 inch and block 100.8 mm / 3.97 inch) and their
low overall height favor the installation of this system in confined
spaces.

1

D301087 0308 - BL20 CANopen 1-3

BL20 Philosophy

Easy to handle

All BL20 modules, with the exception of the gateway, consist of a
base module and an electronics module.

The gateway and the base modules are snapped onto a mounting
rail. The electronics modules are plugged onto the appropriate base
modules.

The base modules are designed as terminal blocks. The wiring is
secured by tension clamp or screw connection. The electronics
modules can be plugged or pulled when the station is being
commissioned or for maintenance purposes, without having to
disconnect the field wiring from the base modules.

D301087 0308 - BL20 CANopen1-4

BL20 Components

BL20 Components

For a detailed explanation of the individual BL20 components,
please refer to chapter 2 and chapter 4. The "Appendix" to this
manual contains (amongst others) a list of all BL20 components and
the assignment of electronics modules to base modules.

Gateways

The gateway connects the fieldbus to the I/O modules. It is respon­sible for handling the entire process data and generates diagnostic
information for the higher-level master and the software tool
I/Oassistant.

Gateways with integrated power supply

The BL20 gateway BL20-GWBR-CANOPEN offers an integrated
power supply unit for feeding the gateway and the connected I/O
modules.

It is not necessary to supply each individual module with a separate
voltage

Figure 2:
Gateway
BL20-GWBR­CANOPEN

1

D301087 0308 - BL20 CANopen 1-5

BL20 Philosophy

Figure 3:
Power distribution
module

Gateways without power supply

Note

The gateways without integrated power supply unit need an additi­onal power supply module (bus refreshing module) which feeds the
gateway an the connected I/O modules.

Power Distribution Modules

The power supply for gateways and I/O modules is fed to the power
distribution modules; therefore, it is not necessary to supply each
individual module with a separate voltage.

D301087 0308 - BL20 CANopen1-6

BL20 Components

Figure 4:
Electronics
module in slice
design

Electronics Modules

Electronics modules contain the functions of the BL20 modules
(power distribution modules, digital and analog input/output
modules, and technology modules).

Electronics modules are plugged onto the base modules and are not
directly connected to the wiring. The assignment table in the Section
"Ordering Information" of the "Appendix" shows the possible
combinations of electronics and base modules. They can be
plugged or pulled when the station is being commissioned or for
maintenance purposes, without having to disconnect the field wiring
from the base modules.

1

D301087 0308 - BL20 CANopen 1-7

BL20 Philosophy

Figure 5:
Electronics
module in block
design

D301087 0308 - BL20 CANopen1-8

BL20 Components

Figure 6:
Base module with
tension clamp
connection

Base Modules

The field wiring is connected to the base modules. These are
constructed as terminals in block and slice designs and are available
in the following variations with either tension clamp or screw
connections: 2-/3-wire (2-channel), 4-wire (2-channel) and 4x 2-/3­wire (4-channel).

The assignment table in the Section "Ordering Information" of the
"Appendix" shows the possible combinations of electronics and
base modules.

1

D301087 0308 - BL20 CANopen 1-9

BL20 Philosophy

Figure 7:
Base module with
screw connection

Figure 8:
Base module in
block design

D301087 0308 - BL20 CANopen1-10

BL20 Components

Figure 9:
End plate

End Plate

An end plate on the right-hand side physically completes the BL20
station. An end bracket mounted into the end plate ensures that the
BL20 station remains secure on the mounting rail even when
subjected to vibration.

1

D301087 0308 - BL20 CANopen 1-11

BL20 Philosophy

Figure 10:
End bracket

End Bracket

A second end bracket to the left of the gateway is necessary, as well
as the one mounted into the end plate to secure the station.

Note

The end plate an the end bracket are delivered together with each
gateway.

D301087 0308 - BL20 CANopen1-12

BL20 Components

Figure 11:
Jumpers

Jumpers

Jumpers (QVRs) are used to bridge a connection level of a 4-wire
base module. They can be used to connect potentials in relay
modules (bridging the relay roots); thus considerably reducing the
amount of wiring.

1

D301087 0308 - BL20 CANopen 1-13

BL20 Philosophy

Figure 12:
Marking material

Marking Material

 Labels: for labeling BL20 electronics modules.
 Markers: for colored identification of connection levels of BL20

base modules.

 Dekafix connector markers: for numbering the mounting slots on

BL20 base modules.

D301087 0308 - BL20 CANopen1-14

BL20 Components

Figure 13:
Shield connection

Shield Connection, 2-Pole for Analog Modules

The 2-pole shield connection can be used to connect signal-cable
shielding to the base modules of analog input and output modules.
A special tension-clamp operating tool (BL20-ZBW5-2) is required
to mount the shield connection onto the base module.

1

D301087 0308 - BL20 CANopen 1-15

BL20 Philosophy

D301087 0308 - BL20 CANopen1-16

2 Short description of CANopen

CANopen ........................................................................................... 2

General........................................................................................................2

Communication ...........................................................................................3

– Network Management Messages ............................................................3

– Service Data Objects (SDOs) ...................................................................4

– Process Data Objects (PDOs) .................................................................4

– Special Function Objects ........................................................................6

BL20 and CANopen............................................................................ 7

Electronic data sheet – EDS file ........................................................ 8

D301087 0308 - BL20 CANopen 2-1

Short description of CANopen

CANopen

Note

The following description of CANopen is an excerpt from the home­page of CiA (CAN in Automation), the international users’ and man­ufacturers’ organization for CAN.

General

CANopen is an open, non-proprietary network protocol. It consists
of a profile family, based on a communication profile and several
device profiles. The CANopen communication profile is standard­ized as CiA DS-301 (Application Layer and Communication Profile).

The CANopen device profile for I/O-modules has been published as
CiA DS-401 (Device Profile for I/O-Modules).

CANopen is based on the following standards:

 ISO 11 898 (Physical and Data Link Layer)
 Layers 1 and 2 of the ISO/OSI communication model
 CiA DS-301 (Application Layer and Communication Profile)

C ANopen communication profile

 CiA DS-302 (Framework for Programmable CANopen Devices)

CANopen Network Management NMT

 CiA DS-401 (Device Profile for I/O-modules)
 CiA DS-406 (Device Profile for Encoders)

CANopen device profile for counter modules

 CiA DS-102 (CAN Physical Layer for Industrial Applications)

General application in the field sector (connectors and bit rates)
on the basis of ISO 11898

D301087 0308 - BL20 CANopen2-2

CANopen

Communication

The lower layers of CANopen are defined according to the ISO-OSI
model in the ISO 11898 standard.

Communication between the individual nodes is made by transmit­ting "Telegrams".

4 different types of telegram message are defined for CANopen:

 Network management messages
 Service data objects SDO
 Process data objects PDO
 Predefined messages

Network Management Messages

Network management messages are used in the network to control
the nodes and their operating states. This type of message makes it
possible, for instance, to configure the data transmission mecha­nism of a node.

The Network Management objects include Boot-up message,
Heartbeat protocol and NMT message.

Boot-up message, Heartbeat and Node Guarding are implemented
as single CAN frames with 1-byte data field.

The NMT message is mapped to a single CAN frame with a data
length of 2 byte. Its identifier is 0. The first byte contains the
command specifier and the second contains the Node-ID of the
device that must perform the command (in the case of Node-ID 0 all
nodes have to perform the command). The NMT message trans­mitted by the NMT master forces the nodes to transit to another
NMT state. The CANopen state machine specifies the states Initial­ization, Pre-Operational, Operational and Stopped. After power-on,
each CANopen device is in the state Initialization and automatically
transits to the state Pre-operational. In this state, transmission of
SDOs is allowed. If the NMT master has set one or more nodes into
the state Operational, they are allowed to transmit and to receive
PDOs. In the state Stopped no communication is allowed except
that of NMT objects.

The state Initialization is divided into three sub-states in order to
enable a complete or partial reset of a node. In the sub-state Reset
Application the parameters of the manufacturer-specific profile area
and the standardized device profile area are set to their power-on
values. In the sub-state Reset Communication the parameters of the

2

D301087 0308 - BL20 CANopen 2-3

Short description of CANopen

communication profile area are set to their power-on values. The
third sub-state is initializing, which a node enters automatically after
power-on. Power-on values are the last stored parameters.

The Heartbeat protocol is for error control purposes and signals
the presence of a node and its state. The Heartbeat message is a
periodic message of the node to one or several other nodes. It indi­cates that the sending node is still working properly.

A device sends the Boot-up message to indicate to the NMT
master that it has reached the state Pre-operational. This occurs
whenever the device initially boots-up but also after a power-out
during operation. The Boot-up message has the same identifier as
the Heartbeat object, however, its data content is zero.

Service Data Objects (SDOs)

A Service Data Object (SDO) reads from entries or writes to entries
of the Object Dictionary.

The SDO transport protocol allows transmitting objects of any size.
The first byte of the first segment contains the necessary flow
control information including a toggle bit to overcome the problem
of doubly received CAN frames. The next three bytes of the first
segment contain index and sub-index of the Object Dictionary entry
to be read or written. The last four bytes of the first segment are
available for user data. The second and the following segments
(using the very same CAN identifier) contain the control byte and up
to seven bytes of user data. The receiver confirms each segment or
a block of segments, so that a peer-to-peer communication (client/
server) takes place.

Process Data Objects (PDOs)

Process Data Objects (PDOs) are mapped to a single CAN frame
using up to 8 bytes of the data field to transmit application objects.
Each PDO has a unique identifier and is transmitted by only one
node, but it can be received by more than one (producer/consumer
communication).

D301087 0308 - BL20 CANopen2-4

CANopen

PDO transmissions

PDO transmissions may be driven by an internal event, by an
internal timer, by remote requests and by the Sync message
received:

 Event- or timer-driven:

An event (specified in the device profile) triggers message trans­mission. An elapsed timer additionally triggers the periodically
transmitting nodes.

 Remotely requested:

Another device may initiate the transmission of an asynchronous
PDO by sending a remote transmission request (remote frame).

 Synchronous transmission:

In order to initiate simultaneous sampling of input values of all
nodes, a periodically transmitted Sync message is required.
Synchronous transmission of PDOs takes place in cyclic and
acyclic transmission mode. Cyclic transmission means that the
node waits for the Sync message, after which it sends its
measured values. Acyclically transmitted synchronous PDOs are
triggered by a defined application-specific event.

2

D301087 0308 - BL20 CANopen 2-5

Short description of CANopen

Special Function Objects

CANopen also defines three specific protocols for synchronization,
emergency indication, and time-stamp transmission.

 Synchronization object (Sync)

The Sync Object is broadcast periodically by the Sync Producer.
The time period between Sync messages is defined by the
Communication Cycle Period, which may be reset by a configu­ration tool to the application devices during the boot-up
process. There can be a time jitter in transmission by the Sync
Producer due to some other objects with higher prior identifiers
or by one frame being transmitted just before the Sync message.
The Sync message is mapped to a single CAN frame with the
identifier 128 by default. The Sync message does not carry any
data.

 Emergency object (Emcy)

The Emergency message is triggered by the occurrence of a
device internal error situation and are transmitted from an Emer­gency producer on the concerned application device. This
makes them suitable for interrupt type error alerts. An Emer­gency message is transmitted only once per ‘error event’. As
long as no new errors occurs on a device, no further Emergency
message can be transmitted. Zero or more Emergency
consumers may receive these. The reaction of the Emergency
consumer is application-specific. CANopen defines several
Emergency Error Codes to be transmitted in the Emergency
message, which is a single CAN frame with 8 data byte.

 Time stamp object (Time)

By means of Time-Stamp, a common time frame reference is
provided to application devices. It contains a value of the type
Time-of-Day. This object transmission follows the producer/
consumer push model. The associated CAN frame has the pre­defined identifier 256 and a data field of 6-byte length.

D301087 0308 - BL20 CANopen2-6

BL20 and CANopen

BL20 and CANopen

BL20 supports the following CANopen functions:

 SDO transfer, any length of information
 Emergency object
 Sync frame evaluation
 Event-driven PDOs
 Synchronous PDOs (clock-synchronous)
 Remote-requested PDO/polling

2

D301087 0308 - BL20 CANopen 2-7

Short description of CANopen

Electronic data sheet – EDS file

CANopen nodes are embedded in the CANopen structure by the
help of a standardized EDS file (Electronic Data Sheet).

The EDS file lists all necessary Objects with their corresponding
Sub-indices and the matching entries.

The latest version of a particular EDS file can be downloaded
directly from the TURCK Homepage www.turck.com.

D301087 0308 - BL20 CANopen2-8

3 BL20 - Gateway for CANopen

Introduction ....................................................................................... 2

Function............................................................................................. 3

Technical Information........................................................................ 4

Technical Data................................................................................... 6

General Technical Data...............................................................................6

– Relating to a Station ...............................................................................6

– Approvals .................................................................................................9

– Base Modules ........................................................................................10

Structure Diagram of a Gateway...............................................................11

BL20-GW-CANOPEN................................................................................11

Connections for data cables to BL20-GW-CANopen ....................... 16

Fieldbus connection via SUB-D socket.....................................................16

Fieldbus connection through direct wiring ................................................17

Connections of the data cables to BL20-GWBR-CANopen .............. 19

Fieldbus connection via Open Style connector.........................................19

Service Interface Connection....................................................................22

– Connection with I/O-ASSISTANT-Connection Cable ............................22

Setting the bit transfer rate through DIP-switches ......................... 24

Node-ID Setting ............................................................................... 26

Acceptance of the BL20 Station Configuration ............................... 28

Status Indicators/ Diagnostic Messages Gateway........................... 29

Diagnostic Messages via LEDs.................................................................29

D301087 0308 - BL20 CANopen 3-1

BL20 - Gateway for CANopen

Introduction

This chapter contains a description of BL20 gateways for the stan­dardized fieldbus CANopen. The chapter is divided up as follows: a
description of functions, general and specific technical data, a
description of addressing and status displays.

Attention

Please note, SWIRE-modules can only be used with the gateways
BL20-GW-CANOPEN with firmware version ≥ 4.02 and BL20­GWBR-CANOPEN with firmware version ≥ 2.02.

Warning

The behavior of the analog inputs is now adapted to the actual CAN­open standard DS401.
The firmware versions ≥ 4.02 for BL20-GW-CANOPEN and version
≥ 2.02 for BL20-GWBR-CANOPEN are thus not compatible with
older firmware versions relating to the behavior of the analog inputs.

D301087 0308 - BL20 CANopen3-2

Function

Function

The BL20 gateways enable BL20 modules to operate on CANopen.
The gateway is the connection between the BL20 modules and a
CANopen host system. It regulates the process data between the
I/O level and the fieldbus and generates diagnostic data for the
higher-level host system.

Information is made available to the software tool I/O-ASSISTANT
via the service interface.

3

D301087 0308 - BL20 CANopen 3-3

BL20 - Gateway for CANopen

ERR BUS

GWBR-

CANOPEN

CAN H

SHLD

CAN L

GND

CAN H

SHLD

CAN L

GND

H

Bit Rate

L

1
2
3
4

A
B

C
D

E

F
G

I

H

J

Technical Information

Figure 1:
BL20-GW­CANOPEN

A Service inter-

face

B Type designa-

tion

C LEDs for

module bus

D DIP-switch for

transfer rate

E Rotary encod-

ing switch for
Node-ID

F SET button
G CANopen,

SUB-D plug

H CANopen,

direct wiring

I LEDs for

CANopen

J CANopen,

SUB-D socket

D301087 0308 - BL20 CANopen3-4

Technical Information

ERR BUS

GWBR

CANopen

H

Bit Rate

L

1
2
3
4

GND

CAN_L

Shield

CAN_H

A
B

C
D

E

F

G

H

I

Figure 2:
BL20-GWBR­CANOPEN

A Service inter-

face

B Type

designation

C LEDs for

module bus

D DIP-switch for

transfer rate

E Rotary encod-

ing switch for
Node-ID

F SET button
G Screw termi-

nals for field
supply and
system supply

H CANopen,

direct wiring

I Open Style

connector

3

D301087 0308 - BL20 CANopen 3-5

BL20 - Gateway for CANopen

Technical Data

General Technical Data

Relating to a Station

Note

The auxiliary power supply must comply with the stipulations of
SELV (Safety Extra Low Voltage) according to IEC 364-4-41.

Table 1:
General technical
data (station)

Supply voltage/ auxiliary voltage

Nominal value (provision for

24 V DC

other modules)

Permissible range according to EN 61131-2

(18 to 30 V DC)

Residual ripple according to EN 61131-2

Potential isolation Yes, via optocoupler

Ambient conditions

Ambient temperature

–T

–T

0 to +55 °C / 32 to 131 °F

Ambient

-25 to +85 °C / 13 to 185 °F

Store

Relative humidity according to IEC 61 131-2/

EN 50 178

Climatic tests according to IEC 61131-2

Noxious gas – SO

2

:
10 ppm (rel. humidity
< 75 %, non-condensing)

S:

–H

2

1.0 ppm (rel. humidity
< 75 %, non-condensing)

D301087 0308 - BL20 CANopen3-6

Technical Data

Resistance to vibration according to IEC 61131-2

10 to 57 Hz, Constant
amplitude 0.075 mm /

0.003 inch, 1g

57 to 150 Hz, Constant
acceleration 1 g

Mode of vibration Frequency sweeps with a

Period of oscillation 20 frequency sweeps per axis

Shock resistant according to
IEC 68-2-27

Resistance to repetitive shock
according to IEC 68-2-29

Topple and fall according to IEC 68-2-31 and free fall according
to IEC 68-2-32

Weight < 10 kg

Yes

Yes

change in speed of
1 Octave/min

of coordinate

18 shocks, sinusoidal half­wave 15 g peak value/11 ms,
in each case in +/- direction
per space coordinate

1 000 shocks, half-sinus 25 g
peak value/6 ms, in each case
in +/- direction per space
coordinate

3

Height of fall 1.0 m / 39.37 inch

Weight 10 to 40 kg

Height of fall 0.5 m / 19.69 inch

Test runs 7

Device with packaging, electrically tested printed-circuit board

D301087 0308 - BL20 CANopen 3-7

BL20 - Gateway for CANopen

Electromagnetic compatibility (EMC) according to
EN 50 082-2 (Industry)

Static electricity according to
EN 61 000-4-2

– Discharge through air (direct) 8 kV

– Relay discharge (indirect) 4 kV

Electromagnetic HF fields
according to EN 61 000-4-3 and
ENV 50 204

Conducted interferences
induced by HF fields according
to EN 61 000-4-6

Fast transients (Burst) according to EN 61 000-4-4

Interference criteria A: unre­stricted operation, normal oper­ating behavior

Interference criteria B: tempo­rary interference, normal opera­tion possible

Emitted interference according
to EN 50 081-2 (Industry)

Reliability

Operational life MTBF min. 120000 h

Electronic modules pull/
plug cycles

10 V/m

10 V

1 kV

2 kV

according to EN 55 011 Class
A, Group 1

20

Tests according to EN 61 131-2

Cold DIN IEC 68-2-1, temperature -

25 °C / -13 °F, duration 96 h;
not in use

D301087 0308 - BL20 CANopen3-8

Technical Data

Dry heat DIN IEC 68-2-2, temperature

+85 °C / 185 °F, duration 96 h;
device not in use

Table 2:
Approvals

Damp heat, cyclic DIN IEC 68-2-30, temperature

+55 °C / 131 °F, duration 2
cycles every 12 h; device in
use

Temperature change DIN IEC 68-2-14, temperature

0 to +55 °C / 32 to 131 °F,
duration 2 cycles, temperature
change per minute; device in
use

Pollution severity according to
IEC 664 (EN 61 131-2)

Protection class according to

IP20

IEC 529

Warning

This device can cause radio disturbances in residential areas and in
small industrial areas (residential, business and trading). In this case,
the operator can be required to take appropriate measures to sup­press the disturbance at his own cost.

Approvals

CE

CSA

3

UL

D301087 0308 - BL20 CANopen 3-9

BL20 - Gateway for CANopen

Base Modules

Table 3:
Technical data for
base modules

Protection class IP 20

Measurement data according to VDE 0611 Part 1/8.92/
IEC 947-7-1/1989

Insulation stripping length 8 mm / 0.32 inch

Max. wire range 0.5 to 2.5 mm

2

/ 0.0008 to

0.0039 inch2 / 20 to 12 AWG

Crimpable wire

"e” solid core H 07V-U 0.5 to 2.5 mm2 / 0.0008 to

0.0039 inch

"f” flexible core H 07V-K 0.5 to 1.5 mm

0.0023 inch

"f” with ferrules according to
DIN 46228/1 (ferrules crimped

0.5 to 1.5 mm

0.0023 inch

2

/ 20 to 12 AWG

2

/ 0.0008 to

2

/ 20 to 16 AWG

2

/ 0.0008 to

2

/ 20 to 16 AWG

gas-tight)

Plug gauge according to

A1

IEC 947-1/1988

TOP connection technology Tension clamp or screw

connection

D301087 0308 - BL20 CANopen3-10

Technical Data

Fieldbus

(External)

Service

interface

External RAM

External

ROM flash

Module bus

(Internal)

Controller

– internal RAM

– WDG

– CAN-Ctr.

Structure Diagram of a Gateway

The BL20 CANopen gateway has the following structure:

Figure 3:
Gateway structure

Technical Data BL20-GW-CANOPEN

Table 4:
Technical data
BL20-GW­CANOPEN

Designation Value

Supply voltage(as per EN 61131-2)

Nominal value (supply from

5 V DC (4.8 to 5.2 V DC)

bus refreshing module)
Restriction on

EN 61131-2

The supply energy required to
bridge a supply interruption up
to 10 ms is not stored. Please
secure the U

sys

for
BL20-BR-24VDC-D modules by
using an appropriate power
supply unit!

Current drawn from the module bus

Without service/without

≈ 280 mA

fieldbus
Without service/with

≈ 410 mA

fieldbus (1 Mbps)
With service/without

≈ 300 mA

fieldbus
Maximum ≈ 350 mA

Dimensions

D301087 0308 - BL20 CANopen 3-11

Width/length/height (mm) 50.6 x 114.8 x 74.4 mm

3

BL20 - Gateway for CANopen

Designation Value

Service

Connections PS/2 socket

Fieldbus terminations 1x 9-pole SUB-D socket,

Fieldbus shielding connec­tion

Transfer rate 10, 20, 50, 125, 250, 500, 800

Fieldbus termination SUB-D plug connector or

2 rotary hex encoder
switches with labeling for the
Node-ID setting.

1x 9-pole SUB-D plug, 2 x
tension spring connector type
LPZF, 5.08, 5-pole

via BL20-SCH-1

and 1000 kbps

external resistors

D301087 0308 - BL20 CANopen3-12

Technical Data

Technical Data BL20-GWBR-CANOPEN

Table 5:
Technical data
BL20-GWBR­CANOPEN

Designation Value

Supply

Field supply

U

Nominal value

L

24 V DC (18 to 30 V DC)

(range)

I

max. field current 10 A

L

Isolation voltage (U
U

/

SYS

to fieldbus/UL to FE)

U

L

L

to

500V

eff

Connections 2-pole screw terminal

System supply

U

nominal value

SYS

24 V DC (18 to 30 V DC)

(range)

I

(for IMB = 1.2 A/U

SYS

max. 900 mA

SYS

= 18 V DC)

I

(supply to the

MB

1.5 A

module bus stations)

Isolation voltage (U

SYS

500V

eff

to UL/

to fieldbus/U

U

SYS

SYS

to

FE)

3

Connections 2-pole screw terminal

Physical interfaces

Fieldbus

Transfer rate 10 kbps to 1 Mbps

Isolation voltage
(fieldbus to U

SYS

/

500V

eff

fieldbus to UL/fieldbus
to FE)

D301087 0308 - BL20 CANopen 3-13

BL20 - Gateway for CANopen

Designation Value

Fieldbus connections Socket:

MSTBV 2,5/5-GF-5.08 GY AU/
Phoenix Contact

Plug:
TMSTBP 2,5/5-STF-5.08 AB GY AU/
Phoenix Contact (included in delivery)

Fieldbus shielding
connection

Node-ID setting 2 rotary decimal encoding switches

Service

Connections PS/2 socket

Warning

This device can cause radio disturbances in residential areas and in
small industrial areas (residential, business and trading). In this case,
the operator can be required to take appropriate measures to sup­press the disturbance at his own cost.

Via connector

D301087 0308 - BL20 CANopen3-14

Connections for data cables to BL20-GW-CANOPEN

54321

9678

Connections for data cables to BL20-GW-CANOPEN

Fieldbus connection via SUB-D socket

SUB-D connectors are provided for communication with the BL20­GW-CANOPEN gateway through the CANopen fieldbus.

The passive bus termination must be applied externally if the BL20
gateway is the last station in the bus structure. This external appli­cation can be implemented either through separate termination
resistors or through a special SUB-D plug which has an integrated
bus termination.

The pin assignments for the plug and socket are identical – the
socket is shown as an example:

Figure 4:
SUB-D socket on
the gateway (top
view)

3

Table 6:
Pin assignments
for gateway SUB­D plug/socket

A The shielding

of the fieldbus
is connected
through the
metal housing
of the SUB-D
connector and
the contact
with the moun­ting rails (see
Page 3-16)

Pin

Designation Meaning

No.

1not used

2 CAN_L inverted data signal (dominant low)

3 CAN_GND ground (optional for CAN data signals)

4not used

5 (CAN_SHLD)

A

6(GND)

7 CAN_H non-inverted data signal (dominant

high)

8not used

9(CAN_V+)

D301087 0308 - BL20 CANopen 3-15

BL20 - Gateway for CANopen

Fieldbus connection through direct wiring

For making connections to the fieldbus you can choose between a
SUB-D connection and direct wiring. Direct wiring of the BL20-GW­CANOPEN to the CANopen fieldbus can be made through the two
terminal blocks with tension spring connectors.

The passive bus termination must be applied externally if the BL20
gateway is the last station in the bus structure.

Table 7:
List of connecting
leads for direct
wiring

Figure 5:
Shielding connec­tion for an BL20­GW-CANOPEN

Designation Meaning

CAN_L Inverted data signal (dominant low)

GND Ground (optional)

SHLD Shielding (see below)

CAN_H Non-inverted data signal (dominant high)

Attention

If the gateway is wired up directly, then the bus connection must be
shielded (e.g. with the help of a BL20-SCH-1 clamp).

D301087 0308 - BL20 CANopen3-16

Connections for data cables to BL20-GW-CANOPEN

Attention

No compensating current should flow through the shielding.
To achieve this, a reliable system of equipotential bonding must be

installed.

Note

Equipotential bonding impedance ≤ 1/10 shielding impedance

3

D301087 0308 - BL20 CANopen 3-17

BL20 - Gateway for CANopen

Connections of the data cables to BL20-GWBR-CANopen

Fieldbus connection via Open Style connector

An Open Style Connector (5-pole) is available for connecting the
BL20-GWBR-CANOPEN to the CANopen fieldbus.

The passive bus termination must be applied externally if the BL20
gateway is the last station in the bus structure.

Table 8:
Pin assignment for
the socket

Figure 6:
Open Style con­nector (female/
top)

Figure 7:
Open Style con­nector (female/
bottom)

1,2 - red

3,4 - white CAN_H Non-inverted data signal

(dominant high)

5,6 - grey Shield, Shielding braid, not insulated

7,8 - blue CAN_L Inverted data signal

(dominant low)

9,10 - black GND Ground reference (optional)

D301087 0308 - BL20 CANopen3-18

Connections of the data cables to BL20-GWBR-CANopen

CAN L

SHIELD

CAN H

GND

Figure 8:
Open Style con­nector (male)

Figure 9:
Shielding connec­tion for an
BL20-GWBR-CAN­OPEN

3

Attention

No compensating current should flow through the shielding.
To achieve this, a reliable system of equipotential bonding must be

installed.

D301087 0308 - BL20 CANopen 3-19

BL20 - Gateway for CANopen

b

a

c

A

B

C

43

16

25

Service Interface Connection

The following cable can be used to connect the service interface
(female PS/2 connector) to a PC for the purpose of using
I/O-ASSISTANT (project planning and diagnostic software).

 special I/O-ASSISTANT-connection cable from TURCK

(IOASSISTANT-ADAPTERKABEL-BL20/BL67; Ident-no.:

6827133)

Connection with I/O-ASSISTANT-Connection Cable

Figure 10:
BL20-gateway
connected to PC
via special cable

A SUB-D socket
B BL20 connect-

ing cable

C PS/2 plug

Figure 11:
PS/2 male con­nector on the con­nection cable to
the gateway (top
view)

The I/O-ASSISTANT-cables have a PS/2 male connector (connec­tion for female connector on gateway) and a SUB-D female
connector (connection for male connector on PC).

D301087 0308 - BL20 CANopen3-20

Connections of the data cables to BL20-GWBR-CANopen

54321

9678

12345

6987

Figure 12:
9-pole SUB-D
female connector
on the cable for
connecting to PC
(top view)

3

Table 9:
Pin assignments
for PS/2 and SUB­D interfaces

Pin BL20 gateway

PS/2 socket

SUB-D interface
on PC

Pin

1 +5 V Gw DTR, DSR 4, 6

2GND GND 5

3– – –

4TxD RxD 2

5/CtrlMode RTS 7

6RxD TxD 3

D301087 0308 - BL20 CANopen 3-21

BL20 - Gateway for CANopen

Setting the bit transfer rate through DIP-switches

The BL20 gateway can communicate with other CANopen nodes at
the following transfer rates:

 10 kbps  250 kbps

 20 kbps  500 kbps

 50 kbps  800 kbps

 125 kbps  1000 kbps

The default transfer rate is 125 kbps.
The transfer rate can be set through the DIP-switches under the
cover of the BL20 gateway.

Figure 13:
DIP-switch to set
the transfer rate

Note

All the nodes in a CANopen network must be set to the same trans­fer rate.

D301087 0308 - BL20 CANopen3-22

Setting the bit transfer rate through DIP-switches

To set a bit transfer rate that is supported by CANopen, proceed as
follows:

 Switch off the supply voltage for the BL20 gateway.
 Set the DIP-switches for the required transfer rate according to

the following table:

3

Table 10:
Setting the
transfer rate

Bit transfer

DIP-switches (setting)

rate (kbps)

1234

1 000 0 0 0 0

800 1000

500 0100

250 1100

125 0010

50 1010

20 0110

10 1110

reserved x x x 1

Note

The DIP-switches are in the “1” position when they are set to the
right, as viewed from the front.

 Switch on the supply voltage for the gateway again

D301087 0308 - BL20 CANopen 3-23

BL20 - Gateway for CANopen

Node-ID Setting

A Node-ID is assigned to every BL20 gateway in the CANopen
structure.

The setting for the Node-ID of the BL20-GW-CANOPEN in a
CANopen structure is made through the two rotary hex encoding
switches. The setting for the Node-ID of the BL20-GWBR­CANOPEN is made through the two rotary decimal encoding
switches. The switches can be found beneath a cover, below the
service interface.

The BL20 gateway can be used as a CANopen node at any point in
the bus structure.

Attention

If the BL20 gateway is used as the the last node in the bus commu­nication, then a special bus connector with a built-in or add-on ter­mination resistor is absolutely necessary!

Figure 14:
Rotary hex encod­ing switch for the
CANopen address
setting of the
BL20-GW-CANO­PEN

D301087 0308 - BL20 CANopen3-24

Node-ID Setting

Attention

A maximum of 127 Node-IDs (1 to 127) can be assigned in a
CANopen structure. Each Node-ID can only be assigned once in the
complete bus structure.

The Node-ID 000 must not be assigned. It is reserved for telegrams
that are directed to all the other bus nodes.

The rotary encoding switches are marked with H for High (more
significant digit) and L für Low (less significant digit).

BL20-GW-CANOPEN:
The L switch is used to set L X 16
The H switch is used to set L X 161 (H = 0 to F).

BL20-GWBR-CANOPEN:
The L switch is used to set L X 100 (L = 0 to 9).
The H switch is used to set L X 101 (H = 0 to 9).

Note

The NODE-ID switch on the BL20-GWBR-CANOPEN can be used
to assign Node-IDs from 1 to 99!

0

(L = 0 to F).

3

Note

After setting the Node-ID, the protective cover over the switches
must be closed again.

See Chapter 6

Note

BL20 does not support the assignment of Node-IDs across the bus
network.

D301087 0308 - BL20 CANopen 3-25

, "Maximum System Extension", Page 6-2.

BL20 - Gateway for CANopen

Acceptance of the BL20 Station Configuration

When making a new configuration of the BL20 station or an alter­ation of the existing station structure (“Module list”), the current
configuration must be accepted in the CANopen mirror of the BL20
gateway. This is done through the configuration button between the
two rotary encoding switches.

Note

The green "IOs" LED indicates that the current BL20 configuration
matches the stored reference module list.

Pressing the set button with a pointed object for at least 2 seconds
saves the current station configuration in non-volatile memory. A
hardware reset will then be carried out automatically. With this reset,
all the CANopen parameters will be restored to their default values,
if the newly saved configuration is different to the old one.

Attention

When saving the BL20 configuration, all the CANopen objects must
be parameterized again, if their parameter values differ from the de­fault values. The complete parameterization of the station must sub­sequently be reloaded into the BL20 station.

The actuation of the button is indicated by a rapid (4 Hz) green
blinking of the "IOs" LED. After 2 seconds, the LED changes to
yellow blinking at 4 Hz, thus indicating that the station configuration
is being saved. When the storage procedure is completed, the LED
changes to a continuous green light.

D301087 0308 - BL20 CANopen3-26

Status Indicators/ Diagnostic Messages Gateway

Status Indicators/ Diagnostic Messages Gateway

The gateway transmits the following diagnostics: the status of the
BL20 station, the communication via the internal module bus, the
communication to CANopen and the status of the gateway.

Diagnostic messages are displayed in two ways:

 via individual LEDs
 via the software of the respective host system (see Chapter 5,

Section “Diagnostics - Emergency Frames“, Page 5-1 ff.) or the
software-tool I/O-ASSISTANT

Diagnostic Messages via LEDs

Every BL20 gateway displays the following statuses via LEDs:

 2 LEDs for module bus communication (module bus LEDs):

GW and IOs

 2 LEDs for CANopen communication (fieldbus LEDs):

ERR and Bus

3

The LED diagnoses shown below apply to both gateway versions:

 BL20-GW-CANOPEN
 BL20-GWBR-CANOPEN

An additional diagnosis indication is shown for the BL20-GWBR­CANOPEN.

D301087 0308 - BL20 CANopen 3-27

BL20 - Gateway for CANopen

Table 11:
LED indicators

LED Status Meaning Remedy

GW OFF CPU not supplied.

Green 5 V DC operating

­voltage is present; firm­ware is active; gateway
is ready for operation
and transfer

GW:

Firmware not active Reload the firmware!

green,
flashing,
1Hz
IOs: red

Green,
flashing,
4 Hz

Firmware active,
gateway hardware is
defect

Replace the gateway.

Additional diagnosis indication for BL20-GWBR-CANOPEN

GW green,

blinking,
1 Hz

U

: undervoltage or

SYS

overvoltage
UL: undervoltage

Check that the supply
voltage is within the
permissible range.

IOs - CPU not supplied. Check the voltage

supply.

Green Module bus is running,

the configured module
bus station corre­sponds to the physi­cally connected
station, communication
is active.

Green,
flashing
1 Hz

Station is in the
I/O-ASSISTANT Force
Mode.

D301087 0308 - BL20 CANopen3-28

-

Deactivate the
I/O-ASSISTANT Force
Mode.

Status Indicators/ Diagnostic Messages Gateway

Table 11:
LED indicators

LED Status Meaning Remedy

IOs Red and

LED
"GW"
off

Controller is not ready,
VCC level is not within
the required range →
possible reasons:
– too many modules

– Check wiring at the

gateway and the

voltage supply.
– Dismount modules
– Replace the gateway.

connected to the
gateway

– short circuit in

connected module
– hardware error in
– gateway

Red
flashing,
1 Hz

Non-adaptable modifi­cation of the physically
connected station.

– Compare the planned

BL20 station with the
physical station.

– Check the physical

station for defective or
incorrectly fitted elec­tronics modules.

Red
flashing,
4 Hz

no module bus
communication

At least one module has
to be plugged and has to
be able to communicate
with the gateway.

3

Red/
green
flashing,
1 Hz

Red Short circuit or over-

Adaptable modification
of the physically
connected station;
data transfer possible

load at sensor supply →

Check the physical
station for pulled or new
but not planned
modules.

Automatic restart when

debugging.
sensor supply is
switched off

Off No voltage supply. Check the wiring of the

voltage supply.

D301087 0308 - BL20 CANopen 3-29

BL20 - Gateway for CANopen

Table 11:
LED indicators

LED Status Meaning Remedy

ERR Off No errors in communi-

–
cation between the
BL20-CANopen
gateway and other
CANopen nodes

Red Faulty or interrupted

communication
between BL20­CANopen gateway and
other CANopen.
Possible causes:

– CAN-BusOff
– Heartbeat error
– Guarding error
– Transmit timeout

– Check that the fieldbus

ends with a termination
resistor, if the BL20­CANopen gateway is
the last node in the bus
topology.

– Check the seating of

the CANopen bus
connector (or the joints
in the case of direct
wiring). All connections
must be correct and
properly seated.

– Check the CANopen

cable for possible
damage, and for
correct connections.

– Check that the correct

bit rate has been set.

– Check that the NMT-

master is still func­tioning properly.

D301087 0308 - BL20 CANopen3-30

Status Indicators/ Diagnostic Messages Gateway

Table 11:
LED indicators

LED Status Meaning Remedy

Bus OFF Fieldbus not operating Wait until the firmware

download is finished.

If the download is

finished: hardware error;

replace the gateway.

red NMT-slave state of the

–
BL20-CANopen
gateway is "Stopped"

orange NMT-slave state of the

–
BL20-CANopen
gateway is "Pre-Opera­tional"

green NMT-slave state of the

–
BL20-CANopen
gateway is "Opera­tional"

ERR
+
BUS

red,
blinking
alter­nately,

Invalid Node-ID has
been set

Set the correct Node-ID

with the rotary hexadec-

imal

or decimal encoding

switches.

4 Hz

3

D301087 0308 - BL20 CANopen 3-31

BL20 - Gateway for CANopen

D301087 0308 - BL20 CANopen3-32

4 BL20 - Communication in CANopen

Setting up communication................................................................. 6

Minimum Boot-up .......................................................................................6

Identifier for the Standard Objects............................................................10

– Node-ID .................................................................................................10

– COB-ID (Communication Object Identifier) ...........................................10

Set up Node Guarding Protocol................................................................13

Boot-up Message......................................................................................15

Parameterization through Service Data Objects (SDO).................... 16

Read (Read from Object Dictionary)..........................................................17

Write (Write to Object Dictionary)..............................................................18

Commanded Parameter Storing/Restoring...............................................21

Transmission of Process Data Objects (PDO) .................................. 22

Communication Parameter COB-ID..........................................................22

Transmission Type ....................................................................................23

Inhibit Time................................................................................................24

Event Timer ...............................................................................................24

Available PDOs..........................................................................................25

Mapping Objects in PDOs.........................................................................25

Default-PDOs and PDO-Mappings ...........................................................26

– Default-PDOs as per CiA DS-301 and DS-401 .....................................26

BL20-Specific Default-PDOs.....................................................................28

Mappable Objects.....................................................................................32

Procedure for Altering PDO-Mappings .....................................................34

Object Dictionary ............................................................................. 35

Overview of all Objects..............................................................................35

Commands for "Parameter Save" and "Restore Defaults".......................40

Objects for the Communication Profile .....................................................42

– Object 1000hex - Device Type ..............................................................47

– Object 1001hex - Error Register ............................................................48

– Object 1005hex - SYNC COB-ID ..........................................................49

– Object 1008hex - Device Name ............................................................51

– Object 1009hex - Manufacturer Hardware Version ...............................52

– Object 100Ahex - Manufacturer Software Version ................................53

– Object 100Chex - Guard Time ..............................................................53

– Object 100Dhex - Lifetime Factor .........................................................55

– Object 1010hex - Store Parameters ......................................................56

D301087 0308 - BL20 CANopen 4-1

BL20 - Communication in CANopen

– Object 1011hex - Restore Default Parameters ......................................58

– Object 1014hex - Emcy COB-ID ...........................................................60

– Object 1016hex - Consumer Heartbeat Time .......................................62

– Object 1017hex - Producer Heartbeat Time .........................................64

– Object 1018hex - Identity Object ..........................................................65

– Object 1020hex - Verify Configuration ..................................................68

– Object 1027hex - Module List ...............................................................70

Objects for the Transfer of Service Data...................................................72

– Object 1200hex to 1203hex - Server SDO Default Parameters ............72

Objects for the Transfer of Process Output Data......................................74

– Object 1400hex to 141Fhex - Receive PDO Comm.

Default Parameters ................................................................................75

– Object 1600hex to 161Fhex - Receive PDO-Mapping Parameter ........79

Objects for the Transfer of Process Input data.........................................83

– Object 1800

to 181Fhex - Transmit PDO-Parameters ......................83

hex

– Object 1A00hex to 1A1Fh - Transmit PDO-Mapping Param. ...............89

Objects for Network Management ............................................................92

– Object 1F80hex - NMT Startup .............................................................92

– Object 1F81hex - Slave Assignment .....................................................94

– Object 1F82hex - Request NMT ............................................................98

– Object 1F83hex - Request Guarding ...................................................101

Manufacturer Specific Objects................................................................103

– Object 2000hex - Serial Number .........................................................103

– Object 2010hex - Reset Node Modifiers .............................................104

– Object 2400hex - System Voltages .....................................................108

– Object 2401hex - System Currents .....................................................109

I/O-Module Objects........................................................................ 110

Overview of the I/O-Module Objects.......................................................110

General I/O-Objects ................................................................................113

– Object 67FFh - Device Type ................................................................113

Objects for Digital Input Modules............................................................114

– General Overview for Digital Input Objects .........................................114

– Object 3064hex - XBI Param Dword ...................................................115

– Object 6000hex - Read Input 8 Bit ......................................................117

– Object 6020hex - Read Input Bit (1 to 128) .........................................118

– Object 6021hex - Read Input Bit(129 to 256) ......................................118

– Object 6022hex - Read Input Bit (257 to 288) .....................................118

– Object 6100hex - Read Input 16 Bit ....................................................119

– Object 6120hex - Read Input 32 Bit ....................................................120

Objects for Digital Output Modules.........................................................121

– General Overview for Digital Output Objects ......................................121

– Object 6200

- Write Output 8 Bit .....................................................123

hex

D301087 0308 - BL20 CANopen4-2

– Object 6220hex - Write Output Bit (1 to 128) ......................................124

– Object 6221hex - Write Output Bit (129 to 256) ..................................124

– Object 6222hex - Write Output Bit (257 to 288) ..................................124

– Object 6300hex - Write Output 16 Bit .................................................125

– Object 6320hex - Write Output 32 Bit .................................................126

– Object 6206hex - Error Mode Output 8 Bit .........................................127

– Object 6207hex - Error State Output 8 Bit ..........................................128

– Object 6250hex - Error Mode Output Bit (1 to 128) ............................129

– Object 6251hex - Error Mode Output Bit (129 to 256) ........................129

– Object 6252hex - Error Mode Output Bit (257 to 288) ........................129

– Object 6260hex - Error State Output Bit (1 to 128) .............................131

– Object 6261hex - Error State Output Bit (129 to 256) .........................131

– Object 6262hex - Error State Output Bit (257 to 288) .........................131

– Object 6306hex - Error Mode Output 16 Bit .......................................133

– Object 6307hex - Error State Output 16 Bit ........................................134

– Object 6326hex - Error Mode Output 32 Bit .......................................135

– Object 6327hex - Error State Output 32 Bit ........................................136

Objects for Analog Input Modules...........................................................137

– General Overview for Analog Input Objects ........................................137

– Object 5420hex - Manu Spec Analog Input Range .............................139

– Object 6401hex - Read Analog Input 16 Bit ........................................144

– Object 6421hex - Analog Input Interrupt Trigger Selection ................146

– Object 6422hex - Analog Input Interrupt Source ................................148

– Object 6423hex - Analog Input Global Interrupt Enable .....................150

– Object 6424hex - Analog Input Interrupt Upper Limit Integer .............151

– Object 6425hex - Analog Input Interrupt Lower Limit Integer .............

– Object 6426hex - Analog Input Interrupt Delta Unsigned ...................153

– Object 6427hex - Analog Input Interrupt Negative Delta Unsigned ....154

– Object 6428hex - Analog Input Interrupt Positive Delta Unsigned ......155

Objects for Analog Output Modules........................................................156

– General Overview for Analog Output Objects .....................................156

– Object 6411hex - Write Analog Output 16 Bit .....................................158

– Object 6443hex - Analog Output Error Mode .....................................159

– Object 6444hex - Analog Output Error State ......................................161

– Object 5440hex - Manu spec Analog Output Range ..........................162

Objects for RS232/RS4xx-Modules........................................................164

– General Overview for RS232/RS4xx Objects ......................................164

– Object 5600hex – RS232/RS4xx Parameters ......................................165

– Object 5601hex - RS232/RS4xx RxD ..................................................168

– Object 5602hex - RS232/RS4xx TxD ..................................................172

Objects for SSI-Modules.........................................................................176

– General Overview for SSI Objects .......................................................176

– Object 5801hex – Encoder Config ......................................................177

152

4

D301087 0308 - BL20 CANopen 4-3

BL20 - Communication in CANopen

– Object 5802hex – Encoder Status .......................................................180

– Object 5803hex – Encoder Flags ........................................................181

– Object 5804hex – Encoder Diag ..........................................................183

– Object 5805hex – SSI Native Status ...................................................185

– Object 5806hex – SSI Optional Encoder Status ..................................189

– Object 5808hex – Encoder Control .....................................................190

– Object 5840hex – SSI Diag Mapping ..................................................191

– Object 6800hex – Operating Parameters ............................................193

– Object 6810hex – Preset Values for Multi-Sensor Devices .................193

– Object 6820hex – Position Value .........................................................194

– Object 6B00hex – CAM State Register ...............................................195

– Object 6B01hex – CAM Enable Register .............................................196

– Object 6B02hex – CAM Polarity Register ............................................197

– Object 6B10hex – CAM1 Low Limit ....................................................198

– Object 6B20hex – CAM1 High Limit ....................................................198

Objects for Counter-Modules..................................................................199

– General Overview for Counter Objects ................................................199

– Object 5800hex – Encoder Basic ........................................................201

– Object 5801hex – Encoder Config ......................................................205

– Object 5802hex – Encoder Status .......................................................210

– Object 5803hex – Encoder Flags ........................................................212

– Object 5804hex – Encoder Diag ..........................................................215

– Object 5808hex – Encoder Control .....................................................

–

Object 5810hex - Encoder Load Prepare Value ..................................223

– Object 5811hex - Encoder Pulse Width ..............................................224

– Object 5820hex - Measuring Integration Time ....................................225

– Object 5821hex - Measuring Low Limit ..............................................227

– Object 5822hex - Measuring High Limit ..............................................228

– Object 5823hex - Measuring Units Per Revolution .............................229

– Object 6800hex – Operating Parameters ............................................230

– Object 6810hex – Load Value For Multi-Sensor Devices ....................230

– Object 6820hex – Position value for multi-sensor devices .................231

– Object 6B00hex – CAM State Register ...............................................232

– Object 6B01hex – CAM 1 Enable Register ..........................................235

– Object 6B02hex – CAM Polarity Register ............................................236

– Object 6B10hex – CAM1 Low Limit ....................................................237

– Object 6B20hex – CAM1 High Limit ....................................................238

– Object 6B30hex - CAM1 Hysteresis ....................................................240

– Object 6C00hex - Area State Register ................................................241

– Object 6C01hex - Work Area Low Limit ..............................................243

– Object 6C02hex - Work Area High Limit .............................................244

– Object 6D00hex - Operating Status ....................................................245

220

D301087 0308 - BL20 CANopen4-4

– Object 6D01hex - SingleTurn resolution (rotary),

Measuring step (linear) ........................................................................245

– Object 6D02hex - Number of distinguishable revolutions ...................245

– Object 6FFFhex - Device Type ............................................................245

– Parameters of BL20-1CNT ..................................................................246

– Parameter list for the counter module .................................................249

Objects for SWIRE modules....................................................................255

– General Overview for SWIRE Objects .................................................255

Representation of process input data.....................................................257

– Process input .......................................................................................258

Representation of process output data...................................................261

– Process output ....................................................................................262

– Representation of diagnostics data .....................................................264

– Object 3044hex - XBI Diag Dword ......................................................265

– Object 3045hex - XBI Diag Dword2 ....................................................266

– Representation of parameter data .......................................................267

– Object 3064hex - XBI Param Dword ...................................................269

– Object 3065hex - XBI Param Dword2 .................................................269

– Object 3066hex - XBI Param Dword3 .................................................270

– Object 3067hex - XBI Param Dword4 .................................................270

– Object 3068hex - XBI Param Dword5 .................................................271

– Object 3069hex - XBI Param Dword6 .................................................271

4

D301087 0308 - BL20 CANopen 4-5

BL20 - Communication in CANopen

Setting up communication

Minimum Boot-up

BL20 supports the Minimum Boot-up function described in
CiA DS-301.

Table 1:
Meaning of the
abbreviations

Abbrevia-

Meaning Explanation

tion

cs NMT command

specifier

A designation label for the
required service

Node-ID Node identifier Identifier for the node; an iden-

tification byte that is set
through the rotary decimal
encoding switches for the
CAN node. Possible values for
CANopen are 01

hex

to 7F

hex

(1

to 127).

D301087 0308 - BL20 CANopen4-6

Setting up communication

1

3

4

2

5

6

7

8

9

10

11

12

13

14

P

ower on or hardware reset

Pre-Operational state

Initialization state

Operational state

Stopped state

Booting with the Minimum Boot-up function is the typical applica­tion option for CANopen, and runs according to the following state
diagram:

Figure 1:
Boot procedure
with Minimum
Boot-up

4

1 Power-on (automatic change of state to the "Initialization" condi-

tion)

2 Initialization Finished (automatic change of state to "Pre-Opera-

tional")

3 Start Remote Node (start the CAN node)
4 Enter Pre-Operational (change over to "Pre-Operational")
5 Stop Remote Node (stop the CAN node)
6 Start Remote Node (start the CAN node)
7 Enter Pre-Operational (change to "Pre-Operational")
8 Stop Remote Node (stop the CAN node)

D301087 0308 - BL20 CANopen 4-7

9 Reset Node (reset the complete CAN node)
10 Reset Node (reset the complete CAN node)
11 Reset Node (reset the complete CAN node)
12 Reset Communication (reset communication for the CAN node)
13 Reset Communication (reset communication for the CAN node)
14 Reset Communication (reset communication for the CAN node)

BL20 - Communication in CANopen

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

ID

cs = 1

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

ID

cs = 128

The following messages are exchanged in the states mentioned:

 Operational: PDO and SDO communication
 Pre-Operational: only SDO communication

The services listed above (1 to 14) are required by CANopen or
performed independently by the nodes in order to change from one
state to another.

The "Stopped" state can be skipped when using Minimum Boot-up.

1 Power-on (automatic change of state to the "Initialization" state)
2 Initialization finished (automatic change of state to the "Pre-

Operational" state)

3, 6 Start Remote Node (start the CAN node)

The internal change of state of the CANopen slave now requires
a pause of at least 20 ms, before another request may be made
by the master.

4, 7 Enter Pre-Operational (change over to "Pre-Operational")

The internal change of state of the CANopen slave now requires
a pause of at least 20 ms, before another request may be made
by the master.

D301087 0308 - BL20 CANopen4-8

Setting up communication

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

ID

cs = 2

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

ID

cs = 129

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

ID

cs = 130

5, 8 Stop Remote Node (stop the CAN node)

The internal change of state of the CANopen slave now requires
a pause of at least 20 ms, before another request may be made
by the master.

9, 10, 11 Reset Node (reset the complete CAN node)

4

The execution of this command is confirmed by a boot-up
message. This is in the form of a guard frame with the data
contents 00

hex

.

12, 13, 14 Reset Communication (reset communication for the

CAN node)

D301087 0308 - BL20 CANopen 4-9

The execution of this command is confirmed by a boot-up
message. This is in the form of a guard frame with the data

hex

.

contents 00

BL20 - Communication in CANopen

Identifier for the Standard Objects

Node-ID

The identifier for each device in a CANopen network is the Node-ID.
The CANopen slaves can be assigned the Node-IDs 1 to 127
("Node-ID Setting", page 3-24).

COB-ID (Communication Object Identifier)

The identifier for each communication object in a CANopen network
is the COB-ID.

The COB-IDs for the standard objects (digital input, digital output,
analog input, analog output) are assigned automatically.
The ranges for the COB-IDs are defined by the "Predefined Master­Slave Connection Set".

Each range for the COB-IDs has 127 numerical values.
The COB-IDs are calculated according to the following rule:

COB-ID = Base-ID + Node-ID
Base-ID (decimal): 128; 384; 512; 640; 768; 896; 1024; 1152;

1280; 1408; 1536; 1792
Node-ID (decimal): 1 to 127

Table 2:
Identifiers for
basic objects

COB-ID Function Application

dec. hex.

0000

Network Management

hex

Broadcast object

(NMT)

01 to 127 001

128 080

129 to
255

256 100

07F

081
0FF

to

free

hex
hex

Synchronization (SYNC) Broadcast object

hex

to

Emergency Message

hex
hex

Timestamp Message Broad-

hex

cast object

257 to
384

101
180

hex
hex

to

free

D301087 0308 - BL20 CANopen4-10

Setting up communication

Table 2:
Identifiers for
basic objects

COB-ID Function Application

dec. hex.

385 to
511

512 200

513 to
639

640 280

641 to
767

768 300

769 to
895

896 380

897 to
1023

1024 400

1025 to
1151

1152 480

1153 to
1279

1280 500

1281 to
1407

1408 580

1409 to
1535

1536 600

181
1FF

201
27F

281
2FF

301
37F

381
3FF

401
47F

481
4FF

501
57F

581
5FF

to

Transmit PDO 1 Digital input

hex
hex

free

hex

to

Receive PDO 1 Digital output

hex
hex

free

hex

to

Transmit PDO 2 Analog input

hex
hex

free

hex

to

Receive PDO 2 Analog output

hex
hex

free

hex

to

Transmit PDO 3 Analog input

hex
hex

free

hex

to

Receive PDO 3 Analog output

hex
hex

free

hex

to

Transmit PDO 4 Analog input

hex
hex

free

hex

to

Receive PDO 4 Analog output

hex
hex

free

hex

to

Transmit SDO

hex
hex

free

hex

4

D301087 0308 - BL20 CANopen 4-11

BL20 - Communication in CANopen

Table 2:
Identifiers for
basic objects

COB-ID Function Application

dec. hex.

1537 to
1663

1664 to
1772

1793 to
1919

601
67F

680
6EC

701
77F

to

Receive SDO

hex
hex

to

free

hex

hex

to

NMT Error (Node

hex

Guarding, Heartbeat,

hex

Boot-up)

1920 to
2014

2015 to
2031

800
7DE

7DF
7EF

to

free

hex

hex

to

NMT, LMT, DBT

hex

hex

D301087 0308 - BL20 CANopen4-12

Setting up communication

Set up Node Guarding Protocol

Note

Further information on Node Guarding can be found in CiA DS-301.

Node Guarding is the name for the monitoring of network nodes by
a network manager.

In addition, the CANopen network nodes check that their network
manager is operating correctly and that the network is functioning
reliably.

In the default state, Node Guarding is inactive. To activate the Node
Guarding protocol for a node, various parameters must be set for
the Object Dictionary:

 [100C] = Guard time

Given in milliseconds; the query interval (polling) that is to be
expected by the network slave
Default = 0

 [100D] = Lifetime factor

This factor, multiplied by the Guard time, is the time that should
elapse after a Node Guarding protocol error before the network
slave generates an error message via EMCY. In this way, a
temporary communication problem, such as may be caused by
heavy bus loading, can be bridged without a Guarding Error.
Default = 0

 Guard-ID

This is fixed and cannot be changed.

Guarding is initiated with the first Guard-Remote frame (Guarding­RTR) from the CANopen network manager.

The Guarding Frame of the network manager has the COBID
"1793 - 1 + Node-ID" and does not have a data field.

Furthermore, the RTR bit in the message header must be set and the
Data Length code = 1.

4

D301087 0308 - BL20 CANopen 4-13

BL20 - Communication in CANopen

The node answers the telegram sent out by the network manager
within the preset time (Guard time) in the "Operational" state, with
the data contents 5. The gateway answers the next polling query
with the contents 133. The following response from the gateway is
with 5 again, and so on. This means that the gateway changes the
state of the most significant bit after every query (i.e. the bit is
toggled).
If the node is in the "Pre-Operational" state, then the value of the
data contents of the response telegram toggles between 127 and

255. If the node is in the "Stop" state, the value toggles between 4
and 132.

If there is no query from the network manager within the preset time,
then the gateway changes to the state "Guard Fail". If output
modules are fitted in the BL20 station, then their outputs will be put
into defined states, depending on the objects "Error mode output"
and "Error state output", or will retain the last state that was
received. Any RxPDOs that are received will still be processed and
output again. If the Guarding starts up again, the BL20 gateway
leaves the "Guard Fail" state, but remains in the Pre-Operational
state.
A "Start Node" command must be generated by the network
manager in order to restart the BL20 gateway (see CiA DS-301).

If the setting is Guard time = 0, then "passive Guarding" will occur.
This means that the gateway answers the Guard Remote frames,
without starting its own internal Guard timer and without changing
into the "Guard fail" state.

As an alternative to Node-/Life-Guarding, the Heartbeat mechanism
newly introduced with DS301 V4.0 is supported, which, unlike
Guarding, does not require Remote frames.

D301087 0308 - BL20 CANopen4-14

Setting up communication

Boot-up Message

After initialization (after Power-On, Reset-Node and Reset-Commu­nication), a Boot-up message as per CiA DS-301 V4.0 is sent out.
This is in the form of a guard frame with the contents 00

Under certain circumstances, a network manager may fail to detect
a short drop-out of an BL20 gateway (for example, as a result of
voltage variations). This could occur under the following conditions:

 The drop-out and initialization of the gateway happen in the time

between two Guarding-Frames

 The gateway was already in the Pre-Operational state before-

hand

 The last state of the toggle bit was 1

If a Boot-up message is sent out after a reset or initialization, then
the drop-out mentioned above will also not be missed by the
network manager.

hex

.

4

D301087 0308 - BL20 CANopen 4-15

BL20 - Communication in CANopen

Parameterization through Service Data Objects (SDO)

SDO (= Service Data Object) is a confirmed CANopen service that is
primarily used for parameterization and configuration of the
CANopen slaves (BL20) and less frequently for transmitting process
data. "Confirmed" means that an BL20-CANopen gateway (SDO
server) that is addressed by this procedure must acknowledge it
through a response. In this way, the SDO client obtains information
about whether the BL20 gateway that it addressed was contacted,
and whether the access was achieved without any errors (error code
in the response from the SDO server). SDO access means that the
contents of the Object Dictionary entries for an SDO server can be
read or written, and that the settings for a BL20 station can be made
in this way.

Four parallel SDO servers are supported. There are three "addi­tional" SDOs, as well as the default SDO. As a default, these are
inactive, but can be parameterized and enabled through the Object
Dictionary entries 1201

hex

to 1203

hex

.

The communication parameters for the default SDO follow the
Predefined Connection Set, and cannot be modified (see CiA DS­301, V4.01)

In the following representations of the messages, the identifier of the
CANopen message that is to be sent can be found below the frame,
and the contents of the data byte to be transmitted are within the
frame.

The following representations use the Expedited SDO Transfer, i.e.
a maximum of 4 bytes of user data can be transferred within one
telegram.

Note

CANopen also offers the possibility of segmented SDO-transfer of
data with data length of more than 4 bytes.

D301087 0308 - BL20 CANopen4-16

Parameterization through Service Data Objects (SDO)

0000

Byte 0

Byte 0

Byte 4

Byte 4

Byte 2

Byte 2

Byte 6

Byte 6

Byte 1

Byte 1

Byte 5

Byte 5

Byte 3

Byte 3

Byte 7

Byte 7

CCS =

40h

SCS =

4xh

Index

lsb msb

Index

lsb msb

Sub-Index

Sub-Index Data

COB-ID = 1537 + Node-ID - 1

COB-ID = 1409 + Node-ID - 1

Client

Client

Server

Read (Read from Object Dictionary)

x... depending on the length of data read

4

LSB = Least Significant bit → lowest value bit
MSB = Most Significant bit → highest value bit
SCS = Server Command Specifier
CCS = Client Command Specifier

(see CiA DS-301)
The stated COB-ID refers to the default SDO server.

Note

The BL20 gateway generates length information as to how many

D301087 0308 - BL20 CANopen 4-17

data bytes are to be read (see CiA DS-301, Page 9-24 ff). This infor­mation is found in byte 0 "SCS = 4xh". The value x depends on the
length of data read.

BL20 - Communication in CANopen

Byte 0

Byte 0

Byte 4

Byte 4

Byte 2

Byte 2

Byte 6

Byte 6

Byte 1

Byte 1

Byte 5

Byte 5

Byte 3

Byte 3

Byte 7

Byte 7

Index

lsb msb

Index

lsb msb

Sub-Index

Sub-Index reserved

COB-ID = 1537 + Node-ID - 1

COB-ID = 1409 + Node-ID - 1

Client

Client

Server

Data

CCS =

2xh

SCS =

60h

Write (Write to Object Dictionary)

LSB = Least Significant bit → lowest value bit
MSB = Most Significant bit → highest value bit
SCS = Server Command
CCS = Client Command

(see CiA DS-301)
The stated COB-ID refers to the default SDO server.

Note

The information in byte 0 "SCS " can optionally contain the length
information for the transmitted data bytes (see CiA DS-301, Page 9­21 ff). The information in byte 0 "SCS = 22
information is present.

Attention

If an incorrect data length is given, the error code "Abort SDO Trans­fer Service" will be generated (see CiA DS-301, Page 9-26).

D301087 0308 - BL20 CANopen4-18

" means that no length

hex

Parameterization through Service Data Objects (SDO)

Table 3:
Abort codes for
errors in SDO
transfer

Abort code Description

0503 0000

0504 0001

hex

hex

Toggle bit not altered.

Client server command specifier not valid
or unknown.

0601 0000

0601 0001

0601 0002

0602 0000

hex

hex

hex

hex

Unsupported access to an object.

Attempt to write a read only object.

Attempt to read a write only object.

Object does not exist in the object
dictionary.

06040041

06040042

hex

hex

Object cannot be mapped to the PDO.

The number and length of objects exceeds
PDO length.

06040043

06040047

06070010

0607 0012

0607 0013

06090011

06090030

06090031

06090032

06090036

08000000

08000020

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

hex

General parameter incompatibility reason.

General internal incompatibility in the
device.

Data type does not match - wrong length.

Data type does not match- length too high.

Data type does not match- length too low.

Sub-index does not exist.

Value range of parameter exceeded.

Value range of parameter written too high.

Value range of parameter written too low.

Maximum value is less than minimum value.

Other error

Data cannot be stored to the application.

4

D301087 0308 - BL20 CANopen 4-19

BL20 - Communication in CANopen

Byte 0

Byte 0

Byte 4

Byte 4

Byte 2

Byte 2

Byte 6

Byte 6

Byte 1

Byte 1

Byte 5

Byte 5

Byte 3

Byte 3

Byte 7

Byte 7

COB-ID = 1537 + Node-ID - 1

COB-ID = 1409 + Node-ID - 1

Client

Client

Server

22h

60h 1400h

1400h

1h

1h reserved

258h

Table 3:
Abort codes for
errors in SDO
transfer

Abort code Description

08000021

hex

Data cannot be stored to the app. because
of local control.

08000022

hex

Data cannot be stored to the app. because
of device state.

Example:

Write a new COB-ID for RxPDO 1 (ID = 258

hex

)

D301087 0308 - BL20 CANopen4-20

Parameterization through Service Data Objects (SDO)

Commanded Parameter Storing/Restoring

Saving of communication and application parameters is executed
by a command. This means that the parameters transferred through
an SDO are held in volatile memory, until they are saved by using the
command "Store parameters" (Object 1010
All the communication and application parameters that are
supported by the gateway will be saved.

The command "Restore Default parameters" (Object 1011
indices 0 to 3) is also supported. This command resets all the
communication and/or application parameters to the default values.

, Sub-indices 0 to 3).

hex

hex

4

, Sub-

D301087 0308 - BL20 CANopen 4-21

BL20 - Communication in CANopen

Transmission of Process Data Objects (PDO)

CANopen provides PDO communication (PDO = Process Data
Object). PDOs are fast real-time process data that are handled as
unconfirmed services without a protocol overhead. PDOs can
contain a maximum of 8 bytes of data. They can be assembled and
configured by the user to suit the specific requirements. In addition,
there are a number of transmission/transfer settings (Transmission
types) for process data.

The following attributes can be set for each PDO through the object
"PDO communication parameter":

Communication Parameter COB-ID

The COB-ID is the CAN identifier that is used for the transmission of
a PDO (object 1400

ff and 1800

hex

COB-IDs are used to define the priority of the message telegrams.
The lowest COB-ID has the highest priority.

For communication between 2 nodes, the COB-ID of the transmit
PDO must be the same as the COB-ID of the receive PDO.

hex

ff).

Note

As delivered, each BL20 gateway has from none to eight active
PDOs, with COB-IDs that are taken from the Predefined Master­Slave Connection Set.

All other PDOs are inactive. This state can be seen from the invalid
bit (Bit 31) of the COB-ID.

D301087 0308 - BL20 CANopen4-22

Transmission of Process Data Objects (PDO)

Transmission Type

The Transmission type determines under which circumstances a
PDO can be transmitted or received.

The following PDO Transmission types are supported by BL20:

 Type 0 (sync, acyclic)
 Type 1 (sync, cyclic)
 Type 253 (remote request)
 Type 255 (event-driven)

4

Table 4:
Transmission type
of BL20

Transmis-

PDO transmission

sion type

cyclic acyclic synchr. asynchr. only with

RTR

0

× ×

1 × ×

253 × ×

255

×

Type 0

The PDO will always be transmitted (TPDO) or evaluated (RPDO) if
this is permitted by a Sync-Frame transmitted by the SYNC
producer and the mapped contents of the BL20-CANopen gateway
have changed since the last transmission.

Type 1

Immediately after receiving each Sync-Frame, the BL20-CANopen
gateway puts out the mapped contents as a PDO on the network,
even if they have not changed since the last transmission.

Type 253

The PDO is only transmitted if a transmitted Remote-Frame
requests this from the BL20-CANopen gateway.

D301087 0308 - BL20 CANopen 4-23

BL20 - Communication in CANopen

Attention

The following Transmission type (Type 255) is only permissible for
TPDOs.

Type 255

In this mode of operation, the BL20-CANopen gateway does not
depend on any Sync or Remote-Request for PDO communication.
Whenever this is envisaged for an internal event within the BL20­CANopen gateway, the gateway will transmit a PDO to the
CANopen network.

The Transmission types of the individual PDOs are independent,
which means that a freely mixed operation with synchronous and
asynchronous PDOs is possible.

Inhibit Time

The setting of an Inhibit time for the PDOs (Object 1800
Index 03

) is only supported for TPDOs. Unlike the other time

hex

values, which are given as multiples of 1 ms, the Inhibit time is
defined as a multiple of 100 μs. However, since the time resolution
of the system clock in the BL20-CANopen gateway is 1 ms, Inhibit
time values below 10 x 100 μs are pointless.

hex

ff, Sub-

Event Timer

The Event timer (Object 1800

ff, Sub-Index 05

hex

) defines the

hex

maximum interval after which a TPDO will be transmitted, even
though no event has occurred. This means that the Event timer
determines the maximum interval between two transmissions of a
TPDO.

The expiry of the interval set for the Event timer is detected as an
event. If any other event occurs, the Event timer is reset and
restarted.

The value of the object is interpreted as a multiple of 1 ms.

D301087 0308 - BL20 CANopen4-24

Transmission of Process Data Objects (PDO)

Available PDOs

64 PDOs are supported:

 32 Transmit PDOs: TPDO1 to TPDO32 (Index 1800
 32 Receive PDOs: RPDO1 to RPDO32 (Index 1400

The corresponding Default Master-Slave Connection Set is
supported for each of the PDOs 1 to 4, so that a COB-ID distribution
is not necessary for these PDOs.

If one of the COB-IDs from xPDO1 to xPDO4 is reconfigured, then
the use of a COB-ID from the Default Master-Slave Connection Set
can be achieved by setting this COB-ID to 0.

Mapping Objects in PDOs

Mapping is the assignment of objects from an Object Dictionary in a
PDO for transmission/reception through the CAN-bus. More than
one object can be transmitted in a single PDO.

The Mapping parameters determine which items of information are
transmitted in a PDO:

to 181F

hex

to 141F

hex

hex

hex

)
)

4

Table 5:
Object Dictionary
for mapping
parameters

PDO

Type Range

Transmit-PDOs TPDO1 to

Object Dictionary entries

Range

1A00

to 1A1F

hex

hex

TPDO32

Receive-PDOs RPDO1 to

1600

hex

to 161F

hex

RPDO32

D301087 0308 - BL20 CANopen 4-25

BL20 - Communication in CANopen

Default-PDOs and PDO-Mappings

The 4 Transmit and 4 Receive-PDOs which are specified by the
Communication Profile CiA DS-301 are supported by BL20. The
mapping of these PDOs and their Transmission types are specified
by the I/O-Device Profile CiA DS-401.

Note

The Default-PDOs are only activated if the planned objects and sub­indices actually exist for the corresponding PDO. If, for instance, no
analog I/Os are used in a BL20 station, then the PDOs 2 to 4 are set
to "Invalid" and no mapping entries will be present.

In addition to the default PDOs which are standardized by the CiA
DS-301 and DS-401 profiles, other PDOs for an BL20-CANopen
gateway may be provided with mapping entries and communication
parameters. These additional PDOs (5 to 16) will be set to "Invalid"
as a default.

Default-PDOs as per CiA DS-301 and DS-401

The TPDOs in the following table have the following characteristics:

 The COB-ID is part of sub-index 01
 The PDO is active!

The first digit of the 8-digit
amongst others, if the PDO is valid. Active PDOs are marked by

-digit < 7. Normally, the digit is 0 or 4 →page 4-84.

a

hex

hex

adecimal COB-ID-number shows

hex

D301087 0308 - BL20 CANopen4-26

Transmission of Process Data Objects (PDO)

Overview of the Default-TPDOs as per CiA DS-301 and
DS-401

Meaning TPDO Sub-Index 01

"COB-ID"

1st group, digital input channels,
(Bits 0 to 63)

1st group, analog input channels,
(Channel 0 to 3)

2nd group, analog input channels,
(Channel 4 to 7)

3rd group, analog input channels,
(Channel 8 to 11)

PDO1
1800

PDO2
1801

PDO3
1802

PDO4
1803

hex

hex

hex

hex

0000 0180

0000 0280

0000 0380

0000 0480

hex

hex

hex

hex

Overview of the Default-RPDOs as per CiA DS-301 and
DS-401

Meaning RPDO COB-ID

1st group, digital output channels,
(Bits 0 to 63)

1st group, analog output channels,
(Channel 0 to 3)

2nd group, analog output channels,
(Channel 4 to 7)

3rd group, analog output channels,
(Channel 8 to 11)

PDO1
1400

PDO2
1401

PDO3
1402

PDO4
1403

hex

hex

hex

hex

0000 0200

0000 0300

0000 0400

0000 0500

hex

hex

hex

hex

-

hex

+ Node-ID

+ Node-ID

+ Node-ID

+ Node-ID

+ Node-ID

+ Node-ID

+ Node-ID

+ Node-ID

4

D301087 0308 - BL20 CANopen 4-27

BL20 - Communication in CANopen

BL20-Specific Default-PDOs

These additional PDOs are always set to "Invalid" as a default.
Before enabling these PDOs, the corresponding parameters must

be checked. This applies especially to the COB-IDs, since these are
taken from the Default Master-Slave Connection Set, and are
assigned to other Node-IDs. For this reason, other nodes with the
corresponding Node-ID must not be present in the network, or such
nodes must not use the corresponding COB-IDs.

The Transmission type of these PDOs is generally 255.

Overview of the BL20-specific TPDOs

Note

The COB-ID definition for the TPDOs depends on the gateway used
in the application (see EDS file for the gateways).

Meaning TPDOs COB-ID TPDO

2nd group, digital input channels
(Bits 64 to 127)

3rd group, digital input channels
(Bits 128 to 191)

4th group, digital input channels
(Bits 192 to 255)

5th group, digital input channels
(Bits 256 to 319)

PDO5
1804

PDO6
1805

PDO7
1806

PDO8
1807

hex

hex

hex

hex

1st group, encoders (Channels 0 + 1) PDO9

1808

hex

2nd group, encoders (Channels 2 + 3) PDO10

1809

hex

3rd group, encoders (Channels 4 + 5) PDO11

180A

hex

4th group, encoders (Channels 6 + 7) PDO12

180B

hex

8000 01C0

8000 02C0

C000 03C0

C000 04C0

C000 01E0

C000 02E0

C000 03E0

C000 04E0

D301087 0308 - BL20 CANopen4-28

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex