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

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

D301230 - BLxx- CANopen 0511

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

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

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-

cs = 1

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

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-

cs = 128

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

cs = 128

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

cs = 2

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

cs = 129

Byte 0

Master

Slave

COB-ID = 0

Byte 1

Node-

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

to 07F

hex

to 0FF

hex

to 180

hex

to 1FF

hex

to 27F

hex

to 2FF

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

to 47F

hex

to 4FF

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

to 5FF

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

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

D301230 - BLxx- CANopen 05112-10

BL×× and CANopen

0000

Byte 0

Byte 4

Byte 2

Byte 6

Byte 1

Byte 5

Byte 3

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

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 4

Byte 2

Byte 6

Byte 1

Byte 5

Byte 3

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

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

Toggle bit not altered.

Client server command specifier not valid or unknown.

0601 0000

0601 0001

0601 0002

0602 0000

06040041

06040042

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 4

Byte 2

Byte 6

Byte 1

Byte 5

Byte 3

Byte 7

COB-ID = 1537 + Node-ID - 1

COB-ID = 1409 + Node-ID - 1

Client

Server

22h

60h 1400h

1400h

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

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

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

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

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

to 1803

hex

to 1403

hex

to 181F

to 141F

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

D301230 - BLxx- CANopen 05112-16

BL×× and 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 BL××. The mapping of these PDOs and their Transmission types are specified by the I/ODevice Profile CiA DS-401.

In addition to the default PDOs which are standardized by the CiA DS-301 and DS-401 profiles, other PDOs for a -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 (see Table 6: Overview Default-TPDOs

as per CiA DS-301 und DS-401 to Table 9: Overview of the BL××-specific Default-RPDOs).

Default-PDOs as per CiA DS-301 und 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 hexadecimal COB-ID-number shows amongst others, if the PDO is valid. Active PDOs are marked by a hex-digit 7. Normally, the digit is 0 or 4. → Description of the COB-ID

entry (sub-index 01hex ) (page 4-29).

Note

BL67/BL20: The Default-PDOs are only activated if the planned objects and sub-indices actually exist for the corresponding PDO. If, in a station, for example no analog I/Os are used, then the PDOs 2 to 4 are set to "Invalid" and no mapping entries will be present.

hex

D301230 - BLxx- CANopen 0511

2-17

CANopen

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

Table 6: Overview Default-TPDOs as per CiA DS301 und DS-401

Table 7: Overview Default-RPDOs as per CiA DS301 und DS-401

Meaning TPDO Sub-Index 01

"COB-ID"

1 group, digital input channels, (bits 0 to 63) PDO1

1800

1 group, analog input channels, (channels 0 to 3) PDO2

1801

2 group, analog input channels, (channels 4 to 7) PDO3

1802

3 group, analog input channels, (channels 8 to 11) PDO4

1803

hex

0000 0180

0000 0280

0000 0380

0000 0480

hex

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

Meaning RPDO COB-ID

hex

+ Node-ID

1 group, digital output channels, (bits 0 to 63) PDO1

1400

1 group, analog output channels, (channels 0 to 3) PDO2

1401

2 group, analog output channels, (channels 4 to 7) PDO3

1402

3 group, analog output channels, (channels 8 to 11) PDO4

1403

0000 0200

hex

0000 0300

hex

0000 0400

hex

0000 0500

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

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

These additional PDOs will be 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 BL××-specific Default-TPDOs (not valid for BL compact)

Note

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

D301230 - BLxx- CANopen 05112-18

BL×× and CANopen

Table 8: Overview of the BL××-specific Default-TPDOs

BL20- -GW-CO BL67-GW-CO/

BL20-GWBR-CANopen

Meaning TPDOs COB-ID TPDO COB-ID TPDO

2 group digital input channels

PDO5 1804

8000 01C0

hex

+ Node-ID 8000 01C0

hex

(bits 64 to 127)

3 group digital input channels

PDO6 1805

8000 02C0

hex

+ Node-ID 8000 02C0

hex

(bits 128 to 191)

4 group digital input channels

PDO7 1806

8000 03C0

hex

+ Node-ID C000 03C0

hex

(bits 192 to 255)

5 group digital input channels

PDO8 1807

8000 04C0

hex

+ Node-ID C000 04C0

hex

(bits 256 to 319)

1 group encoders (channels 0 +1)

2 group encoders (channels 2 3)

PDO9 1808

hex

PDO10 1809

hex

8000 01E0

8000 02E0

+ Node-ID C000 01E0

hex

+ Node-ID C000 02E0

hex

+ Node-ID

3 group encoders (channels 4 5)

4 group encoders (channels 6 7)

4 group analog input channels (channels 12 to 15)

5 group analog input channels (channels 16 to 19)

6 group analog input channels (channels 20 to 23)

7 group analog input channels (channels 24 to 27)

1. group RS×× (channel 0)

1. group RS×× (channel 1)

PDO11 180A

PDO12 180B

hex

PDO13 180C

hex

PDO14 180D

PDO15 180E

hex

PDO16 180F

hex

PDO18 1811

hex

PDO19 1812

hex

8000 03E0

8000 04E0

8000 01A0

8000 02A0

+ Node-ID C000 03E0

hex

+ Node-ID C000 04E0

hex

+ Node-ID C000 01A0

hex

+ Node-ID C000 02A0

hex

88000 000 03A0 + Node-ID

8000 04A0

8000 0000

+ Node-ID C000 04A0

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

C8000 000 03A0

hex

+ Node-ID

hex

C000 0000

hex

D301230 - BLxx- CANopen 0511

2-19

CANopen

Overview of the BL××-specific Default-TPDOs (not valid for BL compact)

Table 9: Overview of the BL××-specific Default-RPDOs

Meaning RPDOs COB-ID RPDO

2 group, digital input I/Os, (bits 64 to 127) PDO5

1404

hex

3 group, digital input I/Os, (bits 128 to 191) PDO6

1405

hex

4 group, digital input I/Os, (bits 192 to 255) PDO7

1406

hex

5 group, digital input I/Os, (bits 256 to 319) PDO8

1407

hex

1 group encoders (channel 0 + 1) PDO9

1408

hex

2 group encoders (channel 2 + 3) PDO10

1409

hex

3 group encoders (channel 4 + 5) PDO11

140A

hex

8000 0240

8000 0340

8000 0440

8000 0540

8000 0260

8000 0360

8000 0460

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

4 group encoders (channel 6 + 7) PDO12

140B

hex

4 group analog I/Os, (channels 12 to 15) PDO13

140C

hex

5 group analog I/Os, (channels 16 to 19) PDO14

140D

6 group analog I/Os, (channels 20 to 23) PDO15

140E

hex

7 group analog I/Os, (channels 24 to 27) PDO16

140F

hex

1. group RS×× (channel 0) PDO18 1411

hex

1. group RS×× (channel 1) PDO19 1412

hex

Attention

The COB-ID for the RS×××-Module must be defined by the user!

hex

8000 0560

8000 0220

8000 0320

8000 0420

8000 0520

8000 0000

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

D301230 - BLxx- CANopen 05112-20

BL×× and CANopen

Example (not valid for BLCCO)

The own Node-ID of an BL××-CANopen gateway is 1 . There are more than 12 analog input channels. As a result, appropriate mapping entries are set up for TPDO13 (Object 1A0C 180C, Sub-Index 1) is pre-loaded with the value 8000 01A1 alteration if a node with the Node-ID 33 (own Node-ID + 32) does not exist, or at least its TPDO1 is not used.+

The following table illustrates the systematic relationship:

), and the COB-ID (Object

. This PDO can only be enabled without

hex

Table 10: Relationship between a Node-ID and BL20-specific PDOs

PDO Node-ID

assigned to this COB-ID in the Default Master-Slave Connection Set

PDO5 own Node-ID + 64 (40

PDO6 own Node-ID + 64 (40

PDO7 own Node-ID + 64 (40

PDO8 own Node-ID + 64 (40

PDO9 own Node-ID + 96 (60

PDO10 own Node-ID + 96 (60

PDO11 own Node-ID + 96 (60

PDO12 own Node-ID + 96 (60

PDO13 own Node-ID + 32 (20

PDO14 own Node-ID + 32 (20

PDO15 own Node-ID + 32 (20

Original PDO

assigned to this COB-ID in the Default Master-Slave Connection Set

)PDO1

hex

)PDO2

hex

)PDO3

hex

)PDO4

hex

)PDO1

hex

)PDO2

hex

)PDO3

hex

)PDO4

hex

)PDO1

hex

)PDO2

hex

)PDO3

hex

PDO16 own Node-ID + 32 (20

)PDO4

hex

D301230 - BLxx- CANopen 0511

2-21

CANopen

Mappable Objects

The maximum of 64 mapping entries per PDO that is specified by Communication Profile CiA DS-301 is supported.

The following objects from the Object Dictionary can be mapped:

Table 11: Overview of mappable objects

A"n" depends on

the used object as well as on the used product

Name

Index Sub-index Direction

Dummy Mapping Boolean 0001

Dummy Mapping Boolean Integer8

Dummy Mapping Boolean Integer16

Dummy Mapping Boolean Integer32

Dummy Mapping Boolean Unsigned8

Dummy Mapping Boolean Unsigned16

Dummy Mapping Boolean Unsigned32

Error register

Manu Spec Analog Input Range

RS232/RS4xx RxD

RS232/RS4xx TxD

RFID Input Data U64

0002

0003

0004

0005

0006

0007

1001

5420

5601

5602

5700 1 to n

hex

- Receive

– Transmit

1 to n A Transmit

1 to n Receive

1 to n Transmit

RFID Output Data U64 5702 1 to n

RFID Status 5708 1 to n

Encoder Status 5802

Encoder Flags

SSI Native Status

SSI Optional Encoder Status

Encoder Control

PwmStatus

5803

5805

5806

5808

5902

PwmFlags 5903

PwmControl 5908

PwmPeriodDuration 5920

Read Input 8 Bit 6000

Read Input Bit (1 to 128)

Read Input Bit (129 to 256)

Read Input Bit (257 to 288)

A 6020

6021

6022

hex

1 to n Transmit

1 to n Receive

1 to n

1 to n Transmit

D301230 - BLxx- CANopen 05112-22

BL×× and CANopen

Table 11: Overview of mappable objects

Name

Read Input 16 Bit

Read Input 32 Bit

Write Output 8 Bit

Write Output Bit (1 to 128)

Write Output Bit (129 to 256) A

Write Output Bit (257 to 288)

A 6220

6221

6222

Write Output 16 Bit

Write Output 32 Bit

Read Analog Input 16 Bit

Write Analog Output 16 Bit

Preset Value for Multi-Sensor Devices

Position Value for Multi-Sensor Devices

Index Sub-index Direction

6100

6120

6200

6300

6320

6401

6411

6810

6820

hex

1 to n Transmit

1 to n Receive

1 to n Transmit

1 to n Receive

1 to n Transmit

Table 12: Abort code

CAM1 State Register

Area State Register

6B00

6C00

hex

1 to n Transmit

Procedure for Altering PDO-Mappings

The Communication Profile CiA DS-301 Version 4 defines a detailed procedure for altering PDOmappings.

For the gateway, this results in the following method for modifying PDO-mappings:

 The node state of the gateway must be "Pre-Operational".

 The number of mapping entries (Sub-index 0) for a PDO must be set to 0.

 The mapping entries (Sub-index 1 to 64) can be written.

 The number of mapping entries (Sub-index 0) must now be set to the valid number of mapped

objects.

 Alternatively, the new mapping can be saved in non-volatile memory (Store Communication

parameters).

The following abort codes (Abort-Domain-Protocol) may be sent back by the gateway in case of an error:

Abort code Description as per

Possible cause

CiA DS-301

0604 0041

hex

Object cannot be mapped Invalid object-index transferred while writing

the mapping entries.

0604 0042

hex

D301230 - BLxx- CANopen 0511

Number or length of the objects exceeds the PDO length

Attempted to map too many or excessively long objects to a PDO. This will be returned on writing to the sub-index 0.

2-23

CANopen

Table 12: Abort code

Abort code Description as per

CiA DS-301

0609 0011

0800 0022

hex

Sub-index does not exist. A sub-index > 64 was addressed.

Access not possible in this node state

Possible cause

Write access is only possible in the "Preoperational" node state. Write access to Subindices 1 to 64 is only possible if sub-index 0 is written with value 0.

2.3.7 Commands for "Parameter Save" and "Restore Defaults"

Parameter changes that are made through SDO access are only stored in volatile memory. All alterations that are made by the user will be replaced by default values at the next Reset Communication, Reset Node or Power-ON-Boot-Up.

With BL××0, it is possible to use a command to make a permanent save of the communication and/or application parameters. This is done through the "Store parameters" command (Object 1010 index 1 to 3).

The command is executed by using an SDO to write the data contents 6576 6173 the following entries:

 1010

sub-index 1 saves all parameters

hex

sub-index 2 saves all parameters

hex

sub-index 3 saves all device parameters (see CiA DS-301 V4.01)

hex

sub-

hex

("save") to one of

hex

Table 13: Data contents 0x6576 6173 („save“)

Table 14: Data contents 0x6461 6F6C („load“)

MSB LSB

ASCII evas

hex

Since in some circumstances it may not be possible to restore the original memory contents after a lot of alterations, BL×× supports the "Restore default Parameter" command (Object 1011

3) with the following data contents: 6461 6F6C

("load").

hex

sub-index 1 to

hex

MSB LSB

ASCII daol

hex

The division of the Sub-entries corresponds to that for the "Store parameters" command.

After the command "Restore default parameters", a Reset Node must be carried out, followed by a "Store parameters" command. The default values are only saved again when this last command is executed.

D301230 - BLxx- CANopen 05112-24

3 Object dictionary - overview of all objects

3.1 Overview of all objects ...................................................................................................................... 2

D301230 - BLxx- CANopen 0511 3-1

Object dictionary - overview of all objects

3.1 Overview of all objects

The following table provides an overview of all objects supported by the BL××-CANopen gateway.

Table 15: Overview of all objects

Index Name

Objects (according to CiA CS-301)

1000

1001

1005

1008

1009

100A

100C

100D

1010

1011

1014

1016

1017

Device Type XXXXsee Kapitel 4

hex

Error register XXXX

SYNC COB-ID XXXX

Device Name XXXX

Manufacturer Hardware Version XXXX

Manufacturer Software Version XXXX

Guard Time XXXX

Lifetime Factor XXXX

Store Parameters XXXX

Restore Default Parameters XXXX

Emcy COB-ID XXXX

Consumer Heartbeat Time XXXX

Producer Heartbeat Time XXXX

BL××-GWBR-CANOPEN

B67-GW-CANOPEN

BL××-E-GW-CO

BLCCO-xxx

1018

1020

1027

1200 1203

1400 1403

1404 141F

1600 1603

1604 161F

hex

Identity Object XXXX

Verify Configuration XXXX

Module List XXX

Server SDO Parameters XXXX

Receive PDO Communication

XXXX

Parameters (1 to 4)

Receive PDO Communication

XXX

Parameters (5 to 32)

Receive PDO-Mapping Parameters

XXXX

(1 to 4)

Receive PDO-Mapping Parameters

XXX

(5 to 32)

D301230 - BLxx- CANopen 05113-2

Overview of all objects

Table 15: Overview of all objects

Index Name

1800 1803

1800 181F

1A00 1A03

1A04 1A1F

1F80

1F81

1F82

1F83

hex

,Request NMT XXX

hex

Transmit PDO-Parameters (1 to 4) XXXXsee Kapitel 4

Transmit PDO-Parameters (5 to 32) XXX

Transmit PDO-Mapping Parameters (1 to 4)

Transmit PDO-Mapping Parameters (5 to 32)

NMT Startup XXX

Slave Assignment XXX

Request Guarding XXX

Manufacturer specific objects

2000

2010

2400

hex

Serial Number XXXX

Node Reset Modifiers XXXX

System Voltages X

BL××-GWBR-CANOPEN

B67-GW-CANOPEN

BL××-E-GW-CO

BLCCO-xxx

XXXX

XXX

2401

3000

3002

3004 300B

3020

3022

3024 302B

3040

3042

3044 304B

3060

hex

System Voltages X

XBIInputByte XXXXsee Kapitel 14

XBIInputWord XXXX

XBIInputDWord0 to XBIInputDWord8 XXXX

XBIOutputByte XXXX

XBIOutputDWord0 to

XXXX

XBIOutputDWord8

XBIDiagByte XXXX

XBIDiagWord XXXX

XBIDiagDWord0 to XBIDiagDWord8 XXXX

XBIParamByte XXXX

D301230 - BLxx- CANopen 0511

3-3

Object dictionary - overview of all objects

Table 15: Overview of all objects

Index Name

3062

3064 306B

3081

3084

3085

3086

3087

3090

3091

3094

3095

3096

3097

hex

XBIParamWord XXXXsee Kapitel 14

XBIParamDWord0 to XBIParamDWord8 XXXX

XBIReferenceModuleType XXXX

XBIReferenceInputSize XXXX

XBIReferenceOutputSize XXXX

XBIReferenceDiagSize XXXX

XBIReferenceParamSize XXXX

XBICurrentModuleId XXXX

XBICurrentModuleType XXXX

XBICurrentInputSize XXXX

XBICurrentOutputSize XXXX

XBICurrentDiagSize XXXX

XBICurrentParamSize XXXX

BL××-GWBR-CANOPEN

B67-GW-CANOPEN

BL××-E-GW-CO

BLCCO-xxx

5420

5440

5600

5601

5602

5801

5802

5803

5804

5805

5806

5808

5810

hex

Analog Input Mode XXXXsee Kapitel 8

Analog Output Mode XXXXsee Kapitel 9

RS232/RS4xx parameters XXXXsee Kapitel 10

RS232/RS4xx RxD XXXX

RS232/RS4xx TxD XXXX

Encoder Config XXXXsee Kapitel 11

Encoder Status XXXX

Encoder Flags XXXX

Encoder Diag XXXX

Encoder Native Status XXXX

Encoder Optional Encoder XXXX

Encoder Control XXXX

Encoder Load Prepare Value X X

D301230 - BLxx- CANopen 05113-4

Overview of all objects

Table 15: Overview of all objects

Index Name

5811

5820

5821

5822

5823

5824

5825

5827

5830

5831

5840

5901

5902

5903

hex

Encoder Pulse Width X Xsee Kapitel 11

Measuring Integration Time X X

Measuring Low Limit

Measuring High Limit

Measuring Units Per Revolution

Encoder Measuring Divisor X X

Encoder Measuring Factor X X

Encoder Measuring Time Out X X

Encoder Measuring Value X X

Encoder Latch Value X X

SSI Diag Mapping XXX

PWM Config X X

PWM Status X X

PWM Flags X X

BL××-GWBR-CANOPEN

B67-GW-CANOPEN

BL××-E-GW-CO

BLCCO-xxx

5904

5908

5910

5913

5920

5931

hex

PWM Diag X X

PWM Control X X

PWM Load Prepare Value X X

PWM Duty Cycle X X

PWM Period Duration X X

PWM Latch Value X X

I/O module objects (according to CiA CS-401)

6000

6020

6021

6022

6100

6120

hex

Read Input 8 Bit XXXXsee Kapitel 5

Read Input Bit 1 to 128 XXXX

Read Input Bit 129 to 256 XXXX

Read Input Bit 257 to 288 XXXX

Read Input 16 Bit XXXX

Read Input 32 Bit XXXX

and Kapitel 7

D301230 - BLxx- CANopen 0511

3-5

Object dictionary - overview of all objects

Table 15: Overview of all objects

Index Name

6200

6206

6207

6220 6222

6250 6252

6260 6262

6300

6306

6307

6320

6326

6327

hex

Write Output 8 Bit XXXXsee Kapitel 6

Error Mode Output 8 Bit XXXX

Error Value Output 8 Bit XXXX

Write Output Bit 1 to 128 to Write Output Bit 257 to 288

Error Mode Output Bit 1 to 128 to Error Mode Output Bit 257 to 288

Error Value Output Bit 1 to 128 to Error Value Output Bit 257 to 288

Write Output 16 Bit XXXX

Error Mode Output 16 Bit XXXX

Error Value Output 16 Bit XXXX

Write Output 32 Bit XXXX

Error Mode Output 32 Bit XXXX

Error Value Output 32 Bit XXXX

BL××-GWBR-CANOPEN

B67-GW-CANOPEN

BL××-E-GW-CO

BLCCO-xxx

and Kapitel 7

XXXX

XXXXsee Kapitel 6

6401

6411

6421

6422

6423

6424

6425

6426

6427

6428

Read Analog Input 16 Bit XXXXsee Kapitel 8

hex

Write Analog Output 16 Bit XXXXsee Kapitel 9

Analog Input Interrupt Trigger

XXXXsee Kapitel 8

Auswahl

hex

Analog Input Interrupt Source XXXX

Analog Input global Interrupt Enable XXXX

Analog Input Interrupt Upper Limit

XXXX

Integer

hex

Analog Input Interrupt lower Limit

XXXX

Integer

hex

Analog Input Interrupt Delta Unsigned XXXX

Analog Input Interrupt Negative Delta

XXXX

Unsigned

hex

Analog Input Interrupt Positive Delta

XXXX

Unsigned

D301230 - BLxx- CANopen 05113-6

Overview of all objects

Table 15: Overview of all objects

Index Name

6443

6444

67FF

hex

Analog Output Error Mode XXXXsee Kapitel 9

Analog Output Error Value Integer XXXX

Device Type XXXXsee Kapitel 4

I/O module objects (according to CiA DS-406)

6800

6810

6820

6B00

6B10

6B20

67FF

6FFF

hex

Operating parameters XXXXsee Kapitel 11

Preset Value for Multi-Sensor Devices XXXX

Position Value for Multi-Sensor Devices XXXX

CAM State Register XXXX

CAM Enable Register XXXX

CAM Polarity Register XXXX

CAM1 Low Limit XXXX

CAM1 High Limit XXXX

Device TypeDS401 XXXX

Device TypeDS406 XXXX

BL××-GWBR-CANOPEN

B67-GW-CANOPEN

BL××-E-GW-CO

BLCCO-xxx

D301230 - BLxx- CANopen 0511

3-7

Object dictionary - overview of all objects

D301230 - BLxx- CANopen 05113-8

4 Device (gateway) objects

4.1 Objects of the Communication Profile (acc. to CiA DS-301) ............................................................. 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 ......................................................................................... 20

4.2.1 Objects 1200

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

– Device Type...............................................................................................................5

hex

– Error Register ............................................................................................................5

hex

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

hex

– Device Name.............................................................................................................7

hex

– Manufacturer Hardware Version ................. ... .... ... ... ... ....................................... ... ... .8

hex

– Manufacturer Software Version ................................................................................8

hex

– Guard Time...............................................................................................................9

hex

– Lifetime Factor ............................................................... .... ...................................... .9

hex

– Store Parameters........................... ... .... ...................................... .... ... ... ... ...............10

hex

– Restore Default Parameters ....................................................................................11

hex

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

hex

– Consumer Heartbeat Time.......... ... ... ....................................... ... .... ... ... ..................13

hex

– Producer Heartbeat Time........................................................................................15

hex

– Identity Object.........................................................................................................16

hex

– Verify Configuration.................................................................................................17

hex

– Module List.................................. ... ....................................... ... ... .... ... .....................19

hex

to 1203

hex

– Server SDO Default Parameters ..........................................................20

hex

4.3.1 Object 1400

4.3.2 Object 1600

to 141F

hex

to 161F

hex

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

hex

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

hex

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

4.4.1 Object 1800

to 181F

hex

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

hex

– Inhibit time.......................................................................................................................................30

– Event Timer......................................................................................................................................30

4.4.2 Objects 1A00

to 1A1F

hex

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

hex

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

4.5.1 Object 1F80

4.5.2 Object 1F81

4.5.3 Object 1F82

4.5.4 Object 1F83

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

hex

– Slave Assignment....................................................................................................34

hex

– Request NMT..........................................................................................................36

hex

– Request Guarding ...................................................................................................38

hex

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

4.6.1 Object 67FF

4.6.2 Object 6FFF

– Device Type.............................................................................................................39

hex

– Device Type.............................................................................................................40

hex

4.7 Manufacturer specific device objects.............................................................................................. 40

4.7.1 Object 2000

4.7.2 Object 2010

4.7.3 Object 2400

4.7.4 Object 2401

– Serial Number..........................................................................................................40

hex

– Node ResetModifiers...............................................................................................41

hex

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

hex

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

hex

D301230 - BLxx- CANopen 0511 4-1

Device (gateway) objects

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

The following table provides an overview of the supported entries in the object directory which are defined through the Communication Profile CiA DS-301.

The column Object shows the object type.

The column Name shows the predefined symbolic name of the entry.

The column Typ shows the entry's data type predefined in CiA DS-301.

The column Access shows the access options for the entry. These are:

 rw (read/write)

 ro (read only)

 const (constant) = a read-only constant

The column M/O/C indicates if the entry is Mandatory, Optional or Conditional (depending on the Device Type, e. g. modular or compact device).

Table 16: Object overview for the communication Profile CiA DS-301

Index (hex) Object Name Type Access M/O/C

1000

1001

1005

1008

1009

hex

VAR Device Type (page 4-5) Unsigned32 const M

ARRAY Error Register (page 4-5) Unsigned8 ro M

VAR SYNC COB-ID (page 4-6) Unsigned32 rw O

VAR Device Name (page 4-7) Vis-String const O

VAR Manufacturer Hardware Version

Vis-String const O

(page 4-8)

100A

hex

VAR Manufacturer Software Version

Vis-String const O

(page 4-8)

100C

100D

1010

1011

hex

VAR Guard Time (page 4-9) Unsigned32 rw O

VAR Lifetime Factor (page 4-9) Unsigned32 rw O

ARRAY Store Parameters (page 4-10) Unsigned32 rw O

ARRAY Restore Default Parameters

Unsigned32 rw O

(page 4-11)

1014

1016

1017

1018

1020

1027

hex

VAR Emcy COB-ID (page 4-12) Unsigned32 rw O

ARRAY Consumer Heartbeat Time

Unsigned32 rw O

(page 4-13)

VAR Producer Heartbeat Time

Unsigned16 rw O

(page 4-15)

RECORD Identity Object (page 4-16)Identity ro O

ARRAY Verify Configuration (page 4-17) Unsigned32 rw O

ARRAY Module List (page 4-19) Unsigned16 ro C

D301230 - BLxx- CANopen 05114-2

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

Table 16: Object overview for the communication Profile CiA DS-301

Index (hex) Object Name Type Access M/O/C

Server SDO Parameter

1200

1201

hex

RECORD 1st Server SDO Parameter

(page 4-20)

RECORD 2nd Server SDO Parameter

SDO-

ro O

Parameters

SDO-parameters rw O

(page 4-20)

1202

hex

RECORD 3rd Server SDO Parameter

SDO-parameters rw O

(page 4-20)

1203

hex

RECORD 4th Server SDO Parameter

SDO-parameters rw O

(page 4-20)

Receive PDO Communication Parameters

1400

hex

RECORD 1st Receive PDO Parameter

PDO CommPar rw O

(page 4-21)

1401

hex

RECORD 2nd Receive PDO Parameter

PDO CommPar rw O

(page 4-21)

1402

hex

RECORD 3rd Receive PDO Parameter

PDO CommPar rw O

(page 4-21)

... ... ... ... ... ...

141F

hex

RECORD 32nd Receive PDO Parameter

PDO CommPar rw O

(page 4-21)

Receive PDO-Mapping Parameters

1600

hex

ARRAY 1st Receive PDO-Mapping

PDO mapping rw O

(page 4-24)

1601

hex

ARRAY 2nd Receive PDO-Mapping

PDO mapping rw O

(page 4-24)

1602

hex

ARRAY 3rd Receive PDO-Mapping

PDO mapping rw O

(page 4-24)

... ... ... ... ... ...

161F

hex

ARRAY 32nd Receive PDO-Mapping

PDO mapping rw O

(page 4-24)

Transmit PDO Communication Parameter

1800

hex

RECORD 1st Transmit PDO Parameter

PDO CommPar rw O

(page 4-27)

1801

hex

D301230 - BLxx- CANopen 0511

RECORD 2nd Transmit PDO Parameter

(page 4-27)

PDO CommPar rw O

4-3

Device (gateway) objects

Table 16: Object overview for the communication Profile CiA DS-301

Index (hex) Object Name Type Access M/O/C

1802

hex

RECORD 3rd Transmit PDO Parameter

PDO CommPar rw O

(page 4-27)

... ... ... ... ... ...

181F

hex

RECORD 32nd Transmit PDO Parameter

(page 4-27)

PDO CommPar

rw O

Transmit PDO-Mapping Parameter

1A00

hex

ARRAY 1st Transmit PDO-Mapping

PDO mapping rw O

(page 4-30)

1A00

hex

ARRAY 2nd Transmit PDO-Mapping (

PDO mapping rw O

page 4-30)

1A02

hex

ARRAY 3rd Transmit PDO-Mapping

PDO mapping rw O

(page 4-30)

... ... ... ... ... ...

1A1F

hex

ARRAY 32nd Transmit PDO Mapping

NMT Master Objects

1F80

1F81

1F82

1F83

hex

VAR NMT Start-up (page 4-33) Unsigned32 rw O

ARRAY Slave Assignment (page 4-34) Unsigned32 rw O

ARRAY Request NMT (page 4-36) Unsigned8 rw O

ARRAY Request Guarding (page 4-38) Unsigned8 rw O

PDO mapping rw O

(page 4-30)

D301230 - BLxx- CANopen 05114-4

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

4.1.1 Object 1000

Object 1000

The value FFFF 0191

Table 17: Object 1000

Object description

hex

INDEX 1000

Name Device Type

Object code VAR

Data type Unsigned32

Value range

Access ro

PDO mapping No

Value range Unsigned32

Default value, BL×× FFFF 0191

Default value, BL×× depends on the respective module

– Device Type

hex

contains the Type and Function for the station.

hex

indicates that all Device Profiles are supported.

hex

4.1.2 Object 1001

The object 1001 the internal errors that occur.

Table 18: Object 1001

Error register

Object description

hex

INDEX 1001

Name Error register

Object code VAR

Data type Unsigned8

Value range

Access ro

PDO mapping Optional

Value range Unsigned8

Default value, BL×× 00

– Error Register

hex

contains the Error register for the CANopen gateway. It thus contains, in one byte,

hex

Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7

Generic Current Voltage 0 Comm. 0 0Manu.

D301230 - BLxx- CANopen 0511

4-5

Device (gateway) objects

Abbreviations:

Abbr. Meaning Valid for Modules

generic General error all modules

Current Output short-circuit/ current error DO, AI,TC

Voltage voltage error PF, DO, AI, AO

Comm. communication error all modules

Manu. Manufacturer-specific error all modules

4.1.3 Object 1005

Object 1005 (→ „Identifier for the die standard objects“) of the synchronization object (SYNC). The BL××-CANopengateway is not able to generate, but only to receive, SYNC messages.

Structure of the SYNC COB-ID entry (Unsigned32):

MSB LSB

Bits

11-bit ID

29-bit ID

Table 19: Description of the SYNC COBID entry

31 30 29 28 to 11 10 to 0

×00 00 0000 0000 0000 0000 11-bit Identifier

×01 29-bit Identifier

Bit no. Value Description

31 (MSB)

– SYNC COB-ID

hex

defines the COB-ID and thus the priority

hex

Xfixed

0 1

Module does not generate a SYNC message Module generates a SYNC message

11-bit ID (CAN 2.0A) for BL×× 29-bit ID (CAN 2.0B)

28 to 11

10 to 0 (LSB)

Note

Bit 30 is static, i.e. cannot be changed.

0 X

if bit 29 = 0 if bit 29 = 1 bits 28 to 11 of the SYNC-COB-ID

X bits 10 to 0 of the SYNC-COB-ID

D301230 - BLxx- CANopen 05114-6

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

Table 20: Object 1005

Object description

hex

INDEX 1005

Name COB-ID

Object code VAR

Data type Unsigned32

Value range

Access rw

PDO mapping No

Value range Unsigned32

Default value, BL×× 0000 0080h

4.1.4 Object 1008

Object 1008

Table 21: Object 1008

Object description

hex

– Device Name

hex

contains the manufacturer-specific device name

hex

INDEX 1008

hex

Name manufacturer specific device name

Object code VAR

Data type Visible String

Value range

Access const.

PDO mapping No

Value range, BL×× –

Default value depends on the gateway/ module

D301230 - BLxx- CANopen 0511

4-7

Device (gateway) objects

4.1.5 Object 1009

Object 1009

Table 22: Object 1009

Object description

hex

INDEX 1009

Name Hardware version

Object code VAR

Data type Visible String

Value range

Access const.

PDO mapping No

Value range, BL×× –

Default value, BL×× depends on the gateway/ module

4.1.6 Object 100A

Object 100A

– Manufacturer Hardware Version

hex

contains the designation for the Hardware Version.

hex

– Manufacturer Software Version

hex

contains the device's software version.

hex

Table 23: Object 100A

Object description

hex

INDEX 100A

Name Software version

Object code VAR

Data type Visible String

Value range

Access const.

PDO mapping No

Value range, BL×× –

hex

D301230 - BLxx- CANopen 05114-8

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

4.1.7 Object 100C

Object 100C 100D

hex

Table 24: Object 100C

Object description

hex

INDEX 100C

Name Guard Time

Object code VAR

Data type Unsigned16

Value range

Access rw

PDO mapping No

Value range, BL×× Unsigned16

Default value, BL×× 0

– Guard Time

hex

contains the Guard time in milliseconds. The product of "Lifetime factor" (Object

hex

) and Guard time is the "Lifetime" for the Node Guarding.

hex

4.1.8 Object 100D

If the Lifetime factor is multiplied by the Guard time, the result is the Lifetime for Node Guarding.

Example:

Guard Time .........100 ms

Lifetime Factor:..............3

With a Guard Time of 100 ms, the network nodes expect a guard telegram every 100 ms. The Lifetime factor enables a setting to be made in the BL××-gateway for how often a Guard Frame from the Master can be missed before an error condition is recognized. In this example, the relevant time would be 300 ms. The evaluation would only become active after the message had been missing for 300 ms.

Table 25: Object 100D

Object description

hex

INDEX 100D

Name Lifetime Factor

Object code VAR

Data type Unsigned8

Value range

Access rw

– Lifetime Factor

hex

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× 0

D301230 - BLxx- CANopen 0511

4-9

Device (gateway) objects

4.1.9 Object 1010

The object 1010 executed by writing the data contents 6576 6173

Table 26: Object 1010

Object description

hex

INDEX 1010

Name Store Parameters

Object code 3

Data type Unsigned32

Value description

Sub-index 00

Description Largest Supported Index

Access ro

PDO mapping No

Default value, BL×× 3

Sub-index 01

– Store Parameters

hex

can be used to save parameter changes in non-volatile memory. The command is

hex

("save") to one of the Sub-indices.

hex

Description Save all Parameters

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× -

Sub-index 02

hex

Description Save Communication Parameters

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× -

Sub-index 03

hex

Description Save Application Parameters

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× -

D301230 - BLxx- CANopen 05114-10

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

4.1.10 Object 1011

The object 1011 the data contents 6461 6F6C

Table 27: Object 1011

Object description

hex

INDEX 1011

Name Restore Default Parameters

Object code ARRAY

Data type 3

Value description

Sub-index 00

Description Largest Supported Index

Access ro

PDO mapping No

Sub-index 01

– Restore Default Parameters

hex

can be used to restore the default parameters. The command is executed by writing

hex

("load") to one of the Sub-indices.

hex

Description Restore All Default Parameters

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× -

D301230 - BLxx- CANopen 0511

4-11

Device (gateway) objects

Table 27: Object 1011

Object description

hex

Value description

Sub-index 02

Description Restore Communication Parameters

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× -

Sub-index 03

Description Restore Application Parameters

Access rw

PDO mapping No

Value range, BL×× Unsigned32

hex

Default value, BL×× -

4.1.11 Object 1014

Object 1014

MSB LSB

Bits

11-bit ID

29-bit ID

Table 28: Description of the Emcy COBID entry

31 30 29 28 to 11 10 to 0

0/1 0 0 00 0000 0000 0000 0000 11-bit Identifier

0/1 0 1 29-bit Identifier

Bit no. Value Description

31 (MSB) 0

30 0 reserved (always 0)

29 0

– Emcy COB-ID

hex

contains the Identifier for the Emergency Messages

hex

EMCY exists/ is valid

EMCY does not exist/ is not valid

11-bit ID (CAN 2.0A) ∅ for BL××

29-bit ID (CAN 2.0B)

28 to 11 0

if bit 29 = 0

if bit 29 = 1 bits 28 to 11 of 29-bit-COB-ID

D301230 - BLxx- CANopen 05114-12

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

Table 28: Description of the Emcy COBID entry

Table 29: Object 1014

hex

Bit no. Value Description

10 to 0

X bits 10 to 0 of COB-ID

(LSB)

Note

Bit 30 is static, i.e. cannot be changed.

Object description

INDEX 1014

hex

Name Emcy COB-ID

Object code VAR

Data type Unsigned32

Value description

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× 0000 0080

4.1.12 Object 1016

The Heartbeat Protocol is used to monitor the operational capability of other CANopen bus nodes. The Heartbeat Protocol must be seen as an alternative to Node-/Life-Guarding, which, unlike Guarding, does not use Remote-Frames.

A device generates the Heartbeat with a specific cycle time (see object 1017 time"). Another device receives the Heartbeat and monitors the cycle time. Another device receives the Heartbeat and monitors the cycle time.

Object 1016 defines the cycle time (interval) at which the Heartbeat is expected. This cycle time should be longer than the corresponding cycle time for the transmitter (see object 1017 the Heartbeat starts when the first Heartbeat Frame is received. If the Consumer heartbeat time = 0, then the corresponding entry will not be used.

The time is set as a multiple of 1 ms.

Structure of the entry for Consumer heartbeat time (Unsigned32):

MSB LSB

– Consumer Heartbeat Time

hex

+ Node-ID

hex

"Producer heartbeat

hex

). The monitoring of

hex

Bits

Value

Data type

31 to 24 23 to 16 15 to 0

reserved (default: 00

–Unsigned8Unsigned16

D301230 - BLxx- CANopen 0511

hex

Node-ID Heartbeat Time

4-13

Device (gateway) objects

Table 30: Object 1016

Object description

hex

INDEX 1016

hex

Name Consumer Heartbeat Time

Object code ARRAY

Data type Unsigned32

Value description

Sub-index 00

hex

Description Number of Entries

Category Mandatory

Access ro

PDO mapping No

Value range, BL×× 1

Default value, BL×× 1

Sub-index 01

hex

Description Consumer Heartbeat Time

Category Mandatory

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× 0

D301230 - BLxx- CANopen 05114-14

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

4.1.13 Object 1017

The object 1017

If the cycle time = 0, then Heartbeat will not be used. The content of the object is interpreted as a multiple of 1 ms.

Table 31: Object 1017

Object description

hex

INDEX 1017

Name Producer Heartbeat Time

Object code VAR

Data type Unsigned16

Value description

Access rw

PDO mapping No

Value range, BL×× Unsigned16

Default value, BL×× 0

– Producer Heartbeat Time

hex

defines the cycle time for the Heartbeat.

hex

D301230 - BLxx- CANopen 0511

4-15

Device (gateway) objects

4.1.14 Object 1018

Object 1018

he Vendor-ID (Sub-index manufacturer-specific Product-Code (Sub-index 02 manufacturer-specific Revision-Number (Sub-index 03 minor revision number. The major revision number defines a special CANopen functionality. If the CANopen functionality is expanded, then the major revision number must be incremented. The minor revision number identifies various versions that have the same CANopen functionality.

Bits

Value

Table 32: Object 1018

Object description

hex

INDEX 1018

Name Device Specification

Object code RECORD

Data type Identity

Value description

– Identity Object

hex

contains general information about the BL×× gateway.

hex

) is a unique ID which precisely identifies the manufacturer. The

hex

) identifies a specific device version. The

hex

MSB LSB

31 to 16 15 to 0

Major Revision Number Minor Revision Number

hex

) consists of a major revision number and a

Sub-index 00

hex

Description Number of Entries

Category Mandatory

Access ro

PDO mapping No

Default value, BL×× 4

Value description

Sub-index 01

hex

Description Manufacturer-ID

Category Mandatory

Access ro

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× 0000 009C

hex

D301230 - BLxx- CANopen 05114-16

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

Table 32: Object 1018

Object description

hex

Sub-index 02

Description Product Code

Category Option

Access ro

PDO mapping No

Value range, BL×× Unsigned32

Sub-index 03

Description Revision number

Category Option

Access ro

PDO mapping No

Value range, BL×× Unsigned32

hex

Default value, BL×× No

Sub-index 04

Description Serial number

Category Option

Access ro

PDO mapping No

Value range, BL×× Unsigned32

4.1.15 Object 1020

Object 1020

The BL××-CANopen gateway supports the non-volatile storage of parameters. A network configuration tool or an CANopen Manager can use object 1020 so check whether a reconfiguration is necessary. The configuration tool saves the time and date simultaneously in object 1020 configuration and the signature will be restored, either automatically on request. If the configuration values are altered by some other command, then the object will be set to 0.

The Configuration Manager compares the signature and the configuration with the values from the DCF file. If it discovers any deviations, a reconfiguration will be necessary.

hex

– Verify Configuration

hex

is used to check the station configuration after a device reset.

hex

to test the station configuration after a reset, and

hex

and the corresponding DCF file. After a reset, the most recent

hex

D301230 - BLxx- CANopen 0511

4-17

Device (gateway) objects

Table 33: Object 1020

Object description

hex

INDEX 1020

hex

Name Verify Configuration

Object code ARRAY

Data type Unsigned16

Value description

Sub-index 00

hex

Description Number of entries

Access rw

PDO mapping No

Default value, BL×× 02

Sub-index 01

hex

Description Configuration date

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× No

Sub-index 02

hex

Description Configuration time

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× No

Note

The configuration date contains the number of days since January 01 1984. The configuration time contains the number of milliseconds since midnight.

D301230 - BLxx- CANopen 05114-18

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

4.1.16 Object 1027

Object 1027

It is only valid for modular devices and thus not for BLCCO.

Table 34: Object 1027

Object description

hex

INDEX 1027

Name Module List

Object code ARRAY

Data type Unsigned16

Access ro

Value description

Sub-index 00

Description Number of connected

Access ro

PDO mapping No

– Module List

hex

describes all the actually installed modules in a station.

hex

modules

Value range, BL×× 00

hex

to 4A

hex

Default value, BL×× No

Sub-index 01

hex

Description Module 1

... ...

BL20 BL67

Sub-index 4A

hex

Description Module 74 Module 32

The sequential Sub-indices 01

hex

to 4A

(BL20) or resp. 20

hex

(BL67) describe the corresponding BL××

hex

modules in the sequence in which they are installed in the station. Each entry contains a number that identifies the particular module. Each entry contains a number which identifies the respective module.

Note

There is one identifier for each type of BL×× module.

In the EDS-file, the individual extensions to object 1027

(e.g. M1SubExt1027) for all the optional BL××

hex

module types are listed in the section [Supported Modules]. The default values (e.g. default value=8000

) correspond to the identifiers for the particular module types (e.g.[M1ModuleInfo]

hex

ProductName=Generic BL××-BR/-PF).

D301230 - BLxx- CANopen 0511

4-19

Device (gateway) objects

4.2 Objects for the Transfer of Service Data

4.2.1 Objects 1200

Objects 1200

The priority of the data is defined through the Identifier/ COB-ID

Table 35: Object 1200 to 1203

hex

Object description

hex

INDEX 1200

Name Server SDO Parameters

Object code RECORD

Number of Elements 3

Data type SDO-parameters

Value description

Sub-index 00

Description Number of entries

Access ro

PDO mapping No

to 1203

hex

to 1203

– Server SDO Default Parameters

define the priority for the transmission of SDO1 to SDO4.

hex

to 1203

hex

Default value, BL×× 02

Sub-index 01

hex

Description COB-ID Client Server (rx)

Access Index 1200

Index 1201

:ro

hex

to 1203

hex

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× Index 1200

0000 0600 Index 1201

Sub-index 02

hex

+ Node-ID

hex

to 1203

hex

Description COB-ID Server Client (rx)

Access Index 1200

Index 1201

:ro

hex

to 1203

hex

PDO mapping No

Value range, BL×× Unsigned32

hex

:rw

:rwNo

:rw

D301230 - BLxx- CANopen 05114-20

Objects for the Transfer of Process Output Data

Table 35: Object 1200 to 1203

hex

Object description

hex

Default value, BL×× Index 1200

0000 0580 Index 1201

hex

+ Node-ID

hex

to 1203

hex

4.3 Objects for the Transfer of Process Output Data

The objects 1400 to be transferred via RPDO. In addition to that, the priority and the transmission type for the RPDOtransfer are defined.

Object 1400

hex

object-index, the sub-index and the data length for the data which have to be transferred via RPDO1.

Objects 1401

The priority of the data is defined through the Identifier/ COB-ID

The values are already entered by default for objects 1400

A station with up to 64 digital outputs and 12 analog outputs therefore transfers the process output data automatically via RPDOs.

to 141F

hex

define, together with objects 1600

hex

defines the priority and the transmission type for the RPDO1. Object 1600

and 1601

hex

thus define the RPDO2, etc.

hex

:rwNo

hex

to 161F

hex

to 1403

and 1600

hex

, which output data have

hex

defines the

hex

to 1603

hex

4.3.1 Object 1400

Objects 1400

The priority is defined via the identifier/COB-ID (see „Identifier for the Standard Objects”) in sub-index

hex

With the highest bit of sub-index 01 respective highest

The transmission type is defined with the sub-index 02

Which data content is to be transferred with the RPDO1 to RPDO32 is defined with the objects 1600 to 161F

Table 36: Object 1400 to 141F

hex

Object description BL×× BLC

hex

INDEX 1400

Name Receive PDO Parameters

Object code RECORD

Data type PDO CommPar

Value description

to 141F

hex

to 141F

hex

– Receive PDO Comm. Default Parameters

hex

define the priority for the transmission of RPDO11 to RPDO32.

hex

, the further content can be defined as valid/invalid. The

adecimal number is then > 8.

hex

to 141F

hex

1400

to 1403

hex

Sub-index 00

Description Maximum Number of Entries

Access ro

D301230 - BLxx- CANopen 0511

hex

4-21

Device (gateway) objects

Table 36: Object 1400 to 141F

hex

Object description BL×× BLC

hex

PDO mapping No

Value range, BL×× 2

Default value, BL×× 02

Sub-index 01

hex

Description COB-ID for the PDOs (see Table 37:)

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× Index 1400

Index 1401 Index 1402 Index 1403

Index 1404

to 141F

hex

: 0000 0200

hex

: 0000 0300

hex

: 0000 0400

hex

: 0000 0500

hex

reserved

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

Sub-index 02

hex

Description Transmission type (see Table 38:)

Access rw

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× FF

hex

D301230 - BLxx- CANopen 05114-22

Objects for the Transfer of Process Output Data

Structure of the COB-ID entry

MSB LSB

Bits 31 30 29 28 to 11 10 to 0

11-bit ID 0/1 0/1 0 00 0000 0000 0000 0000 11-bit Identifier

29-bit ID 0/1 0/1 1 29-bit Identifier

Table 37: Description of the COB-IDentry

Table 38: Description of the Transmission Type

Bit no. Value Meaning

31 (msb) 0 PDO exists / is valid

1 PDO does not exist / is invalid

30 0 RTR is possible in this PDO

1 RTR is not possible in this PDO

29 0 11-Bit-ID (CAN 2.0A) (standard application)

1 29-bit ID (CAN 2.0B)

28 to 11 0 if bit 29=0 (Standard application)

X if bit 29 = 1 bits 28 to 11 of COB-ID

10 to 0 (lsb) X bits 10 to 0 of COB-ID

The Transmission type (Sub-index 02

Transmission

PDO transmission

) can have the following values:

hex

Type

2 to 254 reserved

255 ×

D301230 - BLxx- CANopen 0511

cyclic acyclic synchr. asynchr. only with RTR

0××

1× ×

4-23

Device (gateway) objects

4.3.2 Object 1600

Objects 1600 RPDO1 to RPDO32 (BLCCO: RPDO1 to RPDO 4).

The data content (here: process output data) is represented by product specific mappable objects.

→ Mappable Objects (page 2-22)

For example, the process output data for the digital channels are entered in objects 6200 etc.

The description of these objects can be found in the following chapter.

Sub-indices 01 number, the sub-index and the length of the data that have to be transferred via the respective RPDO.

An RPDO can transfer a maximum number of 8 bytes (64 bit).

The number of sub-indices depends on the data length. For larger projects, it has to be calculated and entered by user.

At a data length of 8 bit, 8 sub-indices are needed to represent a total number of 64 bit. At a data length of 1 bit, 64 sub-indices are needed to represent a total number of 64 bit.

Objects 1600 output channels and for the first 12 analog output channels, provided that the values are represented by the objects 6200

Table 39: Object 1600 to 161F

hex

Object description BL×× BLCCO

hex

to 161F

hex

– Receive PDO-Mapping Parameter

hex

to 161F

hex

ff. of the objects 1600

hex

to 1603

hex

(BLCCO: 1600

hex

(RPDO1 to RPDO4) references by default the values for the first 64 digital

hex

(digital values) and 6411

hex

to 161F

hex

to 1603

hex

(analog values).

hex

) define, which data have to be transferred with

, 6220

(BLCCO: 1600

to 1603

hex

) contain the object

hex

INDEX 1600

to 161F

hex

1600

to 1603

hex

Name Receive PDO-Mapping Parameters

Object code RECORD

Data type PDO mapping

Value description

Sub-index 00

Description NumberOfMappedApplication

hex

Objects

Receive PDO-Mapping Parameters

Access rw rw

PDO mapping No No

Value range, BL×× 0 to 64 -

Default value, BL×× see Table 16: -

Sub-index 01

hex

Description 1st Mapping Object

Access rw

PDO mapping No

D301230 - BLxx- CANopen 05114-24

Objects for the Transfer of Process Output Data

Table 39: Object 1600 to 161F

hex

Object description BL×× BLCCO

hex

Value range, BL×× Unsigned32

Default value, BL×× see Table 16:

... ...

Sub-index 40

hex

Description 64th Mapping Object 4th Mapping Object

Access rw rw

PDO mapping No No

Value range, BL×× Unsigned32 Unsigned32

Default value, BL×× No No

Default values for objects 1600

to 1603

hex

Note

The number of mapping objects, which are automatically generated by the gateway during start-up, depends on the actual physical structure of the BL××-station.

hex

Table 40: Default values for objects

hex

1600 1603

Object Product Sub-

index

1600

hex

BL×× 01

hex

... ... ...

hex

1601

hex

BLCCO 01

BL×× 01

hex

... ... ...

hex

BLCCO 01

hex

Default value Description valid for

6200 0108

1st Mapping Object

hex

RPDO1

(digital output)

6200 0808

8th Mapping Object

hex

(digital output)

6200 0108

1st Mapping Object

hex

RPDO1

(digital output)

6411 0110

1st Mapping Object

hex

RPDO2

(analog output)

6411 0410

4th Mapping Object

hex

(analog output)

6411 0110

1st Mapping Object

hex

RPDO2

(analog output)

D301230 - BLxx- CANopen 0511

4-25

Device (gateway) objects

Table 40: Default values for objects

hex

1600 1603

Object Product Sub-

index

1602

hex

BL×× 01

hex

... ... ...

hex

BLCCO

1603

hex

BL×× 01

hex

... ... ...

hex

BLCCO 01

hex

Default value Description valid for

6411 0510

1st Mapping Object

hex

RPDO3

(analog output)

6411 0810

4th Mapping Object

hex

(analog output)

6411 0910

1st Mapping Object

hex

RPDO4

(analog output)

6411 0C10

4th Mapping Object

hex

(analog output)

6411 0510

1st Mapping Object

hex

RPDO4

(analog output)

D301230 - BLxx- CANopen 05114-26

Objects for the Transfer of Process Input Data

The following structure applies to the parameters for sub-indices:

Structure of the PDO Mapping entries:

MSB LSB

Index (16 bit) Sub-Index (8 bit) Object length (8 bit)

Note

To change the number of mapping entries, follow the instructions in section .

Procedure for Altering PDO-Mappings (page 2-23).

4.4 Objects for the Transfer of Process Input Data

Objects 1800 (BLCCO: 1A00 the mode for the data transfer via TPDO.

Object 1800 type for TPDO1. Object 1A00 which have to be transferred via TPDO1.

Objects 1801

The priority of the data is defined through the Identifier/ COB-ID

The values are already entered by default for objects 1800

A station with up to 64 digital outputs and 12 analog outputs therefore transfers the process input data automatically via TPDOs.

4.4.1 Object 1800

Objects 1800 inhibit time and the event timer for TPDO1 to TPDO32.

The priority is defined via the identifier/COB-ID (see „Identifier for the Standard Objects”) in sub-index

hex

With the highest bit of sub-index 01 respective highest

The transmission type is defined with the sub-index 02

The inhibit time is defined in sub-index 03

The maximum time between 2 transmissions, the event timer, is defined in sub-index 05

Which data content is to be transferred with the RPDO1 to RPDO32 is defined with the objects 1A00 to 1A1F

to 181F

hex

to 1A03

hex

defines the priority, the minimum inhibit time, the event timer and the transmission

hex

and 1A01

hex

to 181F

hex

to 181F

hex

. (BLCCO: 1A00

hex

(BLCCO: 1800

hex

), which input data are transferred. Additionally they define the priority and

hex

defines the object-index, the sub-index and the data length for the data

hex

thus define the TPDO2, etc.

hex

– Transmit PDO-Parameters

hex

(BLCCO: 1800

hex

adecimal number is then > 8.

hex

to 1A03

hex

to 1803

hex

to 1803

hex

, the further content can be defined as valid/invalid. The

hex

) define, together with objects 1A00

hex

to 1803

hex

) define the priority, the transmission type, the

hex

and 1A00

hex

to 1A03

hex

to 1A1F

hex

Table 41: Object 1800 to 181F

hex

Object description BL×× BLCCO

hex

INDEX 1800

Name Transmit PDO-parameters

Object code RECORD

D301230 - BLxx- CANopen 0511

to 181F

hex

1800

to 1803

hex

4-27

Device (gateway) objects

Table 41: Object 1800 to 181F

hex

Object description BL×× BLCCO

hex

Data type PDO CommPar

Value description

Sub-index 00

Description Highest Sub-Index Used

Access ro

PDO mapping No

Value range 5

Default value No

Sub-index 01

Description COB-ID of the PDO

Access rw

PDO mapping No

hex

Value range, BL×× Unsigned32

Default value, BL×× Index 1800

Index 1801 Index 1802 Index 1803

Index 1804

to 181F

hex

: 0000 0180

hex

: 0000 0280

hex

: 0000 0380

hex

: 0000 0480

hex

Value description

Sub-index 02

hex

Description Transmission Type

Access rw

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× FFh

Sub-index 03

hex

Description Inhibit Time

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

+ Node-ID

hex

Access rw

PDO mapping No

Value range, BL×× Unsigned16

D301230 - BLxx- CANopen 05114-28

Objects for the Transfer of Process Input Data

Table 41: Object 1800 to 181F

hex

Object description BL×× BLCCO

hex

Default value, BL×× 0

Sub-index 04

Description reserved

Sub-index 05

Description Event Timer

Access rw

PDO mapping No

Value range, BL×× Unsigned16 (0 is not used)

Default value, BL×× 0

The COB-ID (sub-Index 01

) shows the following structure:

hex

MSB LSB

Bits 31 30 29 28 to 11 10 to 0

11-bit ID 0/1 0/1 0 00 0000 0000 0000 0000 11-bit Identifier

29-bit ID 0/1 0/1 1 29-bit Identifier

Table 42:

Bit no. Value Description

Description of the COB-ID entry (sub-index

)

hex

31 (MSB) 0 PDO exists / is valid

1 PDO does not exist / is invalid

30 0 RTR is possible in this PDO

1 RTR is not possible in this PDO

29 0 11-Bit-ID (CAN 2.0A) (standard application)

1 29-bit ID (CAN 2.0B)

28 to 11 0 if bit 29=0 (Standard application)

10 to 0 (LSB) X bits 10 to 0 of COB-ID

D301230 - BLxx- CANopen 0511

X if bit 29 = 1 bits 28 to 11 of COB-ID

4-29

Device (gateway) objects

Table 43: Transmission Type

The Transmission type (Sub-index 02

Transmission

PDO transmission

) can have the following values:

hex

Type

cyclic acyclic synchr. asynchr. only with RTR

0××

1× ×

2 to 252 reserved

253 × ×

254 reserved

255 ×

Inhibit time

In order to avoid a permanent occupation of the field bus by high-prior messages, the Inhibit Time is defined.

With sub-Index 03

, the Inhibit time is defined as a multiple of 100 μs. However, since the time

hex

resolution of the system clock in the BL××-CANopen gateway is 1 ms, Inhibit time values below 10 x 100 μs are pointless.

Event Timer

Sub-index 03

defines the maximum interval after which a TPDO will be transmitted, even though no

hex

event has occurred. 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.

4.4.2 Objects 1A00

Die Objects 1A00 with TPDO1 to TPDO32.

The data content (here: process input data) is represented by product specific mappable objects.

see Mappable Objects (page 2-22)

For example, the process input data for the digital channels are entered in objects 6000

The description of these objects can be found in the following chapter.

Sub-indices 01 number, the sub-index and the length of the data that have to be transferred via the respective TPDO.

A TPDO can transfer a maximum number of 8 bytes (64 bit).

The number of sub-indices depends on the data length. For larger projects, it has to be calculated and entered by user.

At a data length of 8 bit, 8 sub-indices are needed to represent a total number of 64 bit. At a data length of 1 bit, 64 sub-indices are needed to represent a total number of 64 bit.

to 1A1F

hex

- Transmit PDO Mapping Parameter

hex

to 1A1F

hex

ff. of the objects 1A00

hex

(BLCCO: 1A00

hex

to 1A1F

hex

to 1A03

hex

) define, which data have to be transferred

hex

(BLCCO: 1A00

hex

to 1A03

hex

, 6020

hex

) contain the object

hex

etc.

D301230 - BLxx- CANopen 05114-30

Objects for the Transfer of Process Input Data

Table 44: Object 1A00 to 1A1F

hex

Objects 1600

to 1603

hex

(RPDO1 to RPDO4) references by default the values for the first 64 digital

hex

output channels and for the first 12 analog output channels, provided that the values are represented by the objects 6000

(digital values) and 6401

hex

(analog values).

hex

Object description BL×× BLCCO

hex

INDEX 1A00

to 1A1Fh 1A00

hex

to 1A03h

hex

Name Transmit PDO-Mapping Parameters

Object code RECORD

Data type PDO mapping

Value description

Sub-index 00

Description Number of Mapped Application

hex

Objects in the PDO

Transmit PDO-Mapping

Parameters

Access rw

PDO mapping No

Value range, BL×× 0 deactivated

1 to 64: activated

Default value, BL×× see Table 38:

Sub-index 01

hex

Description 1st Mapping Object

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× see page 4-32

...

Sub-index 40

hex

Description 64th Mapping Object

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× No

D301230 - BLxx- CANopen 0511

4-31

Device (gateway) objects

Table 45: Default values for objects

hex

1A00 1A03

Default values for objects 1A00

Note

The number of mapping objects, which are automatically generated by the gateway during start-up, depends on the actual physical structure of the BL××-station.

Object Product Sub-

Index

1A00

hex

BL×× 01

hex

...

hex

1A00

hex

BLCCO 01

BL×× 01

hex

to 1A03

hex

Default value Description valid for

6000 0108

1st Mapping Object

hex

(digital input)

... ...

6000 0808

8th Mapping Object

hex

(digital input)

6000 0108

1st Mapping Object

hex

(digital input)

6401 0110

1st Mapping Object

hex

(analog input)

TPDO1

TPDO2

1A02

1A03

hex

...

BLCCO 01

BL×× 01

...

BLCCO 01

BL×× 01

...

BLCCO 01

hex

... ...

6401 0410

6401 0110

6401 0510

hex

... ...

6401 0810

6401 0510

6401 0910

hex

... ...

6401 0C10

6401 0910

hex

4th Mapping Object (analog input)

1st Mapping Object (analog input)

4th Mapping Object (analog input)

1st Mapping Object (analog input)

4th Mapping Object (analog input)

1st Mapping Object (analog input)

TPDO3

TPDO4

D301230 - BLxx- CANopen 05114-32

Objects for network management (not valid for BLCCO)

The following structure applies to the parameters for sub-indices 01

MSB LSB

Index (16 bit) Sub-Index (8 bit) Object length (8 bit)

Note

To change the number of mapping entries, follow the instructions in section Procedure for

Altering PDO-Mappings (page 2-23).

4.5 Objects for network management (not valid for BLCCO)

Objects 1F80 Master. The activation is done via bit 0 from object 1F80

4.5.1 Object 1F80

Object 1F80

Table 46: Object 1F80 to 1A1F

hex

Object description

hex

to 1F83

hex

– NMT Start-up

describes the start-up behavior of BL×× in NMT (Network-Management).

hex

are only relevant if the BL××-station is to work as a Network Management

hex

ff.:

hex

Table 47: Structure of the NMT-Start-up

INDEX 1F80

hex

Name NMT Start-up

Object code VAR

Data type Unsigned32

Access rw

Bit Value Meaning

0 0 BL×× station is not the NMT-Master All further bits will be ignored.

The objects in the network list will be ignored.

1 BL×× is the NMT-Master

1 0 Only the explicitly selected slaves will be started.

1 After boot-up, the service "NMT Start Remote Node All Nodes" will be

performed.

2 0 BL×× moves automatically to the "Operational" state.

1 BL×× does not automatically move to the "Operational" state. The status

change is defined through the respective application.

3 0 Starting of the slave is permitted.

D301230 - BLxx- CANopen 0511

1 Starting of the slave is not permitted.

4-33

Device (gateway) objects

Table 47:

Bit Value Meaning

Structure of the NMT-Start-up

4 0 An error event in an obligatory slave deals with the slave individually.

5 to 31 Reserved; set to 0

4.5.2 Object 1F81

Object 1F82 Management (NMT). It contains information on error control and on actions which will be enganged through error events. All other parameters for a slave are only valid if this slave is described in object 1F81

hex

Table 48: Object 1F81

Object description

hex

1 An error event in an obligatory slave triggers an NMT Reset All Nodes (see

– Slave Assignment

hex

describes, as per CiA DSP-302, all the slaves that can be connected to Network

hex

object 1F81

hex

, bit 3).

Note

Object 1F81

is only valid if BL×× is defined as NMT Master (see „Object 1F80

hex

“, Bit 0).

INDEX 1F81

hex

Name Slave Assignment

Object code ARRAY

Data type Unsigned32

Access rw

Value description

Sub-index 00

hex

Description Maximum Number of Entries

Access rw

PDO mapping No

Value range 1 to 127

Default value 127

Sub-index 01

hex

Description Slave with Node-ID 1

Access rw

PDO mapping No

Value range, BL×× Unsigned32

...

D301230 - BLxx- CANopen 05114-34

Objects for network management (not valid for BLCCO)

Table 48: Object 1F81

hex

Table 49: Structure of the object 1F81

hex

Slave Assignment

Object description

Sub-index 3Fh

Description Slave with Node-ID 63

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× No

Note

Each sub-index corresponds to the slave with the respective Node-ID. The sub-index with the Node-ID of the NMT-Master will be ignored.

Byte Bit Value Meaning

0 0 0 The node with this ID is not a slave.

1 The node with this ID is not a slave. After configuration, the

node will be put into the "Operational" state.

1 0 An error event or other event detection by a slave during boot-

up leads to information from the application.

1 An error event or other event detection by a slave during boot-

up leads to information from the application and to automatic start of Error Control Services.

2 0 An error event or other event detection by a slave during boot-

up does not lead to information from the application or automatic start of Error Control Services.

1 An error event or other event detection by a slave during boot-

up leads to the start of "Start Boot Slaves".

3 0 Optional slave: the network can also be started if this node is

not connected.

1 Mandatory slave: the network will not be started if this node is

not connected during the slave boot-up.

4 0 The slave can be reset by the "NMT Reset Communication"

command, depending on its state.

D301230 - BLxx- CANopen 0511

1 The NMT-Master does not have to send an "NMT Reset

Communication" command for this slave, if the slave is in the "Operational" state.

4-35

Device (gateway) objects

Table 49:

Byte Bit Value Meaning

Structure of the object 1F81

hex

Slave Assignment

1 8 bit value for the Retry Factor

2 to 3 0 16 bit value for the Guard time

4.5.3 Object 1F82

Object 1F82 Management (NMT).

5 0 Verification of the application software version is not required

for this node.

1 Verification of the application software version is required for

this node.

6 0 Automatic update of the application software (download) is not

permitted.

1 Automatic update of the application software (download) is

permitted.

7 Reserved; set to 0

– Request NMT

hex

describes, as per CiA DSP-302, all the slaves that can present queries to the Network

hex

Table 50: Object 1F82

Object description

hex

INDEX 1F82

Name Query NMT

Object code ARRAY

Data type Unsigned8

Access ro/rw

Value description

Sub-index 00

Description Supported Number of Slaves

Access ro

PDO mapping No

Value 128

Sub-index 01

hex

Description Request NMT-Service for slave with Node-ID 1

Access rw

D301230 - BLxx- CANopen 05114-36

Objects for network management (not valid for BLCCO)

Table 50: Object 1F82

Object description

hex

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× No

Sub-index 3Fh

Description Request NMT-Service for slave with Node-ID

Access rw

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× No

Sub-index 80

Description Request NMT-Service for all slaves

hex

Table 51: Value range

Access wo

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× No

For a write access to this object, the value corresponds to the state for the node to which the query is directed. For read access, the object contains the present state of the node.

Status Value for

Write access

Value for Read access

Stopped 4 4

Operational 5 5

Reset Node 6 –

Reset Communication 7 –

Pre-Operational 127 127

unknown – 0

Node missing – 1

D301230 - BLxx- CANopen 0511

4-37

Device (gateway) objects

4.5.4 Object 1F83

Object 1F83 Management (NMT).

Table 52: Object 1F83

Object description

hex

INDEX 1F83

Name Request Guarding

Object code ARRAY

Data type Unsigned8

Access ro/rw

Value description

Sub-index 00

Description Supported Number of Slaves

Access ro

PDO mapping No

Value 128

– Request Guarding

hex

describes, as per CiA DSP-302, all the slaves that can be monitored through the Network

hex

Sub-index 01

hex

Description Request NMT-Service for slave with Node-ID 1

Access rw

PDO mapping No

Value range, BL×× Unsigned8

Value 0 = Slave being monitored at present

1 = Slave not being monitored at present

...

Sub-index 7Fh

Description Request Guarding for Slave with

Node-ID 63

Access rw

PDO mapping No

Value range Unsigned8

Value 0 = Slave being monitored at present

1 = Slave not being monitored at present

D301230 - BLxx- CANopen 05114-38

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

Table 52: Object 1F83

Object description

hex

Sub-index 80

hex

Description Request Start/Stop Guarding for all slaves

Access wo

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× No

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

4.6.1 Object 67FF

The object 67FF

The object contains the value 000x0191

Das Low-Word (0191

the high word (000x

– Device Type

hex

specifies the type of the first device profile supported.

hex

) specifies the device profile (acc. to CiA DS-401: I/O modules).

hex

) the I/O-types, see CiA DS-401.

hex

Table 53: Object 67FF

Feature Description/ Value

hex

Name Device Type

Object code VAR

Data type Unsigned32

Access ro

Default value No

PDO mapping No

D301230 - BLxx- CANopen 0511

4-39

Device (gateway) objects

4.6.2 Object 6FFF

Object 6FFF

– Device Type

hex

(corresponds to object 67FF

hex

second device profile supported.

The object contains the value 000A0191

The low word (0196

The high word (000A

= 406dez) specifies the device profile.

hex

) describes the encoder type in accordance with CiA DS-406 (10dec = Multi

hex

Sensor Encoder Interface).

Table 54: Object 6FFF

Feature Description

hex

Name Device Type

Object code VAR

PDO Mapping No

Data type Unsigned32

Access ro

4.7 Manufacturer specific device objects

in accordance with CiA DS-406) specifies the type of the

hex

4.7.1 Object 2000

Object 2000 used BL××-gateway.

– Serial Number

hex

corresponds to sub-index 04

hex

Note

We recommend using object 1018

of object 1018

hex

, sub-index 04

hex

and contains the ident-number of the

hex

for the serial number.

hex

D301230 - BLxx- CANopen 05114-40

Manufacturer specific device objects

4.7.2 Object 2010

Object 2010

Table 55: Object 2010

Object description

hex

INDEX 2010

Name Node ResetModifiers

Object code ARRAY

Data type Unsigned32

Value description

Sub-index 00

Description Number of Entries

Access ro

PDO mapping No

Value range, BL×× Unsigned8

Default value, BL×× No

– Node ResetModifiers

hex

is used for a temporary (volatile) modification to the module behavior.

hex

Sub-index 01

hex

Description Hard Reset Node Identifier

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× No

Sub-index 02

hex

Description Save Reference Reset Modifier

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× No

D301230 - BLxx- CANopen 0511

4-41

Device (gateway) objects

Table 55: Object 2010

hex

Table 56: Hard Reset (processor reset) selection

Object description

Sub-index 03

hex

Description Save Current Reset Modifier

Access rw

PDO mapping No

Value range, BL×× Unsigned32

Default value, BL×× No

The Hard-Reset-Modifier determines whether, in the event of a Reset Node command, a normal fast reset should be performed, or a hard processor reset, which can take several seconds to be carried out.

For writing, the value that is transferred in Unsigned 32 format will be interpreted as a string:

MSB LSB

tsrh

hex

Table 57: Normal Reset selection

Table 58: Selection: "Save and HardwareReset"

MSB LSB

tsrs

hex

After the next Reset-Node or the next "Reset Communication" command, the operating mode will in all cases be reset to "normal Reset Node".

2010

at BL××

hex

The Index "Save reference module list" determines that, in the event of a Reset Node command, the BL×× reference module list (Objects 3080

and 3081

hex

) will be saved in non-volatile memory, and

hex

then followed by a hard processor reset. This hardware reset is necessary, because changes to the BL××0 reference module list cannot be dynamically accepted in the CANopen I/O mirror. If the module list is altered, all the CANopen parameters will be reset to the default values.

For writing, the value that is transferred in Unsigned 32 format will be interpreted as a string:

MSB LSB

vasr

hex

D301230 - BLxx- CANopen 05114-42

Manufacturer specific device objects

Table 59: Normal Reset selection

Table 60: Save and Hardware-Reset selection

MSB LSB

tsrs

hex

After the next Reset-Node or the next "Reset Communication" command, the operating mode will in all cases be reset to "normal Reset Node".

The Index "Save Current Reset Modifier" determines that, in the event of a Reset Node command, the actual BL×× module list (Objects 3090

and 3091

hex

) will be saved in non-volatile memory, and then

hex

followed by a hard processor reset. This hardware reset is necessary, because changes to the reference module list cannot be dynamically accepted in the CANopen I/O mirror. If the module list is altered, all the CANopen parameters will be reset to the default values.

For writing, the value that is transferred in Unsigned 32 format will be interpreted as a string:

MSB LSB

vasc

hex

Table 61: Normal Reset selection

MSB LSB

tsrs

hex

After the next Reset-Node or the next "Reset Communication" command, the operating mode will in all cases be reset to "normal Reset Node".

D301230 - BLxx- CANopen 0511

4-43

Device (gateway) objects

D301230 - BLxx- CANopen 05114-44

Manufacturer specific device objects

4.7.3 Object 2400

This object enables the reading of up to 4 system voltages.

At the moment, the BL67-GW-CO supports the reading of U give out 0.

Table 62: Object 2400

Object description

hex

INDEX 2400

Name System Voltages

Object code ARRAY

Data type Unsigned16

Access ro

PDO mapping No

Default value No

4.7.4 Object 2401

This object enables the reading of up to 4 system currents.

- System Voltages (only BL67)

hex

- System Currents (only BL67)

hex

from sub-index 1. The sub-indices 2...4

sys

Table 63: Object 2401

Object description

hex

INDEX 2401

Name System Currents

Object code ARRAY

Data type Unsigned16

Access ro

PDO mapping No

Default value No

hex

D301230 - BLxx- CANopen 0511

4-45

Device (gateway) objects

D301230 - BLxx- CANopen 05114-46

5 Objects for digital input modules

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

5.2 General object overview for digital input modules .......................................................................... 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 ........................................................................................................4

hex

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

hex

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

hex

– Read Input 16 Bit ......................................................................................................6

hex

– Read Input 32 Bit ......................................................................................................6

hex

– Read Input Bit (129 to 256),

hex

D301230 - BLxx- CANopen 0511 5-1

Objects for digital input modules

5.1 Digital input modules BL××

The objects are used in the following modules:

Table 64: BL×× - digital input modules

Product family Module

BL20 BL20-×DI-24VDC-P

BL20-×DI-24VDC-N

BL20-2DI-120/230VAC

BL20-4DI-NAMUR

BL20-E-×DI-24VDC-P

BL67 BL67-×DI-P

BL67-×DI-N

BL67-×DI-PD

BLC miscellaneous

5.2 General object overview for digital input modules

Table 65: General object overview for digital input modules

Object Name Page

3064

6000

6020

hex

XBIParam Dword page 14-10

Read Input 8 Bit page 5-4

Read Input Bit 1 to 128 page 5-5

6021

6022

6100

6120

hex

Read Input Bit 129 to 256 page 5-5

Read Input Bit 257 to 288 page 5-5

Read Input 16 Bit page 5-6

Read Input 32 Bit page 5-6

D301230 - BLxx- CANopen 05115-2

General object overview for digital input modules

1800h1A00h

Transmit

PDO1

Map

into

TPDO1

Single

Digital

Input

{Unsigned8}

CAN

Transmission

Entry

into

6000h

Default

Mapping

Parameter

Default

Communication

Parameter

{8 Byte} {TPDO1}

{1, 0}

Fixed

Relation

Hardware Objects

Communication Objects

The following figure shows the relationship between the digital input objects for an 8-bit access:

Figure5: Relationship between the digital digital input modules (according to CiA Standard DS401)

D301230 - BLxx- CANopen 0511

5-3

Objects for digital input modules

5.2.1 Object 6000

The object presents the values for the digital input modules in 8-bit groups.

A total of 36 groups (each 8 bit) can be displayed (288 digital input channels).

PDO mapping of this object is always executed by default and automatically for the first 8 sub-indexes. This corresponds to 64 input channels.

If more than 64 input channels are present, then the PDO-mapping must be carried out by the user.

Table 66: Object 6000

Feature Description/ Value

hex

Name Read Input 8 Bit

Object code ARRAY

PDO mapping Yes

Sub-index 00

Data type Unsigned8

Access ro

Default value, BL×× No

– Read Input 8 Bit

hex

Sub-index 01

hex

to 24

Data type Unsigned8

Access ro

Default value, BL×× No

hex

D301230 - BLxx- CANopen 05115-4

General object overview for digital input modules

5.2.2 Object 6020 Object 6022

The objects defined the values bit-wise. Each sub-index for these objects is a Boolean value.

A total of 128 bits can be represented (128 digital input channels).

If more than 128 input channels are present, then object 6021

If more than 256 input channels are present, then object 6022

Since the number of digital input channels in a station is limited to 288, it is not possible to make use of the complete range of the array in object 6022

Table 67: Objects 6020

hex hex

and

6021 6022

Feature Description/ Value

hex

Name Read Input Bit

Object code ARRAY

PDO mapping Yes

Sub-index 00

Data type Unsigned8

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

hex

– Read Input Bit (257 to 288)

hex

– Read Input Bit (129 to 256),

hex

is used.

hex

is used.

hex

Access ro

Default value, BL×× No

Sub-index 01

hex

Data type Boolean

Access ro

Default value, BL×× No

to 80

hex

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5-5

Objects for digital input modules

5.2.3 Object 6100

The object presents the values for the digital input modules in 16-bit groups.

A total of 18 groups (each 16 bit) can be displayed (288 digital input channels).

Table 68: Object 6100

Feature Description/ Value

hex

Name Read Input 16 Bit

Object code ARRAY

PDO mapping Yes

Sub-index 00

Data type Unsigned8

Access ro

Sub-index 01

Data type Unsigned16

Access ro

– Read Input 16 Bit

hex

to 12

hex

5.2.4 Object 6120

The object presents the values for the digital input modules in 32-bit groups.

A total of 9 groups (each 32 bit) can be displayed (288 digital input channels).

Table 69: Object 6120

Feature Description/ Value

hex

Name Read Input 32 Bit

Object code ARRAY

PDO mapping Yes

Sub-index 00

Data type Unsigned8

Access ro

Sub-index 01

Data type Unsigned32

Access ro

– Read Input 32 Bit

hex

to 09

hex

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6 Objects for digital output modules

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

6.2 General object overview for digital output modules........................................................................ 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 (129 to 256), Object 6252

6.2.6 Object 6260 (129 to 256), 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.............. ... .... ... ... ... ....................................... ... .... ... ... ... .................4

hex

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

hex

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

hex

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

hex

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

hex

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

hex

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

hex

– Write Output 16 Bit................... ...................................... .... ... ... ... ............................10

hex

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

hex

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

hex

– Write Output 32 Bit................... ...................................... .... ... ... ... ............................12

hex

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

hex

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

hex

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

hex

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

hex

– Write Output Bit (129 to 256),

hex

– Error Mode Output Bit

hex

– Error State Output Bit

hex

D301230 - BLxx- CANopen 0511 6-1

Objects for digital output modules

6.1 Digital output modules BL××

The objects are used in the following modules:

Table 70: BL×× - digital output modules

Product family Module

BL20 BL20-×DO-24VDC-0.5A-P

BL20-×DO-24VDC-0.5A-N

BL20-2DO-24VDC-2A-P

BL20-×DO-24VDC-0.5A-P

BL20-2DO-120/230VAC-0.5A

BL20-2DO-R-NC

BL20-2DO-R-NO

BL20-2DO-R-CO

BL67 BL67-×DO-0.5A-P

BL67-4DO-2A-P

BL67-4DO-4A-P

BL67-16DO-0.1A-P

BL67-4DO-2A-N

BL67-8DO-0.5A-N

BL67-8DO-R-NO

BL67-4DI4DO-PD

BL67-8XSG-PD

BLC miscellaneous

D301230 - BLxx- CANopen 05116-2

Turck Industrial Automation Users Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 About this manual

1.1 Documentation concept

1.1.1 Additional documentation

BL67

BL20

1.2 General

1.2.1 Prescribed use

1.2.2 Notes concerning planning/ installation of this product

1.3 Description of symbols used

2CANopen

2.1 CANopen

2.1.1 General

2.1.2 Communication

Network Management Messages

Service Data Objects (SDOs)

Process Data Objects (PDOs)

Special Function Objects

2.2 EDS-file – Electronic data sheet

2.3 BL×× and CANopen

2.3.1 Setting up communication

Minimum Boot-up

Identifier for the Standard Objects

Set up Node Guarding Protocol

Boot-up Message

2.3.2 Parameterization through Service Data Objects (SDO)

Write (Write to Object Dictionary)

Parameter Storing/Restoring

2.3.3 Transmission of Process Data Objects (PDO)

Communication parameter COB-ID

Transmission Type

2.3.4 Inhibit Time

2.3.5 Event Timer

Available PDOs

2.3.6 Mapping Objects in PDOs

Default-PDOs and PDO-mappings

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

Mappable Objects

Procedure for Altering PDO-Mappings

2.3.7 Commands for "Parameter Save" and "Restore Defaults"

3 Object dictionary - overview of all objects

3.1 Overview of all objects

4 Device (gateway) objects

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

4.2 Objects for the Transfer of Service Data

4.3 Objects for the Transfer of Process Output Data

4.4 Objects for the Transfer of Process Input Data

Inhibit time

Event Timer

4.5 Objects for network management (not valid for BLCCO)

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

4.7 Manufacturer specific device objects

5 Objects for digital input modules

5.1 Digital input modules BL××

5.2 General object overview for digital input modules

6 Objects for digital output modules

6.1 Digital output modules BL××