Turck Industrial Automation Users Manual

USER MANUAL
BLXX –
CANOPEN­OBJECT
REGISTER

Sense it! Connect it! Bus it! Solve it!

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

Edition 0511

© Hans Turck GmbH, Muelheim 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, Muelheim an der Ruhr.

Subject to alterations without notice

Warning!
Before commencing 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 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 equal-

ization. The system installer is responsible for implementing this connection.

 Connecting cables and signal lines should be installed so that inductive or capacitive interfer-

ence 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 voltage

supplies which meet the requirements of IEC 60 364-4-41 or. HD 384.4.41 S2 (VDE 0100 part 410).

 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.

 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.

 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. (respect IEC 60 364 or HD 384 or DIN VDE 0100 and national work
safety regulations).

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

Table of Contents

1About this manual

1.1 Documentation concept .................................................................................................................................1-2

1.1.1 Additional documentation .................................................................................................................................................................1-2

1.2 General ............................................................................................................................................................1-2

1.2.1 Prescribed use .........................................................................................................................................................................................1-2

1.2.2 Notes concerning planning/ installation of this product ........................................................................................................1-2

1.3 Description of symbols used ..........................................................................................................................1-3

2 CANopen

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

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

2.1.2 Communication ...................................................................................................................................................................................... 2-2

2.2 EDS-file – Electronic data sheet......................................................................................................................2-5

2.3 BL×× and CANopen .........................................................................................................................................2-5

2.3.1 Setting up communication.................................................................................................................................................................2-5

2.3.2 Parameterization through Service Data Objects (SDO)......................................................................................................... 2-10

2.3.3 Transmission of Process Data Objects (PDO) ............................................................................................................................ 2-14

2.3.4 Inhibit Time............................................................................................................................................................................................ 2-16

2.3.5 Event Timer............................................................................................................................................................................................ 2-16

2.3.6 Mapping Objects in PDOs ................................................................................................................................................................ 2-16

2.3.7 Commands for "Parameter Save" and "Restore Defaults" .................................................................................................... 2-24

3 Object dictionary - overview of all objects

3.1 Overview of all objects....................................................................................................................................3-2

4 Device (gateway) objects

4.1 Objects of the Communication Profile (acc. to CiA DS-301)........................................................................4-2

4.1.1 Object 1000

4.1.2 Object 1001

4.1.3 Object 1005

4.1.4 Object 1008

4.1.5 Object 1009

4.1.6 Object 100A

4.1.7 Object 100C

4.1.8 Object 100D

4.1.9 Object 1010

4.1.10 Object 1011

4.1.11 Object 1014

4.1.12 Object 1016

4.1.13 Object 1017

4.1.14 Object 1018

4.1.15 Object 1020

4.1.16 Object 1027

4.2 Objects for the Transfer of Service Data ..................................................................................................... 4-20

4.2.1 Objects 1200

– Device Type ............................................................................................................................................................4-5

hex

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

hex

– SYNC COB-ID ..........................................................................................................................................................4-6

hex

– Device Name ..........................................................................................................................................................4-7

hex

– Manufacturer Hardware Version.....................................................................................................................4-8

hex

– Manufacturer Software Version ...................................................................................................................... 4-8

hex

– Guard Time .............................................................................................................................................................4-9

hex

– Lifetime Factor ......................................................................................................................................................4-9

hex

– Store Parameters ............................................................................................................................................... 4-10

hex

– Restore Default Parameters ........................................................................................................................... 4-11

hex

– Emcy COB-ID........................................................................................................................................................ 4-12

hex

– Consumer Heartbeat Time............................................................................................................................. 4-13

hex

– Producer Heartbeat Time ............................................................................................................................... 4-15

hex

– Identity Object .................................................................................................................................................... 4-16

hex

– Verify Configuration ......................................................................................................................................... 4-17

hex

– Module List........................................................................................................................................................... 4-19

hex

to 1203

hex

– Server SDO Default Parameters ............................................................................................ 4-20

hex

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4.3 Objects for the Transfer of Process Output Data ....................................................................................... 4-21

4.3.1 Object 1400

4.3.2 Object 1600

to 141F

hex

to 161F

hex

– Receive PDO Comm. Default Parameters.............................................................................4-21

hex

– Receive PDO-Mapping Parameter ..........................................................................................4-24

hex

4.4 Objects for the Transfer of Process Input Data .......................................................................................... 4-27

4.4.1 Object 1800

4.4.2 Objects 1A00

to 181F

hex

to 1A1F

hex

– Transmit PDO-Parameters .........................................................................................................4-27

hex

- Transmit PDO Mapping Parameter.......................................................................................4-30

hex

4.5 Objects for network management (not valid for BLCCO) .......................................................................... 4-33

4.5.1 Object 1F80

4.5.2 Object 1F81

4.5.3 Object 1F82

4.5.4 Object 1F83

– NMT Start-up .......................................................................................................................................................4-33

hex

– Slave Assignment ............................................................................................................................................... 4-34

hex

– Request NMT .......................................................................................................................................................4-36

hex

– Request Guarding ..............................................................................................................................................4-38

hex

4.6 Overview about the objects of the Device Profile (acc. to CiA DS-401 and 406) ..................................... 4-39

4.6.1 Object 67FF

4.6.2 Object 6FFF

– Device Type ..........................................................................................................................................................4-39

hex

– Device Type...........................................................................................................................................................4-40

hex

4.7 Manufacturer specific device objects.......................................................................................................... 4-40

4.7.1 Object 2000

4.7.2 Object 2010

4.7.3 Object 2400

4.7.4 Object 2401

– Serial Number...................................................................................................................................................... 4-40

hex

– Node ResetModifiers.........................................................................................................................................4-41

hex

- System Voltages (only BL67) ...........................................................................................................................4-45

hex

- System Currents (only BL67) ...........................................................................................................................4-45

hex

5 Objects for digital input modules

5.1 Digital input modules BL×× ........................................................................................................................... 5-2

5.2 General object overview for digital input modules ..................................................................................... 5-2

5.2.1 Object 6000

5.2.2 Object 6020
Object 6022

5.2.3 Object 6100

5.2.4 Object 6120

– Read Input 8 Bit..................................................................................................................................................... 5-4

hex

– Read Input Bit (1 to 128), Object 6021

hex

– Read Input Bit (257 to 288) ............................................................................................................................... 5-5

hex

– Read Input 16 Bit .................................................................................................................................................. 5-6

hex

– Read Input 32 Bit .................................................................................................................................................. 5-6

hex

– Read Input Bit (129 to 256),

hex

6 Objects for digital output modules

6.1 Digital output modules BL××......................................................................................................................... 6-2

6.2 General object overview for digital output modules .................................................................................. 6-3

6.2.1 Object 6200

6.2.2 Object 6206

6.2.3 Object 6207

6.2.4 Object 6220
Object 6222

6.2.5 Object 6250
Object 6252

6.2.6 Object 6260
Object 6262

6.2.7 Object 6300

6.2.8 Object 6306

6.2.9 Object 6307

6.2.10 Object 6320

6.2.11 Object 6326

6.2.12 Object 6327

– Write Output 8 Bit ................................................................................................................................................ 6-4

hex

– Error Mode Output 8 Bit .................................................................................................................................... 6-5

hex

– Error State Output 8 Bit ...................................................................................................................................... 6-6

hex

– Write Output Bit (1 to 128), Object 6221

hex

– Write Output Bit (257 to 288)........................................................................................................................... 6-7

hex

– Error Mode Output Bit (1 to 128), Object 6251

hex

– Error Mode Output Bit (257 to 288) ............................................................................................................... 6-8

hex

– Error State Output Bit (1 to 128), Object 6261

hex

– Error State Output Bit (257 to 288) ................................................................................................................ 6-9

hex

– Write Output 16 Bit............................................................................................................................................ 6-10

hex

– Error Mode Output 16 Bit ................................................................................................................................6-10

hex

– Error State Output 16 Bit .................................................................................................................................6-11

hex

– Write Output 32 Bit............................................................................................................................................ 6-12

hex

– Error Mode Output 32 Bit ................................................................................................................................6-13

hex

– Error State Output 32 Bit .................................................................................................................................6-14

hex

– Write Output Bit (129 to 256),

hex

– Error Mode Output Bit (129 to 256),

hex

– Error State Output Bit (129 to 256),

hex

D301230 - BLxx- CANopen 0511ii

7 Objects for digital combi modules

7.1 Digital combi modules BL×× ..........................................................................................................................7-2

7.2 General object overview for digital combi modules ....................................................................................7-2

8 Objects for analog input modules

8.1 Analog input modules BL×× ...........................................................................................................................8-2

8.2 General object overview for analog input modules .....................................................................................8-2

8.2.1 Object 5420

8.2.2 Object 6401

8.2.3 Object 6421

8.2.4 Object 6422

8.2.5 Object 6423

8.2.6 Object 6424

8.2.7 Object 6425

8.2.8 Object 6426

8.2.9 Object 6427

8.2.10 Object 6428

– Manu Spec Analog Input Range......................................................................................................................8-3

hex

– Read Analog Input 16 Bit ................................................................................................................................ 8-10

hex

– Analog Input Interrupt Trigger Selection ............................................................................................... 8-11

hex

– Analog Input Interrupt Source...................................................................................................................... 8-13

hex

– Analog Input Global Interrupt Enable........................................................................................................ 8-14

hex

– Analog Input Interrupt Upper Limit Integer ............................................................................................ 8-14

hex

– Analog Input Interrupt Lower Limit Integer ............................................................................................ 8-15

hex

– Analog Input Interrupt Delta Unsigned .................................................................................................... 8-15

hex

– Analog Input Interrupt Negative Delta Unsigned ................................................................................. 8-16

hex

– Analog Input Interrupt Positive Delta Unsigned.................................................................................... 8-16

hex

9 Objects for analog output modules

9.1 Analog output modules BL×× ........................................................................................................................9-2

9.2 General object overview for analog output modules ..................................................................................9-2

9.2.1 Object 5440

9.2.2 Object 6411

9.2.3 Object 6443

9.2.4 Object 6444

– Manu Spec Analog Output Range.................................................................................................................. 9-4

hex

– Write Analog Output 16 Bit............................................................................................................................... 9-6

hex

- Analog Output Error Mode ................................................................................................................................9-7

hex

– Analog Output Error State................................................................................................................................. 9-8

hex

10 Objects for RS232/RS4xx modules

10.1 RS××× modules BL×× ................................................................................................................................... 10-2

10.2 Allgemeine Objektübersicht für RS232/RS4××-Module ...........................................................................10-2

10.2.1 Object 5600

10.2.2 Object 5601

10.2.3 Object 5602

– RS232/RS4xx Parameters ................................................................................................................................ 10-2

hex

– RS232/RS4xx RxD ............................................................................................................................................... 10-4

hex

– RS232/RS4xx TxD ............................................................................................................................................... 10-7

hex

11 Objects for Encoder modules (SSI, CNT)

11.1 Encoder module BL×× .................................................................................................................................. 11-4

11.2 General object overview for encoder modules .......................................................................................... 11-4

11.2.1 Object 5800

11.2.2 Object 5801

11.2.3 Object 5802

11.2.4 Object 5803

11.2.5 Objekt 5804

11.2.6 Object 5805

11.2.7 Object 5806

11.2.8 Object 5808

11.2.9 Object 5810

11.2.10 Object 5811

11.2.11 Object 5820

11.2.12 Object 5821

– Encoder Basic Mode ......................................................................................................................................... 11-6

hex

– Encoder Config ................................................................................................................................................... 11-7

hex

– Encoder Status.................................................................................................................................................. 11-11

hex

– Encoder Flags....................................................................................................................................................11-13

hex

– Encoder Diag.....................................................................................................................................................11-15

hex

– Encoder Native Status ....................................................................................................................................11-16

hex

– Optional Encoder Status ...............................................................................................................................11-18

hex

– Encoder Control ............................................................................................................................................... 11-19

hex

– Encoder Load Prepare Value .......................................................................................................................11-21

hex

– Encoder Pulse Width ......................................................................................................................................11-22

hex

– Measuring Integration Time ........................................................................................................................ 11-22

hex

– Measuring Low Limit ......................................................................................................................................11-23

hex

D301230 - BLxx- CANopen 0511

iii

11.2.13 Object 5822

11.2.14 Object 5823

11.2.15 Object 5824

11.2.16 Object 5825

11.2.17 Object 5827

11.2.18 Object 5830

11.2.19 Object 5831

11.2.20 Object 5840

11.2.21 Object 5901

11.2.22 Object 5902

11.2.23 Object 5903

11.2.24 Object 5904

11.2.25 Object 5908

11.2.26 Object 5910

11.2.27 Object 5913

11.2.28 Object 5920

11.2.29 Object 5931

11.2.30 Object 6800

11.2.31 Objekt 6810

11.2.32 Object 6820

11.2.33 Object 6B00

11.2.34 Object 6B01

11.2.35 Object 6B02

11.2.36 Object 6B10

11.2.37 Object 6B20

11.2.38 Object 6B30

11.2.39 Object 6C00

11.2.40 Object 6C01

11.2.41 Object 6C02

11.2.42 Object 6D00
Measuring step (linear), Object 6D02

11.2.43 Object 6FFF

– Measuring High Limit .................................................................................................................................... 11-25

hex

– Measuring Units Per Revolution ................................................................................................................ 11-25

hex

– Measuring Divisor ........................................................................................................................................... 11-26

hex

– Measuring Factor ............................................................................................................................................ 11-27

hex

– Measuring Timeout ........................................................................................................................................ 11-27

hex

– Measuring Value .............................................................................................................................................. 11-28

hex

– Encoder Latch Value....................................................................................................................................... 11-29

hex

– Diag Mapping................................................................................................................................................... 11-29

hex

– PWM Config.......................................................................................................................................................11-31

hex

– PWM Status ....................................................................................................................................................... 11-33

hex

– PWM Flags ......................................................................................................................................................... 11-34

hex

– PWM Diag........................................................................................................................................................... 11-35

hex

– PWM Control..................................................................................................................................................... 11-36

hex

– PWM Load Prepare Value............................................................................................................................. 11-38

hex

– PWM Duty Cycle .............................................................................................................................................. 11-39

hex

– PWM Period Duration .................................................................................................................................... 11-39

hex

– PWM Latch Value............................................................................................................................................. 11-40

hex

– Operating Parameters ................................................................................................................................. 11-40

hex

– Preset Values for Multi-Sensor Devices ................................................................................................... 11-41

hex

– Position Value................................................................................................................................................... 11-42

hex

– CAM State Register ......................................................................................................................................... 11-42

hex

– CAM1 Enable Register ................................................................................................................................... 11-44

hex

– CAM Polarity Register .................................................................................................................................... 11-45

hex

– CAM1 Low Limit .............................................................................................................................................. 11-46

hex

– CAM1 High Limit ............................................................................................................................................. 11-47

hex

– CAM1 Hysteresis.............................................................................................................................................. 11-48

hex

– Area State Register ......................................................................................................................................... 11-49

hex

– Work Area Low Limit...................................................................................................................................... 11-50

hex

– Work Area High Limit .................................................................................................................................... 11-51

hex

– Operating Status, Object 6D01

hex

– Device Type ....................................................................................................................................................... 11-52

hex

– Number of Distinguishable Revolutions ............................................... 11-52

hex

– SingleTurn Resolution (rotary),

hex

11.3 Process output/ control interface of the Encoder modules.....................................................................11-52

11.3.1 Meaning of the process output bits of BL××-1SSI .................................................................................11-52

11.3.2 Meaning of the process output bits of BL20-1CNT-24VDC ............................................................................................... 11-53

11.3.3 Meaning of the process output bits of BL20-E-2CNT-2PWM ............................................................................................ 11-56

11.3.4 Meaning of the process output bits of BL67-1CNT/ENC .................................................................................................... 11-58

11.4 Meaning of the process input bits of the Encoder modules....................................................................11-59

11.4.1 Meaning of the process input bits of BL××-1SSI ...................................................................................11-59

11.4.2 Meaning of the process input bits of BL20-1CNT-24VDC .................................................................................................. 11-61

11.4.3 Meaning of the process input bits of BL20-E-2CNT-2PWM ............................................................................................... 11-63

11.4.4 Meaning of the process input bits of BL67-1CNT/ENC ....................................................................................................... 11-66

11.5 Parameter interface of the Encoder modules........................................................................................... 11-67

11.5.1 Meaning of the parameter bits of BL××-1SSI ........................................................................................11-67

11.5.2 Meaning of the parameter bits of BL20-1CNT-24VDC......................................................................................................... 11-69

11.5.3 Meaning of the parameter bits of BL20-E-2CNT-2PWM ..................................................................................................... 11-71

11.5.4 Meaning of the parameter bits of BL67-1CNT/ENC.............................................................................................................. 11-74

11.6 Diagnostic interface of the Encoder modules .......................................................................................... 11-76

11.6.1 Meaning of the diagnostic bits of BL××-1SSI ........................................................................................11-76

11.6.2 Meaning of the diagnostic bits of BL20-1CNT-24VDC......................................................................................................... 11-77

11.6.3 Meaning of the diagnostic bits of BL20-E-2CNT-2PWM ..................................................................................................... 11-78

11.6.4 Meaning of the diagnostic bits of BL67-1CNT/ENC.............................................................................................................. 11-79

D301230 - BLxx- CANopen 0511iv

12 Objects for SWIRE modules

12.1 Motor starter modules BL20 ........................................................................................................................ 12-2

12.2 General object overview for SWIRE modules ............................................................................................. 12-2

12.2.1 Representation of process input data.......................................................................................................................................... 12-3

12.2.2 Representation of process output data ...................................................................................................................................... 12-4

12.2.3 Representation of diagnostic data................................................................................................................................................ 12-6

12.2.4 Representation of parameter data.............................................................................................................................................. 12-10

13 Objects for RFID-modules

13.1 RFID-S-module BL20 .................................................................................................................................... 13-2

13.2 General object overview for RFID-S-modules ............................................................................................ 13-2

13.3 Object 5700

13.4 Object 5701

13.5 Object 5702

13.6 Object 5703

13.7 Object 5708

13.8 Object 5722

- 8 byte process input data................................................................................................. 13-2

hex

- 12 byte process input data............................................................................................... 13-3

hex

- 8 byte process output data .............................................................................................. 13-3

hex

- 12 byte process output data ............................................................................................ 13-4

hex

- 1 byte status messages..................................................................................................... 13-4

hex

- 1 byte parameter .............................................................................................................. 13-5

hex

14 Manufacturer specific objects

14.1 General .......................................................................................................................................................... 14-2

14.1.1 Module related manufacturer specific objects......................................................................................................................... 14-2

14.1.2 Slot-related manufacturer specific objects ................................................................................................................................ 14-4

14.1.3 Process input objects ......................................................................................................................................................................... 14-5

14.1.4 Process output objects ...................................................................................................................................................................... 14-6

14.1.5 Diagnosis objects ................................................................................................................................................................................ 14-8

14.1.6 Parameter objects ............................................................................................................................................................................... 14-9

15 Diagnostics - Emergency Frames

15.1 General .......................................................................................................................................................... 15-2

15.2 Structure of the emergency frames ............................................................................................................ 15-2

15.2.1 Emergency Error-Codes .................................................................................................................................................................... 15-2

15.2.2 Error register.......................................................................................................................................................................................... 15-4

15.3 Emergency codes for module diagnostics.................................................................................................. 15-5

15.3.1 General module error codes............................................................................................................................................................ 15-5

15.3.2 Digital output modules .................................................................................................................................................................... 15-5

15.3.3 Analog Input Modules ....................................................................................................................................................................... 15-6

15.3.4 Technology modules ......................................................................................................................................................................... 15-8

16 Index

D301230 - BLxx- CANopen 0511

v

D301230 - BLxx- CANopen 0511vi

1 About this manual

1.1 Documentation concept.................................................................................................................... 2

1.1.1 Additional documentation ....................................................................................................................2

– BL67 ..................................................................................................................................................2

– BL20 ..................................................................................................................................................2

– BLC....................................................................................................................................................2

1.2 General ............................................................................................................................................. 2

1.2.1 Prescribed use.............................. ... .... ...................................... .... ... ... ... ..............................................2

1.2.2 Notes concerning planning/ installation of this product.......................................................................2

1.3 Description of symbols used ............................................................................................................ 3

D301230 - BLxx- CANopen 0511 1-1

About this manual

1.1 Documentation concept

This manual describes the CANopen object directory for TURCK BLxx-products.

If not marked especially, the object descriptions are valid for all products of the product lines BL20, BL67
and BLcompact.

1.1.1 Additional documentation

BL67

 D301006 - BL67 – User manual for CANopen

 Data sheets for the BL20-products www.turck.com

BL20

 D301108 BL20 – ECO gateway for CANopen

 D301109 - BL20 – User manual for CANopen

 Data sheets for the BL20-products www.turck.com

BLC

 Manuals and data sheets for the BLC-CANopen-products www.turck.com

1.2 General

Attention

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

1.2.1 Prescribed use

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

Danger

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.

1.2.2 Notes concerning planning/ installation of this product

Danger

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

D301230 - BLxx- CANopen 05111-2

Description of symbols used

1.3 Description of symbols used

Danger

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.

D301230 - BLxx- CANopen 0511

1-3

About this manual

D301230 - BLxx- CANopen 05111-4

2CANopen

2.1 CANopen ........................................................................................................................................... 2

2.1.1 General .................................................................................................................................................2

2.1.2 Communication ....................................................................................................................................2

– Network Management Messages......................................................................................................2

– Service Data Objects (SDOs).............................................................................................................3

– Process Data Objects (PDOs) ...........................................................................................................3

– Special Function Objects ..................................................................................................................4

2.2 EDS-file – Electronic data sheet......................................................................................................... 5

2.3 BL×× and CANopen ........................................................................................................................... 5

2.3.1 Setting up communication ...................................................................................................................5

– Minimum Boot-up..............................................................................................................................5

– Identifier for the Standard Objects ................................................................... ... .... ... .......................8

– Set up Node Guarding Protocol........................................................................................................9

– Boot-up Message............................................................................................................................10

2.3.2 Parameterization through Service Data Objects (SDO)......................................................................10

– Write (Write to Object Dictionary) ...................................................................................................12

– Parameter Storing/Restoring..................................... .... ... ....................................... ... ... ... ... ............13

2.3.3 Transmission of Process Data Objects (PDO)....................................................................................14

– Communication parameter COB-ID ................................................................................................14

– Transmission Type .................... ... .... ... ... ... ....................................... ... ... .... ... ... ...............................15

2.3.4 Inhibit Time.........................................................................................................................................16

2.3.5 Event Timer.........................................................................................................................................16

– Available PDOs............. ... ....................................... ... .... ... ... ....................................... ... .. ................16

2.3.6 Mapping Objects in PDOs..................................................................................................................16

– Default-PDOs and PDO-mappings..................................................................................................17

– BL××-spezifische Default-PDOs (gilt nicht für BL compact)...........................................................18

– Mappable Objects ...........................................................................................................................22

– Procedure for Altering PDO-Mappings ...........................................................................................23

2.3.7 Commands for "Parameter Save" and "Restore Defaul ts " ........................................ ... ... ... ...............24

D301230 - BLxx- CANopen 0511 2-1

CANopen

2.1 CANopen

2.1.1 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/O­Modules).

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) CANopen communication profile

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.

 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

2.1.2 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. The CAN-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.
CANopen defines the following statsus: "Initialization", "Pre-Operational", "Operational" and "Stopped".

D301230 - BLxx- CANopen 05112-2

CANopen

After a "power-on", each CANopen devices is in the status "Initialization" and automatically changes to
the Pre-Operational status . In this state the 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 devided into 3 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 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 and Node Guarding (see Set up Node Guarding Protocol (page 2-9)) are 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 changed from
„Initialization“ tot he 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). PDO transmissions may be
dr iven by an inte rnal ev ent, by an internal timer, by remote requests and by t he Sync mes sage r ece ive d:

PDO transmissions

 „Event-“ or „timer-driven“:

An event (specified in the device profile) triggers message transmission. An elapsed timer
additionally triggers the periodically transmitting of PDO-messages, even if no event has ocurred.

 Remotely requested (RTR):

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

 Sync Master (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. The device transmits it's input values. Further transmission is
only done if a further Sync messages occurs.

D301230 - BLxx- CANopen 0511

2-3

CANopen

Special Function Objects

CANopen also defines three specific protocols for synchronization, emergency indication, and time­stamp transmission.

 Synchronization object (Sync)

The Sync Object is broadcast periodically by the Sync Producer. This object is a central timer. 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.

 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 pre-defined identifier 256 and a data field of 6-byte
length.

D301230 - BLxx- CANopen 05112-4

EDS-file – Electronic data sheet

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

2.2 EDS-file – Electronic data sheet

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.

2.3 BL×× and CANopen

BL×× 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

2.3.1 Setting up communication

Minimum Boot-up

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

Table 1:
Meaning of the
abbreviations

Figure1:
Boot procedure
with Minimum
Boot-up

Abbreviation Meaning Description

cs NMT command specifier A designation label for the required service

Node-ID Node Identifier Identifier for the node; an identification byte that is

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

set through the DIP switches for the CAN node.

D301230 - BLxx- CANopen 0511

2-5

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 = 1

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

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

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 over to "Pre-Operational")

8 Stop Remote Node (stop the CAN node)

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)

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" condition)

2 Initialization finished (automatic change of state to "Pre-Operational")

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.

D301230 - BLxx- CANopen 05112-6

BL×× and CANopen

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

ID

cs = 128

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

ID

cs = 128

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

15, 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.

15, 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.

15, 10, 11 Reset Node (reset the complete CAN node)

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

.

15, 13, 14 Reset Communication (reset communication for the CAN node)

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

D301230 - BLxx- CANopen 0511

hex

.

2-7

CANopen

Identifier for the Standard Objects

Node-ID

The identifier for each device in a CANopen network is the Node-ID. he CANopen slaves can be assigned
the Node-IDs 1 to 127. The maximum number of Node-IDs to be set may vary depending on the BLxx­product.

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 Master-Slave 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: 128; 384; 512; 640; 768; 896; 1024; 1152; 1280; 1408; 1536; 1792

Node-ID: max. 1 to 127

Table 2:
Identifiers for
basic objects

COB-ID Function Application

dec.

0000

01 to 127 001

128 080

129 to 255 081

256 100

257 to 384 101

385 to 511 181

512 200

513 to 639 201

640 280

641 to 767 281

768 300

769 to 895 301

hex

.

hex

to 07F

hex

hex

to 0FF

hex

hex

to 180

hex

to 1FF

hex

hex

to 27F

hex

hex

to 2FF

hex

hex

to 37F

hex

Network Management (NMT) Broadcast object

free

hex

Synchronization (Sync) Broadcast object

Emergency Message

hex

Timestamp Broadcast object

free

hex

Transmit PDO 1 Digital input

hex

free

Receive PDO 1 Digital output

hex

free

Transmit PDO 2 Analog input

hex

free

Receive PDO 2 Analog output

hex

896 380

897 to 1023 381

1024 400

1025 to 1151 401

1152 480

1153 to 1279 481

1280 500

hex

to 3FF

hex

hex

to 47F

hex

hex

to 4FF

hex

hex

free

Transmit PDO 3 Analog input

hex

free

Receive PDO 3 Analog output

hex

free

Transmit PDO 4 Analog input

hex

free

D301230 - BLxx- CANopen 05112-8

BL×× and CANopen

Table 2:
Identifiers for
basic objects

COB-ID Function Application

dec.

1281 to 1407 501

1408 580

1409 to 1535 581

1536 600

1537 to 1663 601

1664 to 1772 680

1793 to 1919 701

hex

.

to 57F

hex

hex

to 5FF

hex

hex

to 67F

hex

to 6EC

hex

to 77F

hex

Receive PDO 4 Analog output

hex

free

Transmit SDO

hex

free

Receive SDO

hex

free

hex

NMT Error (Node Guarding, Heartbeat,

hex

Boot-Up)

1920 to 2014 800

2015 to 2031 7DF

7DE

7EF

hex

hex

hex

hex

to

to

free

NMT, LMT, DBT

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. You
distinguish between active and passive Node Guarding.

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.

Active Node Guarding

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 (Guarding-RTR) from the CANopen network
manager.

D301230 - BLxx- CANopen 0511

2-9

CANopen

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.

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 BL×× station, then their outputs will be put into
defined states, depending on the objects "Error mode output" and "Error state output" , or w ill re tai n 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 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
gateway (see CiA DS-301).

Passive Node Guarding

If a Guard-Time = 0 is set (see Object 100Chex – Guard Time (page 4-9)), than, passive guarding is
activated. This means that the gateway answers the Guard-Remote-Frames without itself starting a
Guard-Timer. The gateway does not change to the Pre-Operational state.

As an alternative to Node-/Life-Guarding, the Heartbeat mechanism (see Object 1016hex – Consumer

Heartbeat Time (page 4-13) and Object 1017hex – Producer Heartbeat Time (page 4-15)) newly

introduced with DS301 V4.0 is supported, which, unlike Guarding, does not require Remote frames.

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 beforehand

 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.

2.3.2 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 (BL××) and less frequently for transmitting process data.
"Confirmed" means that an BL××-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 BL×× 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 BL×× station can be made in this way.

hex

.

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

to 1203

hex

hex

.

D301230 - BLxx- CANopen 05112-10

BL×× and CANopen

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

The communication parameters for the default SDO follow the Predefined Connection Set, and cannot
be modified (see CiA DS-301, 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.

Read (Read from Object Dictionary)

Figure2:
Read (Read from
Object Dictionary)

Note

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

x... depending on the length of data read

LSB= Least Significant byte ? lowest value byte

MSB= Most Significant byte ? highest value byte

SCS = Server Command Specifier

CCS = Client Command Specifier

(see CiA DS-301)

The stated COB-ID refers to the default SDO server.

D301230 - BLxx- CANopen 0511

Note

The information in byte 0 "SCS " can optionally contain the length information for the
transmitted data bytes (see CiA DS-301, Page 9-21 ff). The information in byte 0 "SCS = 4x
means that no length information is present.

hex

2-11

“

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

Figure3:
Write
(Write to Object
Dictionary)

Write (Write to Object Dictionary)

LSB= Least Significant byte ? lowest value byte

MSB= Most Significant byte ? highest value byte

SCS = Server Command Specifier

Table 3:
Abort codes for
errors in SDO
transfer

CCS = Client Command Specifier

(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). The information in byte 0 „SCS = 60h“ means that
no length 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).

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

06040041

06040042

hex

hex

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.

Object cannot be mapped to the PDO.

The number and length of objects exceeds PDO length.

D301230 - BLxx- CANopen 05112-12

BL×× and 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

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.

Figure4:
Example COB-ID

08000021

08000022

Example:

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

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
application parameters that are supported by the gateway will be saved.

The command "Restore Default parameters" (Object 1011
command resets all the communication and/or application parameters to the default values.

hex

hex

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

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

)

hex

, Sub-indices 0 to 3). All the communication and

hex

, Sub-indices 0 to 3) is also supported. This

hex

D301230 - BLxx- CANopen 0511

2-13

CANopen

2.3.3 Transmission of Process Data Objects (PDO)

PDOs are fast real-time process data that are handled as unconfirmed services without a protocol
overhead.

We distinguish between:

 Transmit PDOS = TPDOs

 Receive PDOs = RPDOs

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 1800

ff and 1400

hex

hex

ff.).

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..

Note

As delivered, each BL×× gateway has a maximum number of 8 active PDOs (0 to 8 are
possible), with COB-IDs that are taken from the Predefined Master-Slave Connection Set.
The compact modules of the BLCCO product line provide up to four active PDOs.

All other PDOs are inactive. This state can be seen from the invalid bit (bit 31) of the COB-ID (see also
The COB-ID entries in the tables on page 2-17 ff.).

D301230 - BLxx- CANopen 05112-14

BL×× and CANopen

Transmission Type

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

The following PDO Transmission types are supported by BL××:

 Type 0 (sync, acyclic)

 Type 1 (sync, cyclic)

 Type 253 (Remote Request)

 Type 255 (Event-Driven)

Table 4:
Overview of
PDO
Transmission
Types

Transmission Type PDO transmission

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 BL××-CANopen gateway have
changed since the last transmission.

Type 1

Immediately after receiving each Sync-Frame, the BL××-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 BL××-CANopen
gateway.

× ×

×

Attention

This Transmission Type is only allowed for TPDOs.

Type 255

In this mode of operation, the BL××-CANopen gateway does not depend on any Sync or Remote­Request for PDO communication. Whenever this is envisaged for an internal event within the
BL××CANopen 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.

D301230 - BLxx- CANopen 0511

2-15

CANopen

2.3.4 Inhibit Time

The setting of an Inhibit time for the PDOs (Object 1800
TPDOs. Unlike the other time 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 BL××-CANopen
gateway is 1 ms, Inhibit time values below 10 x 100 μs are pointless.

2.3.5 Event Timer

The Event timer (Object 1800
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.

Available PDOs

BL××:
64 PDOs are supported:

 32 Transmit-PDOs: TPDO1 to TPDO32 (Index 1800

 32 Receive-PDOs: RPDO1 to RPDO32 (Index 1400

BLCCO:
8 PDOs are supported:

 4 Transmit-PDOs: TPDO1 to TPDO4 (Index 1800

 4 Receive-PDOs: RPDO1 to RPDO4 (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.

ff, Sub-Index 05

hex

ff, Sub-Index 03

hex

) defines the maximum interval after which a TPDO

hex

hex

hex

to 1803

hex

to 1403

hex

to 181F

to 141F

hex

hex

)

hex

hex

)

)

)

) is only supported for

hex

2.3.6 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:

Table 5:
Object
Dictionary for
mapping
parameters

PDO Object Dictionary entries

Type Product family Range Range

Transmit-PDOs BL20/BL67 TPDO1 to TPDO32 1A00

BLCCO TPDO1 to TPDO4 1A00

Receive-PDOs BL20/BL67 RPDO1 to RPDO32 1600

BLCCO RPDO1 to RPDO4 1600

to 1A1F

hex

to 1A03

hex

to 161F

hex

to 1603

hex

hex

hex

hex

hex

D301230 - BLxx- CANopen 05112-16