ESD CAN-CBX-REL4 Manuale utente

CAN-CBX-REL4

Manual • Doc.-No.: C.3012.21 / Rev. 1.1

Page 1 of 99

esd electronic system design gmbh

Vahrenwalder Str. 207 • 30165 Hannover • Germany

http://www.esd.eu

Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

CAN-CBX-REL4

CANopen Module with 4 Relay Outputs

with InRailBus

Manual

to Product C.3012.02

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 2 of 99

N O T E

The information in this document has been carefully checked and is believed to be entirely reliable.

esd makes no warranty of any kind with regard to the material in this document, and assumes no

responsibility for any errors that may appear in this document. In particular descriptions and technical

data specified in this document may not be constituted to be guaranteed product features in any legal

sense.

esd reserves the right to make changes without notice to this, or any of its products, to improve

reliability, performance or design.

All rights to this documentation are reserved by esd. Distribution to third parties and reproduction of

this document in any form, whole or in part, are subject to esd’s written approval.

esd electronic system design gmbh

Vahrenwalder Str. 207

30165 Hannover

Germany

Phone: +49-511-372 98-0

Fax: +49-511-372 98-68

E-mail: [email protected]

Internet: www.esd.eu

Trademark Notices

CiA® and CANopen® are registered community trademarks of CAN in Automation e.V.

All other trademarks, product names, companynamesor company logos used in this manual are reserved by their respective

owners.

CAN-CBX-REL4

Manual • Doc.-No.: C.3012.21 / Rev. 1.1

Page 3 of 99

Document-

File:

I:\Texte\Doku\MANUALS\CAN\CBX\REL4\English\CAN-CBX-REL4_Manual_en_11.wpd

Date of print: 2014-11-20

PCB version: from CAN-CBX-REL4 Rev. 1.2

Firmware version: from Rev.2.03

Changes in the chapters

The changes in the document listed below affect changes in the hardware and firmware as well as

changes in the description of facts only.

Version Chapter Changes versus previous version

1.1

- Note to Safety Instructions , conformity etc. and Typographical Conventions inserted

1.1 Block circuit diagram (connector name InRailBus) updated

2. Technical data revised

3.1 Note to Conductor Connection /Conductor Cross Section inserted

3.2 Description of the LEDs updated

3.3 Figure updated, description of the coding switches and baud rates revised

4. Former chaper “Description of the Units”moved to sub-section of chapter “Connector

Assignment”. Connector Assignments revised, note to “Conductor Connection

/Conductor Cross Section” inserted

5. Chapter moved and updated

6. Chapter moved and updated

7. Chapter “Software” renamed to “CANopen-Firmware”, general part (chapter 7.1 - 7.4)

updated and restructured

7.8 Chapter to “Definition of Terms” inserted

7.9.1 Product-specific Properties CAN-CBX-REL4 inserted in table, new objects 1005

,, 1019

1F80

, 1F91

7.9.2-

7.9.21

Chapter revised, description of the product-specific properties only contained in the table

in “Overview of Communication Profile Objects with Product-Specific Values

” (chapter

7.9.1)

7.9.22 New chapter “NMT Startup (1F80

)”

7.9.23 New Chapter “Self Starting Nodes Timing Parameters (1F91

)”

7.9.25 Figure 19-21 revised

7.10 Figure 22 updated, chapter revised

7.10.5 Description of object 6421

revised

8. Chapter inserted

9. EU Declaration of Conformity inserted

10. Chapter “Order Information” moved and revised

Technical details are subject to change without further notice.

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 4 of 99

Safety Instructions



When working with CAN-CBX modules follow the instructions below and read the manual carefully to protect

yourself and the CAN-CBX module from damage.



The permitted operating position is specified as shown (Fig. 7). Other operating positions are not allowed.



Do not open the housing of the CAN-CBX module



Never let liquids get inside the CAN-CBX module. Otherwise, electric shocks or short circuits may result.



Protect the CAN-CBX module from dust, moisture and steam.



Protect the CAN-CBX module from shocks and vibrations.



The CAN-CBX module may become warm during normal use. Always allow adequate ventilation around the CAN-

CBX module and use care when handling.



Do not operate the CAN-CBX module adjacent to heat sources and do not expose it to unnecessary thermal radiation.

Ensure an ambient temperature as specified in the technical data.



Do not use damaged or defective cables to connect the CAN-CBX module and follow the CAN wiring hints in

chapter: ‘Correct Wiring of Electrically Isolated CAN Networks’ .



In case of damages to the device, which might affect safety, appropriate and immediate measures must be taken, that

exclude an endangerment of persons and domestic animals, or property.



Current circuits which are connected to the device have to be sufficiently protected against hazardous voltage (SELV

according to EN 60950-1).



The CAN-CBX module may only be driven by power supply current circuits, that are contact protected. A power

supply, that provides a safety extra-low voltage (SELV or PELV) according to EN 60950-1, complies with this

conditions.

Qualified Personal

This documentation is directed exclusively towards qualified personal in control and automation engineering.

The installation and commissioning of theproduct mayonly be carried out byqualified personal, which isauthorized to put

devices, systems and electric circuits into operation according to the applicable national standards of safety engineering.

Conformity

The CAN-CBX module is an industrial product and meets the demands of the EU regulations and EMC standards printed

in the conformity declaration at the end of this manual.

Warning: In a residential, commercial or light industrial environment the CBX-module may cause radio

interferences in which case the user may be required to take adequate measures.

Intended Use

The intended use of the CAN-CBX module is the operation as a CANopen module with four relay outputs.

The esd guarantee does not cover damages which result from improper use, usage not in accordance with regulations or

disregard of safety instructions and warnings.



The CAN-CBX module is intended for indoor installation only.



The operation of the CAN-CBX module in hazardous areas, or areas exposed to potentially explosive materials

is not permitted.



The operation of the CAN-CBX module for medical purposes is prohibited.

Service Note

The CAN-CBX module does not contain any parts that require maintenance by the user. The CAN-CBX module does not

require any manual configuration of the hardware. Unauthorized intervention in the device voids warranty claims.

Disposal

Devices which have become defective in the long run have to be disposed in an appropriate way or have to be returned to

the manufacturer for proper disposal. Please, make a contribution to environmental protection.

CAN-CBX-REL4

Manual • Doc.-No.: C.3012.21 / Rev. 1.1

Page 5 of 99

Contents

1. Overview ....................................................................9

1.1DescriptionoftheModule....................................................9

2. Technical Data ..............................................................10

2.1GeneraltechnicalData .....................................................10

2.2CPU-Unit................................................................11

2.3CANInterface ............................................................ 11

2.4Relay-Connection .........................................................12

2.5Software-Support .........................................................12

3. Hardware Installation ........................................................13

3.1ConnectingDiagram .......................................................13

3.2LEDDisplay .............................................................14

3.2.1RelayLEDs1-4 .......................................................14

3.2.2IndicatorStates .......................................................15

3.2.3 Operation of the CAN-Error LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.2.4 Operation of the CANopen-Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.2.5OperationoftheError-LED..............................................16

3.2.6 Operation of the Module Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2.7SpecialIndicatorStates .................................................17

3.2.8 Assignment of LED Labelling to Name in Schematic Diagram . . . . . . . . . . . . . . . . . . 17

3.3CodingSwitch............................................................18

3.3.1 Setting the Node-ID via Coding Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3.2SettingtheBaudRate ..................................................19

3.3.3 Assignment of Coding-Switch Labelling to Name in Schematic Diagram . . . . . . . . . . 19

3.4.1 Connecting Power Supply and CAN-Signals to CBX-InRailBus . . . . . . . . . . . . . . . . . 21

3.4.2 Connection of the Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3.4.3ConnectionofCAN....................................................23

3.5 Remove the CAN-CBX Module from the InRailBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4. Connector Assignments .......................................................24

4.1PowerSupplyVoltage24V(X100) ...........................................24

4.2CAN ...................................................................25

4.2.1CANInterface ........................................................25

4.2.2CANConnector.......................................................26

4.2.3 CAN and Power Supply Voltage via InRailBus Connector . . . . . . . . . . . . . . . . . . . . . 27

4.3RelayOutputs ............................................................28

4.4 Conductor Connection/Conductor Cross Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

5. Correct Wiring of Electrically Isolated CAN Networks .............................30

5.1 Light Industrial Environment (Single Twisted Pair Cable) . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.1.1GeneralRules ........................................................30

5.1.2Cabling .......................................31

5.1.3Termination ..........................................................31

5.2 Heavy Industrial Environment (Double Twisted Pair Cable) . . . . . . . . . . . . . . . . . . . . . . . . 32

5.2.1GeneralRules ........................................................32

5.2.2DeviceCabling .......................................................33

5.2.3Termination ..........................................................33

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 6 of 99

5.3ElectricalGrounding.......................................................34

5.4BusLength ..............................................................34

5.5ExamplesforCANCables ..................................................35

5.5.1 Cable for Light Industrial Environment Applications (Two-Wire) . . . . . . . . . . . . . . . . 35

5.5.2 Cable for Heavy Industrial Environment Applications (Four-Wire) . . . . . . . . . . . . . . . 35

6. CAN-Bus Troubleshooting Guide ..............................................36

6.1Termination .............................................................36

6.2Ground .................................................................37

6.3ShortCircuitinCANWiring ................................................37

6.4CAN_H/CAN_LVoltage ...................................................37

6.5CANTransceiverResistanceTest ............................................38

7. CANopen Firmware .........................................................39

7.1 Definition of Terms . . . . . . . . . . . 39

7.2NMT-Boot-up ............................................................40

7.3TheCANopen-ObjectDirectory..............................................40

7.4 Communication Parameters of the PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

7.4.1AccessontheObjectDirectory...........................................41

7.5 Overview of used CANopen-Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.5.1SettingtheCOB-ID....................................................44

7.6DefaultPDO-Assignment ...................................................45

7.7SettingtheRelays .........................................................46

7.7.1 Supported Transmission Types Based on CiA 301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.8CommunicationProfileArea ................................................47

7.8.1UsedNamesandAbbreviations ..........................................47

7.9ImplementedCANopen-Objects..............................................48

7.9.1 Overview of Communication Profile Objects with Product-Specific Values . . . . . . . . 48

7.9.2 Device Type (1000

) ...................................................50

7.9.3 Error Register (1001

) ..................................................51

7.9.4 Pre-defined Error Field (1003

)...........................................52

7.9.5 COB-ID of SYNC-Message (1005

) .......................................54

7.9.6 Communication Cycle Period (1006

)......................................55

7.9.7 Manufacturer Device Name (1008

) .......................................56

7.9.8 Manufacturer Hardware Version (1009

) ...................................57

7.9.9 Manufacturer Software Version (100A

)....................................57

7.9.10 Guard Time (100C

) und Life Time Factor (100D

) ..........................58

7.9.11 Node Guarding Identifier (100E

) ........................................59

7.9.12 Store Parameters (1010

)...............................................60

7.9.13 Restore Default Parameters (1011

) ......................................62

7.9.14 COB_ID Emergency Message (1014

) ....................................64

7.9.15 Inhibit Time EMCY (1015

) ............................................65

7.9.16 Consumer Heartbeat Time (1016

) .......................................66

7.9.17 Producer Heartbeat Time (1017

) ........................................68

7.9.18 Identity Object (1018

) ................................................69

7.9.19 Synchronous Counter Overflow Value (1019

)..............................71

7.9.20 Verify Configuration (1020

)............................................72

7.9.21 Error Behaviour Object (1029

)..........................................73

7.9.22 NMT Startup (1F80

)..................................................74

7.9.23 Self Starting Nodes Timing Parameters (1F91

) .............................75

CAN-CBX-REL4

Manual • Doc.-No.: C.3012.21 / Rev. 1.1

Page 7 of 99

7.9.24 Receive PDO Communication Parameter (1400

- 1403

) .....................76

7.9.25 Receive PDO Mapping Parameter (1600

- 1603

) ...........................77

7.9.25.1 Synchronous Setting of the Relays of 8 CAN-CBX-REL4-Modules: . . . . . . . . . 78

7.9.25.2 Switching the four Relays of a Module with Mapping of Bit-Objects . . . . . . . . 80

7.9.25.3 Switching the four relays of a module with different PDOs . . . . . . . . . . . . . . . . 81

7.10DeviceProfileArea.......................................................82

7.10.1 Overview of implemented Objects 6200

... 6270

...........................82

7.10.2 Write Output 8-Bit (6200

) .............................................83

7.10.3 Change Polarity Output 8-bit (6202

) .....................................84

7.10.4 Error Mode Output 8-bit (6206

).........................................85

7.10.5 Error Value Output 8-bit (6207

).........................................86

7.10.6 Filter Mask Output 8-bit (6208

).........................................87

7.10.7 Write Output Bit 1 to 4 (6220

)..........................................88

7.10.8 Change Polarity Bit 1 to 4 (6240

)........................................89

7.10.9 Error Mode Output Bit 1 to 4 (6250

) .....................................90

7.10.10 Error Value Output Bit 1 to 4 (6260

)....................................91

7.10.11 Filter Mask Output Bit 1 to 4 (6270

) ....................................92

7.11 Manufacturer Specific Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

7.12 Firmware Update via DS-302-Objects 1F50

...1F52

.............................94

7.12.1 Download Control via Object (1F51

).....................................95

7.12.2 Verify Application Software (1F52

) .....................................95

8. References ..................................................................96

9. EU Declaration of Conformity .................................................97

10. Order Information ..........................................................98

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 8 of 99

Typographical Conventions

Throughout this manual the following typographical conventions are used to distinguish technical

terms.

Convention Example

File and path names /dev/null or <stdio.h>

Function names open()

Programming constants NULL

Programming data types uint32_t

Variable names Count

The following indicators are used to highlight noticeable descriptions.

Attention:

Warnings or cautions to tell you about operations which might have unwanted side

effects.

Note:

Notes to point out something important or useful.

Number Representation

All numbers in this document are base 10 unless designated otherwise. For hexadecimal numbers

appended . For example, 42 is represented as 2A

in hexadecimal format.

Overview

CAN-CBX-REL4

Manual • Doc.-No.: C.3012.21 / Rev. 1.1

Page 9 of 99

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1. Overview

1.1 Description of the Module

Fig. 1: Block circuit diagram of the CAN-CBX-REL4 module

The CAN-CBX-REL4 module offers four monostable relay outputs. Two of these are normally open

contacts and two are change over contacts.

The individual channels are electrically isolated and therefore various voltages can be applied to the

CAN-CBX-REL4 module simultaneously.

The CAN-CBX-REL4module is equipped with a MB90F497 microcontroller, which buffers theCAN

datainto alocalSRAM.The firmwareisstoredintheFlash.Parametersarestoredin aserialEEPROM.

The power supply voltage and the CAN bus connection can either be fed via the InRailBus connector,

integrated in the top-hat-rail, or via separate plugs.

TheISO11898-2-compliantCANinterfaceallowsamaximumdatatransferrateof1Mbit/s.TheCAN-

interface is electrically isolated by a digital isolator and a DC/DC-converter.

The CANopen node number and the CAN-bit rate can be configured via coding switches.

Technical Data

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4

Page 10 of 99

2. Technical Data

2.1 General technical Data

Power supply voltage nominal voltage: 24 V/DC

input voltage range: 18...30 V/DC

current consumption (24 V, 20

C): approx. 100 mA

Connectors

24V (4-pin line connector with spring-cage connection, X100) -

24 V-power supply voltage

InRailBus (5-pin CAN-CBX-TBUS, Phoenix Contact, X101) -

CAN interface and power supply voltage via InRailBus

11-44 (10-pin line connector with screw connection, X300) -

Relay outputs (2 monostable change over contacts,

2 monostable normally open contacts)

CAN (5-pin line connector with spring-cage connection, X600) -

CAN interface

Only for test and programming purposes:

X200 (6-pin connector) - the connector is placed inside the case

Temperature range -20

C ... +70

C ambient temperature

Humidity max. 90%, non-condensing

Protection class IP20

Pollution degree maximum permissible according to DIN EN 61131-2:

Pollution Degree 2

Housing Plastic housing for carrier rail mounting NS35/7,5 DIN EN 60715

Dimensions width: 22.5 mm, length: 99 mm, constructional height: 114.5 mm

(dimensions without mating connectors)

Weight 145 g

Table 1: General technical data of the module

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