turck BL20 User Manual
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turck BL20 User Manual

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BL20 –
I/O-MODULES
USER MANUAL
FOR
CANopen

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  • Page 1 BL20 – I/O-MODULES USER MANUAL CANopen...
  • Page 2 No part of this manual may be reproduced in any form (printed, photocopy, microfilm or any other process) or processed, dupli- cated or distributed by means of electronic systems without written permission of Hans Turck GmbH & Co. KG, Mülheim an der Ruhr. Subject to alterations without notice.
  • Page 3 Safety Notes! Before starting the installation Disconnect the power supply of the device. Ensure that devices cannot be accidentally restarted. Verify isolation from the supply. Earth and short circuit. Cover or enclose neighboring units that are live. Follow the engineering instructions (AWA) of the device concerned.
  • Page 4 Devices that are designed for mounting in housings or control cabinets must only be operated and controlled after they have been installed with the housing closed. Desktop or portable units must only be operated and controlled in enclosed housings. Measures should be taken to ensure the proper restart of programs interrupted after a voltage dip or failure.

  • Page 5: Table Of Contents

    Shield Connection, 2-Pole for Analog Modules ........1-15 Short description of CANopen CANopen ...................... 2-2 General ....................2-2 Communication ..................2-3 BL20 and CANopen ..................2-7 Electronic data sheet – EDS file ..............2-8 BL20 - Gateway for CANopen Introduction ....................3-2 Function ......................3-3 Technical Information..................
  • Page 6 Connections for data cables to BL20-GW-CANOPEN ....... 3-15 Fieldbus connection via SUB-D socket..........3-15 Fieldbus connection through direct wiring ..........3-16 Connections of the data cables to BL20-GWBR-CANopen ....... 3-18 Fieldbus connection via Open Style connector........3-18 Service Interface Connection ..............3-20 Setting the bit transfer rate through DIP-switches........
  • Page 7 Power Supply....................6-5 Gateway Supply ..................6-5 Module Bus Refreshing ................6-5 Creating Potential Groups ..............6-11 Protecting the Service Interface on the Gateway........6-12 C-Rail (Cross Connection)..............6-13 Direct Wiring of Relay Modules ............. 6-15 D301087 0308 - BL20 CANopen...
  • Page 8 Switching Inductive Loads ..............7-15 Protection against Electrostatic Discharge (ESD) ......... 7-15 Bus Connection ..................7-16 Two-Pole Shield Connection ..............7-17 BL20-Approvals for Zone 2/ Division 2 Certified BL20-Components ................. 8-2 Certificates for Europe .................. 8-4 Type Examination Certificate ..............8-4 ATEX IEC Rev.1.doc................
  • Page 9 ATEX IEC Rev.1.doc................8-25 Certificates for the USA ................8-26 Certificate Of Compliance ..............8-26 Installation Drawings ................8-30 Certificates for Canada ................8-32 Certificate Of Compliance ..............8-32 Installation Drawings ................8-36 Glossary Index D301087 0308 - BL20 CANopen...
  • Page 10 D301087 0308 - BL20 CANopen...
  • Page 11 About this Manual Documentation Concept ..............2 Overview .................... 3 Prescribed Use ....................3 Notes Concerning Planning /Installation of this Product ......3 Description of Symbols Used..............4 List of Revisions ................5 D301087 0308 - BL20 CANopen...

  • Page 12: About This Manual

    Documentation Concept This manual contains all information about the BL20-gateway for CANopen. The following chapters contain a short BL20 system description, a description of the field bus system CANopen, exact information about function and structure of the BL20 CANopen-gateway as well as all bus-specific information concerning the connection to auto- mation devices, the maximum system extension etc.

  • Page 13: Overview

    Please read this section carefully. Safety aspects cannot be left to chance when dealing with electrical equipment. This manual includes all information necessary for the prescribed use of BL20 products. It has been specially conceived for personnel with the necessary qualifications. Prescribed Use...

  • Page 14: Description Of Symbols Used

    This sign can be found next to all general notes that supply impor- tant information about one or more operating steps. These specific notes are intended to make operation easier and avoid unnecessary work due to incorrect operation. D301087 0308 - BL20 CANopen...

  • Page 15: List Of Revisions

    In comparison to the previous manual edition, the following changes/ revisions have been made: Chapter Subject/ changed Table 1: List of revisions Description Ch. 8 BL20-Approvals for Zone 2 Note The publication of this manual renders all previous editions invalid. D301087 0308 - BL20 CANopen...
  • Page 16 About this Manual D301087 0308 - BL20 CANopen...

  • Page 17: Bl20 Philosophy

    – Gateways with integrated power supply ..........5 – Gateways without power supply ............6 Power Distribution Modules ................6 Electronics Modules ..................7 Base Modules....................9 End Plate ....................11 End Bracket....................12 Jumpers.....................13 Marking Material..................14 Shield Connection, 2-Pole for Analog Modules ........15 D301087 0308 - BL20 CANopen...

  • Page 18: The Basic Concept

    BL20 Philosophy The Basic Concept BL20 is a modular I/O system for use in industrial automation. It connects the sensors and actuators in the field with the higher-level master. BL20 offers modules for practically all applications: Digital input and output modules Analog input and output modules Technology modules (counters, RS232 interface...)
  • Page 19 Compactness The slim design of the BL20 modules (gateway 50.4 mm / 1.98 inch, slice 12.6 mm / 0.49 inch and block 100.8 mm / 3.97 inch) and their low overall height favor the installation of this system in confined spaces.
  • Page 20 BL20 Philosophy Easy to handle All BL20 modules, with the exception of the gateway, consist of a base module and an electronics module. The gateway and the base modules are snapped onto a mounting rail. The electronics modules are plugged onto the appropriate base modules.

  • Page 21: Bl20 Components

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

  • Page 22: Power Distribution Modules

    Power Distribution Modules The power supply for gateways and I/O modules is fed to the power distribution modules; therefore, it is not necessary to supply each individual module with a separate voltage. Figure 3: Power distribution module D301087 0308 - BL20 CANopen...

  • Page 23: Electronics Modules

    BL20 Components Electronics Modules Electronics modules contain the functions of the BL20 modules (power distribution modules, digital and analog input/output modules, and technology modules). Electronics modules are plugged onto the base modules and are not directly connected to the wiring. The assignment table in the Section "Ordering Information"...
  • Page 24 BL20 Philosophy Figure 5: Electronics module in block design D301087 0308 - BL20 CANopen...

  • Page 25: Base Modules

    2-/3-wire (2-channel), 4-wire (2-channel) and 4x 2-/3- wire (4-channel). The assignment table in the Section "Ordering Information" of the "Appendix" shows the possible combinations of electronics and base modules. Figure 6: Base module with tension clamp connection D301087 0308 - BL20 CANopen...
  • Page 26 BL20 Philosophy Figure 7: Base module with screw connection Figure 8: Base module in block design 1-10 D301087 0308 - BL20 CANopen...

  • Page 27: End Plate

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

  • Page 28: End Bracket

    A second end bracket to the left of the gateway is necessary, as well as the one mounted into the end plate to secure the station. Figure 10: End bracket Note The end plate an the end bracket are delivered together with each gateway. 1-12 D301087 0308 - BL20 CANopen...

  • Page 29: Jumpers

    Jumpers (QVRs) are used to bridge a connection level of a 4-wire base module. They can be used to connect potentials in relay modules (bridging the relay roots); thus considerably reducing the amount of wiring. Figure 11: Jumpers D301087 0308 - BL20 CANopen 1-13...

  • Page 30: Marking Material

    BL20 Philosophy Marking Material Labels: for labeling BL20 electronics modules. Markers: for colored identification of connection levels of BL20 base modules. Dekafix connector markers: for numbering the mounting slots on BL20 base modules. Figure 12: Marking material 1-14 D301087 0308 - BL20 CANopen...

  • Page 31: Shield Connection, 2-Pole For Analog Modules

    The 2-pole shield connection can be used to connect signal-cable shielding to the base modules of analog input and output modules. A special tension-clamp operating tool (BL20-ZBW5-2) is required to mount the shield connection onto the base module. Figure 13:...
  • Page 32 BL20 Philosophy 1-16 D301087 0308 - BL20 CANopen...

  • Page 33: Short Description Of Canopen

    Communication ...................3 – Network Management Messages ............3 – Service Data Objects (SDOs) ..............4 – Process Data Objects (PDOs) ..............4 – Special Function Objects ................6 BL20 and CANopen................7 Electronic data sheet – EDS file ............8 D301087 0308 - BL20 CANopen...

  • Page 34: Canopen

    CiA DS-406 (Device Profile for Encoders) CANopen device profile for counter modules CiA DS-102 (CAN Physical Layer for Industrial Applications) General application in the field sector (connectors and bit rates) on the basis of ISO 11898 D301087 0308 - BL20 CANopen...

  • Page 35: Communication

    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 D301087 0308 - BL20 CANopen...

  • Page 36: Service Data Objects (Sdos)

    8 bytes of the data field to transmit application objects. Each PDO has a unique identifier and is transmitted by only one node, but it can be received by more than one (producer/consumer communication). D301087 0308 - BL20 CANopen...
  • Page 37 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. D301087 0308 - BL20 CANopen...

  • Page 38: Special Function Objects

    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. D301087 0308 - BL20 CANopen...

  • Page 39: Bl20 And Canopen

    BL20 and CANopen BL20 and CANopen BL20 supports the following CANopen functions: SDO transfer, any length of information Emergency object Sync frame evaluation Event-driven PDOs Synchronous PDOs (clock-synchronous) Remote-requested PDO/polling D301087 0308 - BL20 CANopen...

  • Page 40: Electronic Data Sheet - Eds File

    EDS file (Electronic Data Sheet). The EDS file lists all necessary Objects with their corresponding Sub-indices and the matching entries. The latest version of a particular EDS file can be downloaded directly from the TURCK Homepage www.turck.com. D301087 0308 - BL20 CANopen...

  • Page 41: Bl20 - Gateway For Canopen

    Connections for data cables to BL20-GW-CANopen ....... 16 Fieldbus connection via SUB-D socket.............16 Fieldbus connection through direct wiring ..........17 Connections of the data cables to BL20-GWBR-CANopen ....19 Fieldbus connection via Open Style connector.........19 Service Interface Connection ..............22 – Connection with I/O-ASSISTANT-Connection Cable ......22 Setting the bit transfer rate through DIP-switches ......

  • Page 42: Introduction

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

  • Page 43: Function

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

  • Page 44: Technical Information

    BL20 - Gateway for CANopen Technical Information Figure 1: BL20-GW- GWBR- CANOPEN CANOPEN Bit Rate A Service inter- face B Type designa- tion C LEDs for module bus D DIP-switch for transfer rate CAN H E Rotary encod- SHLD ing switch for...
  • Page 45 D DIP-switch for transfer rate E Rotary encod- ing switch for Node-ID F SET button G Screw termi- nals for field supply and CAN_H system supply Shield H CANopen, CAN_L direct wiring Open Style connector D301087 0308 - BL20 CANopen...

  • Page 46: Technical Data

    BL20 - Gateway for CANopen Technical Data General Technical Data Relating to a Station Note The auxiliary power supply must comply with the stipulations of SELV (Safety Extra Low Voltage) according to IEC 364-4-41. Table 1: Supply voltage/ auxiliary voltage...
  • Page 47 IEC 68-2-32 Weight < 10 kg Height of fall 1.0 m / 39.37 inch Weight 10 to 40 kg Height of fall 0.5 m / 19.69 inch Test runs Device with packaging, electrically tested printed-circuit board D301087 0308 - BL20 CANopen...
  • Page 48 BL20 - Gateway for CANopen Electromagnetic compatibility (EMC) according to EN 50 082-2 (Industry) Static electricity according to EN 61 000-4-2 – Discharge through air (direct) 8 kV – Relay discharge (indirect) 4 kV Electromagnetic HF fields 10 V/m according to EN 61 000-4-3 and...

  • Page 49: Approvals

    This device can cause radio disturbances in residential areas and in small industrial areas (residential, business and trading). In this case, the operator can be required to take appropriate measures to sup- press the disturbance at his own cost. Approvals Table 2: Approvals D301087 0308 - BL20 CANopen...

  • Page 50: Base Modules

    BL20 - Gateway for CANopen Base Modules Table 3: Protection class IP 20 Technical data for Measurement data according to VDE 0611 Part 1/8.92/ base modules IEC 947-7-1/1989 Insulation stripping length 8 mm / 0.32 inch Max. wire range 0.5 to 2.5 mm / 0.0008 to...

  • Page 51: Structure Diagram Of A Gateway

    Technical Data Structure Diagram of a Gateway The BL20 CANopen gateway has the following structure: Figure 3: Gateway structure Fieldbus Service Controller External RAM Module bus (External) interface (Internal) External – internal RAM ROM flash – WDG – CAN-Ctr. Technical Data BL20-GW-CANOPEN...
  • Page 52 BL20 - Gateway for CANopen Designation Value Service Connections PS/2 socket Fieldbus terminations 1x 9-pole SUB-D socket, 1x 9-pole SUB-D plug, 2 x tension spring connector type LPZF, 5.08, 5-pole Fieldbus shielding connec- via BL20-SCH-1 tion Transfer rate 10, 20, 50, 125, 250, 500, 800...

  • Page 53: Technical Data Bl20-Gwbr-Canopen

    Isolation voltage (U 500V to U to fieldbus/U Connections 2-pole screw terminal Physical interfaces Fieldbus Transfer rate 10 kbps to 1 Mbps Isolation voltage 500V (fieldbus to U fieldbus to U /fieldbus to FE) D301087 0308 - BL20 CANopen 3-13...
  • Page 54 BL20 - Gateway for CANopen Designation Value Fieldbus connections Socket: MSTBV 2,5/5-GF-5.08 GY AU/ Phoenix Contact Plug: TMSTBP 2,5/5-STF-5.08 AB GY AU/ Phoenix Contact (included in delivery) Fieldbus shielding Via connector connection Node-ID setting 2 rotary decimal encoding switches Service...

  • Page 55: Connections For Data Cables To Bl20-Gw-Canopen

    SUB-D connectors are provided for communication with the BL20- GW-CANOPEN gateway through the CANopen fieldbus. The passive bus termination must be applied externally if the BL20 gateway is the last station in the bus structure. This external appli- cation can be implemented either through separate termination resistors or through a special SUB-D plug which has an integrated bus termination.

  • Page 56: Fieldbus Connection Through Direct Wiring

    SUB-D connection and direct wiring. Direct wiring of the BL20-GW- CANOPEN to the CANopen fieldbus can be made through the two terminal blocks with tension spring connectors. The passive bus termination must be applied externally if the BL20 gateway is the last station in the bus structure. Table 7:...
  • Page 57 Connections for data cables to BL20-GW-CANOPEN Attention No compensating current should flow through the shielding. To achieve this, a reliable system of equipotential bonding must be installed. Note Equipotential bonding impedance ≤ 1/10 shielding impedance D301087 0308 - BL20 CANopen...

  • Page 58: Connections Of The Data Cables To Bl20-Gwbr-Canopen

    Fieldbus connection via Open Style connector An Open Style Connector (5-pole) is available for connecting the BL20-GWBR-CANOPEN to the CANopen fieldbus. The passive bus termination must be applied externally if the BL20 gateway is the last station in the bus structure. Table 8:...
  • Page 59 Connections of the data cables to BL20-GWBR-CANopen Figure 8: Open Style con- nector (male) CAN H SHIELD CAN L Figure 9: Shielding connec- tion for an BL20-GWBR-CAN- OPEN Attention No compensating current should flow through the shielding. To achieve this, a reliable system of equipotential bonding must be installed.

  • Page 60: Service Interface Connection

    BL20 - Gateway for CANopen Service Interface Connection The following cable can be used to connect the service interface (female PS/2 connector) to a PC for the purpose of using I/O-ASSISTANT (project planning and diagnostic software). special I/O-ASSISTANT-connection cable from TURCK (IOASSISTANT-ADAPTERKABEL-BL20/BL67;...
  • Page 61 Connections of the data cables to BL20-GWBR-CANopen Figure 12: 9-pole SUB-D female connector on the cable for connecting to PC (top view) Table 9: BL20 gateway SUB-D interface Pin assignments PS/2 socket on PC for PS/2 and SUB- +5 V Gw...

  • Page 62: Setting The Bit Transfer Rate Through Dip-Switches

    BL20 - Gateway for CANopen Setting the bit transfer rate through DIP-switches The BL20 gateway can communicate with other CANopen nodes at the following transfer rates: 10 kbps 250 kbps 20 kbps 500 kbps 50 kbps 800 kbps 125 kbps 1000 kbps The default transfer rate is 125 kbps.
  • Page 63 Setting the bit transfer rate through DIP-switches To set a bit transfer rate that is supported by CANopen, proceed as follows: Switch off the supply voltage for the BL20 gateway. Set the DIP-switches for the required transfer rate according to the following table:...

  • Page 64: Node-Id Setting

    The BL20 gateway can be used as a CANopen node at any point in the bus structure. Attention If the BL20 gateway is used as the the last node in the bus commu- nication, then a special bus connector with a built-in or add-on ter- mination resistor is absolutely necessary!
  • Page 65 After setting the Node-ID, the protective cover over the switches must be closed again. See Chapter 6 "Maximum System Extension", Page 6-2. Note BL20 does not support the assignment of Node-IDs across the bus network. D301087 0308 - BL20 CANopen 3-25...

  • Page 66: Acceptance Of The Bl20 Station Configuration

    BL20 - Gateway for CANopen Acceptance of the BL20 Station Configuration When making a new configuration of the BL20 station or an alter- ation of the existing station structure (“Module list”), the current configuration must be accepted in the CANopen mirror of the BL20 gateway.

  • Page 67: Status Indicators/ Diagnostic Messages Gateway

    Status Indicators/ Diagnostic Messages Gateway The gateway transmits the following diagnostics: the status of the BL20 station, the communication via the internal module bus, the communication to CANopen and the status of the gateway. Diagnostic messages are displayed in two ways:...
  • Page 68 BL20 - Gateway for CANopen Table 11: LED Status Meaning Remedy LED indicators CPU not supplied. Green 5 V DC operating voltage is present; firm- ware is active; gateway is ready for operation and transfer Firmware not active Reload the firmware!
  • Page 69 1 Hz data transfer possible modules. Short circuit or over- Automatic restart when load at sensor supply → debugging. sensor supply is switched off No voltage supply. Check the wiring of the voltage supply. D301087 0308 - BL20 CANopen 3-29...
  • Page 70 BL20 - Gateway for CANopen Table 11: LED Status Meaning Remedy LED indicators ERR Off No errors in communi- – cation between the BL20-CANopen gateway and other CANopen nodes Faulty or interrupted – Check that the fieldbus communication ends with a termination...
  • Page 71 NMT-slave state of the – BL20-CANopen gateway is "Opera- tional" red, Invalid Node-ID has Set the correct Node-ID blinking been set with the rotary hexadec- alter- imal or decimal encoding nately, switches. 4 Hz D301087 0308 - BL20 CANopen 3-31...
  • Page 72 BL20 - Gateway for CANopen 3-32 D301087 0308 - BL20 CANopen...

  • Page 73: Bl20 - Communication In Canopen

    BL20 - Communication in CANopen Setting up communication..............6 Minimum Boot-up ..................6 Identifier for the Standard Objects ............10 – Node-ID ....................10 – COB-ID (Communication Object Identifier) ...........10 Set up Node Guarding Protocol ..............13 Boot-up Message..................15 Parameterization through Service Data Objects (SDO)....16 Read (Read from Object Dictionary)............17...
  • Page 74 BL20 - Communication in CANopen – Object 1011hex - Restore Default Parameters ........58 – Object 1014hex - Emcy COB-ID ............60 – Object 1016hex - Consumer Heartbeat Time ........62 – Object 1017hex - Producer Heartbeat Time .........64 – Object 1018hex - Identity Object ............65 –...
  • Page 75 – Object 5600hex – RS232/RS4xx Parameters ........165 – Object 5601hex - RS232/RS4xx RxD ..........168 – Object 5602hex - RS232/RS4xx TxD ..........172 Objects for SSI-Modules .................176 – General Overview for SSI Objects ............176 – Object 5801hex – Encoder Config ............177 D301087 0308 - BL20 CANopen...
  • Page 76 BL20 - Communication in CANopen – Object 5802hex – Encoder Status ............180 – Object 5803hex – Encoder Flags ............181 – Object 5804hex – Encoder Diag ............183 – Object 5805hex – SSI Native Status ...........185 – Object 5806hex – SSI Optional Encoder Status ........189 –...
  • Page 77 Measuring step (linear) ................245 – Object 6D02hex - Number of distinguishable revolutions ....245 – Object 6FFFhex - Device Type ............245 – Parameters of BL20-1CNT ..............246 – Parameter list for the counter module ..........249 Objects for SWIRE modules..............255 – General Overview for SWIRE Objects ..........255 Representation of process input data .............257...

  • Page 78: Setting Up Communication

    BL20 - Communication in CANopen Setting up communication Minimum Boot-up BL20 supports the Minimum Boot-up function described in CiA DS-301. Table 1: Abbrevia- Meaning Explanation Meaning of the tion abbreviations NMT command A designation label for the specifier required service...
  • Page 79 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) D301087 0308 - BL20 CANopen...
  • Page 80 BL20 - Communication in CANopen 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.
  • Page 81 Byte 1 Node- cs = 130 COB-ID = 0 Slave 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 D301087 0308 - BL20 CANopen...

  • Page 82: Identifier For The Standard Objects

    BL20 - Communication in CANopen Identifier for the Standard Objects Node-ID The identifier for each device in a CANopen network is the Node-ID. The CANopen slaves can be assigned the Node-IDs 1 to 127 ("Node-ID Setting", page 3-24). COB-ID (Communication Object Identifier) The identifier for each communication object in a CANopen network is the COB-ID.
  • Page 83 Receive PDO 3 Analog output 1151 1152 free 1153 to Transmit PDO 4 Analog input 1279 1280 free 1281 to Receive PDO 4 Analog output 1407 1408 free 1409 to Transmit SDO 1535 1536 free D301087 0308 - BL20 CANopen 4-11...
  • Page 84 BL20 - Communication in CANopen Table 2: COB-ID Function Application Identifiers for dec. hex. basic objects 1537 to Receive SDO 1663 1664 to free 1772 1793 to NMT Error (Node 1919 Guarding, Heartbeat, Boot-up) 1920 to free 2014 2015 to...

  • Page 85: Set Up Node Guarding Protocol

    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. D301087 0308 - BL20 CANopen 4-13...
  • Page 86 If there is no query from the network manager within the preset time, then the gateway changes to the state "Guard Fail". If output modules are fitted in the BL20 station, then their outputs will be put into defined states, depending on the objects "Error mode output"...

  • Page 87: Boot-Up Message

    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:...

  • Page 88: Parameterization Through Service Data Objects (Sdo)

    SDO server). SDO access means that the contents of the Object Dictionary entries for an SDO server can be read or written, and that the settings for a BL20 station can be made in this way.

  • Page 89: Read (Read From Object Dictionary)

    The stated COB-ID refers to the default SDO server. Note The BL20 gateway generates length information as to how many data bytes are to be read (see CiA DS-301, Page 9-24 ff). This infor- mation is found in byte 0 "SCS = 4xh". The value x depends on the length of data read.

  • Page 90: Write (Write To Object Dictionary)

    BL20 - Communication in CANopen Write (Write to Object Dictionary) Client Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Index CCS = Sub-Index Data COB-ID = 1537 + Node-ID - 1 Server...
  • Page 91 Value range of parameter written too high. 06090032 Value range of parameter written too low. 06090036 Maximum value is less than minimum value. 08000000 Other error 08000020 Data cannot be stored to the application. D301087 0308 - BL20 CANopen 4-19...
  • Page 92 BL20 - Communication in CANopen Table 3: Abort code Description Abort codes for errors in SDO transfer 08000021 Data cannot be stored to the app. because of local control. 08000022 Data cannot be stored to the app. because of device state.

  • Page 93: Commanded Parameter Storing/Restoring

    The command "Restore Default parameters" (Object 1011 , Sub- indices 0 to 3) is also supported. This command resets all the communication and/or application parameters to the default values. D301087 0308 - BL20 CANopen 4-21...

  • Page 94: Transmission Of Process Data Objects (Pdo)

    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 BL20 gateway has from none to eight active PDOs, with COB-IDs that are taken from the Predefined Master- Slave Connection Set.

  • Page 95: Transmission Type

    Transmission of Process Data Objects (PDO) Transmission Type The Transmission type determines under which circumstances a PDO can be transmitted or received. The following PDO Transmission types are supported by BL20: Type 0 (sync, acyclic) Type 1 (sync, cyclic) Type 253 (remote request)

  • Page 96: Inhibit Time

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

  • Page 97: Available Pdos

    The Mapping parameters determine which items of information are transmitted in a PDO: Table 5: Object Dictionary entries Object Dictionary for mapping parameters Type Range Range Transmit-PDOs TPDO1 to 1A00 to 1A1F TPDO32 Receive-PDOs RPDO1 to 1600 to 161F RPDO32 D301087 0308 - BL20 CANopen 4-25...

  • Page 98: Default-Pdos And Pdo-Mappings

    The Default-PDOs are only activated if the planned objects and sub- indices actually exist for the corresponding PDO. If, for instance, no analog I/Os are used in a BL20 station, then the PDOs 2 to 4 are set to "Invalid" and no mapping entries will be present.
  • Page 99 (Channel 0 to 3) 1401 2nd group, analog output channels, PDO3 0000 0400 + Node-ID (Channel 4 to 7) 1402 3rd group, analog output channels, PDO4 0000 0500 + Node-ID (Channel 8 to 11) 1403 D301087 0308 - BL20 CANopen 4-27...

  • Page 100: Bl20-Specific Default-Pdos

    BL20 - Communication in CANopen BL20-Specific Default-PDOs These additional PDOs are always set to "Invalid" as a default. Before enabling these PDOs, the corresponding parameters must be checked. This applies especially to the COB-IDs, since these are taken from the Default Master-Slave Connection Set, and are assigned to other Node-IDs.
  • Page 101 1st group, RS×× I/Os (Channel 0) PDO18 C000 0000 1811 1st group, RS×× I/Os (Channel 1) PDO19 C000 0000 1812 Overview of the BL20-specific RPDOs Meaning RPDOs COB-ID RPDO 2nd group, digital output channels PDO5 8000 0240 + Node-ID (Bits 64 to 127)
  • Page 102 The COB-IDs for the RS×××-Module must be defined by the user! Example The own Node-ID of an BL20-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...
  • Page 103 Node-ID + 96 (60 PDO4 PDO13 own Node-ID + 32 (20 PDO1 PDO14 own Node-ID + 32 (20 PDO2 PDO15 own Node-ID + 32 (20 PDO3 PDO16 own Node-ID + 32 (20 PDO4 D301087 0308 - BL20 CANopen 4-31...

  • Page 104: Mappable Objects

    BL20 - Communication in 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 7: Name Index Sub-index...
  • Page 105 Write analog output 6411 1 to n Receive 16 bit Position Value for 6820 1 to n Transmit Multi-Sensor Devices CAM1 State register 6B00 1 to n Transmit Area State register 6C00 1 to n Transmit D301087 0308 - BL20 CANopen 4-33...

  • Page 106: Procedure For Altering Pdo-Mappings

    Procedure for Altering PDO-Mappings The Communication Profile CiA DS-301 Version 4 defines a detailed procedure for altering PDO-mappings. For the BL20 gateway, this results in the following method for modi- fying PDO-mappings: The node state of the gateway must be "Pre-Operational".

  • Page 107: Object Dictionary

    Object Dictionary Object Dictionary Overview of all Objects The following table provides an overview of all the objects that are supported by the BL20 CANopen gateway. Table 9: Index Name Page Overview of all objects CANopen Standard Objects 1000 Device type...
  • Page 108 BL20 - Communication in CANopen Table 9: Index Name Page Overview of all objects 1200 Server SDO parameters page 4-72 1203 1400 Receive PDO Communication parame- page 4-75 ters 141F 1600 Receive PDO-mapping parameters page 4-79 161F 1800 Transmit PDO-parameters...
  • Page 109 Write output bit 1 to 128 to Write output page 4-124 bit 257 to 288 6222 6250 Error mode output Bit 1 to 128 to Error page 4-129 mode output Bit 257 to 288 6252 D301087 0308 - BL20 CANopen 4-37...
  • Page 110 BL20 - Communication in CANopen Table 9: Index Name Page Overview of all objects 6260 Error value output Bit 1 to 128 to Error page 4-131 value output Bit 257 to 288 6262 6300 Write output 16 bit page 4-125...
  • Page 111 Position value for multi-sensor devices page 4-194 6B00 CAM State register page 4-195 6B01 CAM Enable register page 4-196 6B02 CAM Polarity register page 4-197 6B10 CAM1 Low limit page 4-198 6B20 CAM1 High limit page 4-198 D301087 0308 - BL20 CANopen 4-39...

  • Page 112: Commands For "Parameter Save" And "Restore Defaults

    Reset Communication, Reset Node or Power-ON-Boot-Up. With BL20, 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 sub-index 1 to 3).
  • Page 113 Object Dictionary 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. D301087 0308 - BL20 CANopen 4-41...

  • Page 114: Objects For The Communication Profile

    BL20 - Communication in CANopen Objects for the Communication Profile The following table provides an overview of the supported entries in the Object Dictionary which are defined by the Communication Profile CiA DS-301: The column Index ( ) describes the position of the entry in the Object Dictionary.
  • Page 115 (page 4-62) 1017 Producer Unsigned16 rw heartbeat time (page 4-64) 1018 RECORD Identity object Identity (page 4-64) 1020 ARRAY Verify Unsigned32 rw configuration (page 4-68) 1027 ARRAY Module list Unsigned16 ro (page 4-70) D301087 0308 - BL20 CANopen 4-43...
  • Page 116 BL20 - Communication in CANopen Table 12: Index Object Name Type Access M/O Object overview for the communi- cation profile Server SDO parameter 1200 RECORD 1st Server SDO parameter parameter (page 4-72) 1201 RECORD 2nd Server SDO parameter parameter (page 4-72)
  • Page 117 RECORD 1st transmit PDO parameter CommPar (page 4-83) 1801 RECORD 2nd transmit PDO parameter CommPar (page 4-83) 1802 RECORD 3rd transmit PDO parameter CommPar (page 4-83) 181F RECORD 32nd transmit PDO parameter CommPar (page 4-83) D301087 0308 - BL20 CANopen 4-45...
  • Page 118 BL20 - Communication in CANopen Table 12: Index Object Name Type Access M/O Object overview for the communi- cation profile Transmit PDO-mapping parameter 1A00 ARRAY 1nd transmit PDO-mapping mapping (page 4-89) 1A01 ARRAY 2nd transmit PDO-mapping mapping (page 4-89) 1A02...
  • Page 119 Object Dictionary Object 1000 - Device Type Object 1000 contains the Type and the Function of the BL20 station. The value FFFF 0191 indicates that all Device Profiles are supported. Object description Table 13: Object 1000 INDEX 1000 Name Device type...
  • Page 120 BL20 - Communication in CANopen Object 1001 - Error Register Object 1001 contains the Error register for the BL20-CANopen gateway. It thus contains, in one byte, the internal errors that occur. Table 14: Object description Object 1001 INDEX 1001 Name...
  • Page 121 Object Dictionary Object 1005 - SYNC COB-ID Object 1005 defines the COB-ID for the Synchronization Object (SYNC). The BL20-CANopen gateway not generate SYNC messages, only receive them. Structure of the SYNC COB-ID entry (Unsigned32): Bits 28 to 11 10 to 0 11-bit ID ×...
  • Page 122 BL20 - Communication in CANopen Table 16: Object description Object 1005 INDEX 1005 Name COB-ID Sync Object code Data Type Unsigned32 Value range Access PDO-mapping Value range Unsigned32 Default value, BL20 0000 0080h 4-50 D301087 0308 - BL20 CANopen...
  • Page 123 Table 17: Object description Object 1008 INDEX 1008 Name Device name from the manufacturer Object code Data Type Visible String Value range Access const. PDO-mapping Value range, BL20 – Default value, BL20 BL20-GW-CO D301087 0308 - BL20 CANopen 4-51...
  • Page 124 BL20 - Communication in CANopen Object 1009 - Manufacturer Hardware Version Object 1009 contains the designation for the Hardware Version. Table 18: Object description Object 1009 INDEX 1009 Name Hardware version Object code Data Type Visible String Value range Access const.
  • Page 125 Guard time in ms. The product of "Life- time factor" (Object 100D ) and Guard time is the "Lifetime" for Node Guarding. Table 20: Object description Object 100C INDEX 100C Name Guard time Object code Data Type Unsigned16 D301087 0308 - BL20 CANopen 4-53...
  • Page 126 BL20 - Communication in CANopen Table 20: Object description Object 100C Value range Access PDO-mapping Value range, BL20 Unsigned16 Default value, BL20 4-54 D301087 0308 - BL20 CANopen...
  • Page 127 The Guard time of 100 ms means that the network nodes expect a Guard Frame from the master every 100 ms. The Lifetime factor enables a setting to be made in the BL20-CANopen gateway for how often a Guard Frame from the Master can be missed before an error condition is recognized.
  • Page 128 BL20 - Communication in CANopen Object 1010 - Store Parameters The object 1010 can be used to save parameter changes in non- volatile memory. The command is executed by writing the data contents 0x6576 6173 ("save") to one of the Sub-indices.
  • Page 129 Object 1010 Value description Sub-index Description Save communication parameters Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 1 Sub-index Description Save application parameters Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 1 D301087 0308 - BL20 CANopen 4-57...
  • Page 130 BL20 - Communication in CANopen Object 1011 - Restore Default Parameters Object 1011 can be used to restore the default parameters. The command is executed by writing the data contents 0x6461 6F6C ("load") to one of the Sub-indices. Table 23:...
  • Page 131 Object 1011 Value description Sub-index Description Restore communication parameters Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 1 Sub-index Description Restore application parameters Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 1 D301087 0308 - BL20 CANopen 4-59...
  • Page 132 31 (MSB) 0 EMCY exists/ is valid EMCY does not exist/ is not valid reserved (always 0) 11-bit ID (CAN 2.0A) → for BL20 29-bit ID (CAN 2.0B) 28 to 11 if bit 29=0 if bit 29=1: bits 28 to 11 of 29-bit-COB-ID...
  • Page 133 Object Dictionary Table 25: Object description Object 1014 Value description Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 0000 0080 + Node-ID D301087 0308 - BL20 CANopen 4-61...
  • Page 134 BL20 - Communication in CANopen Object 1016 - Consumer Heartbeat Time 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.
  • Page 135 Object Dictionary Table 26: Object description Object 1016 PDO-mapping Value range, BL20 Default value, BL20 Sub-index Description Consumer heartbeat time Category Mandatory Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 0 D301087 0308 - BL20 CANopen 4-63...
  • Page 136 BL20 - Communication in CANopen Object 1017 - Producer Heartbeat Time The object 1017 defines the cycle time for the Heartbeat of the generating device. If the cycle time = 0, then Heartbeat will not be used. The content of the object is interpreted as a multiple of 1 ms.
  • Page 137 Object Dictionary Object 1018 - Identity Object Object 1018 contains general information about the BL20 gateway. The Vendor-ID (Sub-index 01 ) is a unique ID which precisely iden- tifies the manufacturer. The manufacturer-specific Product-Code (Sub-index 02 ) identifies a specific device version. The manufac-...
  • Page 138 BL20 - Communication in CANopen Table 28: Object description Object 1018 Sub-index Description Manufacturer-ID Category Mandatory Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 0000 0003 Sub-index Description Product Code Category Option Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 6827200...
  • Page 139 Object Dictionary Table 28: Object description Object 1018 Sub-index Description Serial number Category Option Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 6827200 D301087 0308 - BL20 CANopen 4-67...
  • Page 140 Object 1020 is used to check the station configuration after a device reset. The BL20-CANopen gateway supports the non-volatile storage of parameters. A network configuration tool or an CANopen Manager can use object 1020 to test the station configuration after a reset, and so check whether a reconfiguration is necessary.
  • Page 141 Configuration time Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 No Note The configuration date contains the number of days since January 01 1984. The configuration time contains the number of milliseconds since midnight. D301087 0308 - BL20 CANopen 4-69...
  • Page 142 BL20 - Communication in CANopen Object 1027 - Module List Object 1027 describes all the actually installed modules in an BL20 station. Table 30: Object description Object 1027 INDEX 1027 Name Module list Object code ARRAY Data Type Unsigned16 Access...
  • Page 143 4A describe the corre- sponding BL20 modules in the sequence in which they are installed in the BL20 station. Each entry contains a number that identifies the particular module. Note There is one identifier for each type of BL20 module.

  • Page 144: Objects For The Transfer Of Service Data

    BL20 - Communication in CANopen Objects for the Transfer of Service Data Object 1200 to 1203 - Server SDO Default Parameters Objects 1200 to 1203 contain the parameters for the SDOs. Object description Table 31: Object 1200 1203 INDEX 1200...
  • Page 145 Object 1200 1203 Sub-index Description COB-ID Server > Client (rx) Access Index 1200 Index 1201 to 1203 PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 Index 1200 0000 0580 + Node-ID Index 1201 to 1203 D301087 0308 - BL20 CANopen 4-73...

  • Page 146: Objects For The Transfer Of Process Output Data

    BL20 - Communication in CANopen Objects for the Transfer of Process Output Data The objects 1400 to 141F define, together with objects 1600 to 161F , which output data have to be transferred via RPDO. In addition to that, the priority and the transmission type for the RPDO- transfer are defined.
  • Page 147 Object code RECORD Data Type PDO CommPar Value description Sub-index Description maximum number of entries Access PDO-mapping Value range, BL20 2 Default value, BL20 02 Sub-index Description COB-ID for the PDOs (see Table 33:) Access D301087 0308 - BL20 CANopen 4-75...
  • Page 148 BL20 - Communication in CANopen Table 32: Object description Object 1400 141F PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 – Index 1400 0000 0200 + Node-ID – Index 1401 0000 0300 + Node-ID – Index 1402 0000 0400 + Node-ID –...
  • Page 149 11-bit-ID (CAN 2.0A) (Standard appli- cation) 29-bit-ID (CAN 2.0B) 28 to 11 if bit 29=0 (Standard application) if bit 29=1: bits 28 to 11 of COB-ID 10 to 0 (lsb) Bit 10 to 0 of COB-ID D301087 0308 - BL20 CANopen 4-77...
  • Page 150 BL20 - Communication in CANopen The Transmission type (Sub-index 02 ) can have the following values: Table 34: Transmis- PDO transmission Description of the sion type Transmission type cyclic acyclic synchr. asynchr. only with × × × × 2 to 254 reserved ×...
  • Page 151 Object description Object 1600 161F INDEX 1600 to 161F Name Receive PDO-mapping parameter Object code RECORD Data Type PDO-mapping Value description Sub-index Description highest sub-index used Access PDO-mapping Value range, BL20 0 to 64 D301087 0308 - BL20 CANopen 4-79...
  • Page 152 BL20 - Communication in CANopen Table 35: Object description Object 1600 161F Default value, BL20 see Table 12: Sub-index Description 1st mapping object Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 see Table 12: Sub-index Description 64th mapping object...
  • Page 153 (analog output) 1602 6411 0510 1st mapping object RPDO3 (analog output) 6411 0810 4th mapping object (analog output) 1603 6411 0910 1st mapping object RPDO4 (analog output) 6411 0C10 4th mapping object (analog output) D301087 0308 - BL20 CANopen 4-81...
  • Page 154 BL20 - Communication in CANopen The following structure applies to the parameters for sub-index to 40 Structure of the PDO-mapping entries: 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 155: Objects For The Transfer Of Process Input Data

    Which data content is to be transferred with the RPDO1 to RPDO32 is defined with the objects 1A00hex to 1A1Fhex. Table 37: Object description Object 1800 181F INDEX 1800 to 181F Name Transmit PDO-parameters Object code RECORD D301087 0308 - BL20 CANopen 4-83...
  • Page 156 Value range, BL20 5 Default value, BL20 No Sub-index Description COB-ID of the PDO Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 – Index 1800 0000 0180 + Node-ID – Index 1801 0000 0280 + Node-ID – Index 1802 0000 0380 + Node-ID –...
  • Page 157 Object description Object 1800 181F Value description Sub-index – Description Transmission type – Access – PDO-mapping – Value range, BL20 Unsigned8 – Default value, BL20 FFh Sub-index Description Inhibit time Access PDO-mapping Value range, BL20 Unsigned16 Default value, BL20 0...
  • Page 158 Object 1800 181F Value description Sub-index Description Event timer Access PDO-mapping Value range, BL20 Unsigned16 (0 is not used) Default value, BL20 0 The COB-ID (Sub-index 01 ) shows the following structure: MSB LSB Bits 28 to 11 10 to 0...
  • Page 159 ) can have the following values: Table 39: Transmis- PDO transmission Transmission type sion type of BL20 cyclic acyclic synchr. asynchr. only with × × × × 2 to 252 reserved × × reserved × D301087 0308 - BL20 CANopen 4-87...
  • Page 160 1 ms, the Inhibit time is defined as a multiple of 100 μs. However, since the time resolution of the system clock in the BL20-CANopen gateway is 1 ms, Inhibit time values below 10 x 100 μs are pointless.
  • Page 161 6000 (digital values) and 6401 (analog values). Table 40: Object description Object 1A00 1A1F INDEX 1A00 to 1A1Fh Name Transmit PDO-mapping parameters Object code RECORD Data Type PDO-mapping D301087 0308 - BL20 CANopen 4-89...
  • Page 162 Description Number of mapped application objects in the PDO Access PDO-mapping Value range, BL20 0: deactivate 1 to 64:activated Default value, BL20 see Table 34: Sub-index Description 1st mapping object Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 see page 4-91...
  • Page 163 (analog input) 1A02 6401 0510 1st mapping object TPDO3 (analog input) 6401 0810 4th mapping object (analog input) 1A03 6401 0910 1st mapping object TPDO4 (analog input) 6401 0C10 4th mapping object (analog input) D301087 0308 - BL20 CANopen 4-91...

  • Page 164: Objects For Network Management

    Section "Procedure for altering PDO-mappings" in this chapter. Objects for Network Management Objects 1F80 to 1F83 are only relevant, if the BL20-Station is to work as NMT-master. The activation is done via bit0 of object 1F80 Object 1F80 - NMT Startup...
  • Page 165 Table 43: Value Meaning Structure of NMT startup BL20 is not the NMT-Master. All other bits will be ignored. The objects in the network list will be ignored. BL20 is the NMT-Master Only the explicitly selected slaves will be started.
  • Page 166 All other parameters for a slave are only valid if this slave is described in object 1F81 Note Object 1F81 is only valid if the BL20 is defined as the NMT-Master (see object 1F80 , bit 0). Table 44: Object description...
  • Page 167 Access PDO-mapping Value range, BL20 Unsigned32 Default value, BL20 No Note Each sub-index corresponds to the slave with the particular Node- ID. The Sub-Index with the Node-ID of the NMT-Master will be ig- nored. D301087 0308 - BL20 CANopen 4-95...
  • Page 168 BL20 - Communication in CANopen Table 45: Byte Bit Value Meaning Structure of object 1F81 Slave assignment The node with this ID is not a slave. The node with this ID is a slave. After config- uration, the node will be put into the "Opera- tional"...
  • Page 169 (download) is not permitted. Automatic update of the application software (download) is permitted. Reserved; set to 0 8 bit value for the Retry Factor 2 to 3 16 bit value for the Guard time D301087 0308 - BL20 CANopen 4-97...
  • Page 170 BL20 - Communication in CANopen Object 1F82 - Request NMT Object 1F82 describes, as per CiA DSP-302, all the slaves that can present queries to the Network Management (NMT). Table 46: Object description Object 1F82 INDEX 1F82 Name Query NMT...
  • Page 171 For read access, the object contains the present state of the node. Table 47: Status Value for write Value for read Value ranges access access Stopped Operational Reset Node – Reset Communica- – tion Pre-Operational D301087 0308 - BL20 CANopen 4-99...
  • Page 172 BL20 - Communication in CANopen Table 47: Status Value for write Value for read Value ranges access access unknown – Node missing – 4-100 D301087 0308 - BL20 CANopen...
  • Page 173 CiA DSP-302, all the slaves that can be monitored through the Network Management (NMT). Note Object 1F83 is only valid if the BL20 is configured as the NMT- Master (see object 1F80 , bit 0). Table 48:...
  • Page 174 BL20 - Communication in CANopen Table 48: Object description Object 1F83 Value 0 = Slave being monitored at present 1 = Slave not being monitored at present Sub-index Description Request guarding for slave with Node-ID 127 Access PDO-mapping Value range...

  • Page 175: Manufacturer Specific Objects

    Object 2000 - Serial Number Object 2000 corresponds to the sub-index 04 of object 1018 and contains the serial number of the BL20 gateway that is used. Note We recommend using object 1018 , sub-index 04 for the serial number.
  • Page 176 BL20 - Communication in CANopen Object 2010 - Reset Node Modifiers Object 2010 is used for a temporary (volatile) modification to the module behavior. Table 49: Object description Object 2010 INDEX 2010 Name Reset Node Modifiers Object code ARRAY Data Type...
  • Page 177 For writing, the value that is transferred in Unsigned32 format will be interpreted as a string: Table 50: Hard Reset (processor reset) selection D301087 0308 - BL20 CANopen 4-105...
  • Page 178 "normal Reset Node". The Index "Save reference module list" (Sub-index 02 ) deter- mines that, in the event of a Reset Node command, the BL20 refer- ence module list (Objects 3080 and 3081 ) will be saved in non- volatile memory, and then followed by a hard processor reset.
  • Page 179 "normal Reset Node". The Index "Save current module list" (Sub-index 03 ) determines that, in the event of a Reset Node command, the present BL20 module list (Objects 3090 and 3091 ) will be saved in non-vola- tile memory, and then followed by a hard processor reset.
  • Page 180 BL20 - Communication in CANopen Object 2400 - System Voltages The object System Voltages allows the reading of up to 4 system voltages from the gateway. At present, the BL20-GW-CO supports reading of U to sub-index 1. Sub-indices 2...4 return the constant Table 56:...
  • Page 181 The object System Currents allows the reading of up to 4 system currents from the gateway. Table 57: Object description Object 2401 INDEX 2401 Name System Currents Object code ARRAY No. of Elements Data Type Unsigned16 Access Default Value PDO-mapping D301087 0308 - BL20 CANopen 4-109...

  • Page 182: I/O-Module Objects

    BL20 - Communication in CANopen I/O-Module Objects Overview of the I/O-Module Objects The following table provides an overview of all the I/O module objects that are supported by the BL20 CANopen gateway. Table 58: Index Name Page Overview of all...
  • Page 183 Read analog input 16 bit page 4-144 6411 Write analog output 16 bit page 4-157 6421 Analog input interrupt trigger selection page 4-145 6422 Analog input interrupt source page 4-148 6423 Analog input global interrupt enable page 4-149 D301087 0308 - BL20 CANopen 4-111...
  • Page 184 BL20 - Communication in CANopen Table 58: Index Name Page Overview of all BL20 I/O-module objects 6424 Analog input interrupt upper limit Integer page 4-150 6425 Analog input interrupt lower limit Integer page 4-151 6426 Analog input interrupt delta Unsigned...

  • Page 185: General I/O-Objects

    ) specifies the device profile (401 = I/O-modules), the high word (000xh) the I/O-types, see CANopen standard DS401. Feature Description/ Value Table 59: Object 67FF Name Device type Object code Data Type Unsigned32 Access Default value PDO-mapping D301087 0308 - BL20 CANopen 4-113...

  • Page 186: Objects For Digital Input Modules

    BL20 - Communication in CANopen Objects for Digital Input Modules General Overview for Digital Input Objects Table 60: Object Name Page General overview 3064 XBI Param Dword 4-115 for digital input objects 6000 Read input 8 bit 4-117 6020 Read input 8 bit (1 to 128)
  • Page 187 The sub-index corresponds to the slot number of the respective module in a station. Note Objects 3000 to 3097 enable direct access to the internal mod- ule bus of the BL20 station. Table 61: Feature Description/ Value Object 3064 Name...
  • Page 188 BL20 - Communication in CANopen The structure of the 4 bytes of parameter data depends on the module concerned. A sub-index is assigned for each module. The following explains the structure for each module type: BL20-4DI-NAMUR Tabelle 5: Byte Name...
  • Page 189 Table 62: Feature Description/ Value Object 6000 Name Read input 8 bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index Data Type Unsigned8 Access Default value, BL20 D301087 0308 - BL20 CANopen 4-117...
  • Page 190 BL20 - Communication in CANopen Object 6020 - Read Input Bit (1 to 128) Object 6021 - Read Input Bit (129 to 256) Object 6022 - Read Input Bit (257 to 288) The objects are a bit-wise representation of the values of the digital input modules.
  • Page 191 Feature Description/ Value Table 64: Objects 6100 Name Read input 16 bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 12 Data Type Unsigned16 Access Default value, BL20 D301087 0308 - BL20 CANopen 4-119...
  • Page 192 BL20 - Communication in CANopen Object 6120 - Read Input 32 Bit 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).

  • Page 193: Objects For Digital Output Modules

    Error state output Bit (257 to 288) 4-131 6306 Error mode output 16 bit 4-133 6307 Error state output 16 bit 4-134 6326 Error mode output 32 Bit 4-135 6327 Error state output 32 Bit 4-136 D301087 0308 - BL20 CANopen 4-121...
  • Page 194 BL20 - Communication in CANopen The following figure shows the relationship between the digital output objects for an 8-bit access: Figure 3: Relationship be- tween the digital Communication Objects Hardware Objects output objects (according to CiA Draft Standard DS401) Default...
  • Page 195 Table 67: Feature Description/ Value Objects 6200 Name Write output 8 Bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 24 Data Type Unsigned8 Access Default value, BL20 D301087 0308 - BL20 CANopen 4-123...
  • Page 196 BL20 - Communication in CANopen Object 6220 - Write Output Bit (1 to 128) Object 6221 - Write Output Bit (129 to 256) Object 6222 - Write Output Bit (257 to 288) The objects are a bit-wise representation of the values of the digital output modules.
  • Page 197 Description/ Value Table 69: Objects 6300 Name Write output 16 bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 12 Data Type Unsigned16 Access Default value, BL20 0000 D301087 0308 - BL20 CANopen 4-125...
  • Page 198 BL20 - Communication in CANopen Object 6320 - Write Output 32 Bit The object presents the values for the digital output modules in 32- bit groups. A total of 9 groups (each 32 bit) can be defined (288 digital output channels).
  • Page 199 Table 71: Feature Description/ Value Objects 6206 Name Error mode output 8 Bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 24 Data Type Unsigned8 Access Default value, BL20 D301087 0308 - BL20 CANopen 4-127...
  • Page 200 BL20 - Communication in CANopen Object 6207 - Error State Output 8 Bit The object defines values in 8-bit groups. A total of 36 groups (each 8 bit) can be defined (288 digital output channels). The substitute value is defined for each digital output channel. The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object (e.g.
  • Page 201 Error state output objects (e.g. 6260 , 6261 and 6262 Table 73: Feature Description/ Value Objects 6250 6251 , 6252 Name Error mode output Bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 D301087 0308 - BL20 CANopen 4-129...
  • Page 202 BL20 - Communication in CANopen Table 73: Feature Description/ Value Objects 6250 6251 , 6252 Sub-index to 80 Data Type Boolean Access Default value, BL20 4-130 D301087 0308 - BL20 CANopen...
  • Page 203 Error mode output object (e.g. 6250 , 6251 6251 ) for the particular output channel. Substitute values: = The output will be switched off if an error occurs. = The output will be switched on if an error occurs. D301087 0308 - BL20 CANopen 4-131...
  • Page 204 BL20 - Communication in CANopen Table 74: Feature Description/ Value Objects 6260 6261 , 6262 Name Error state output bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 80 Data Type Boolean Access Default value, BL20...
  • Page 205 Feature Description/ Value Objects 6306 Name Error mode output 16 bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 12 Data Type Unsigned16 Access Default value, BL20 FFFF D301087 0308 - BL20 CANopen 4-133...
  • Page 206 BL20 - Communication in CANopen Object 6307 - Error State Output 16 Bit The object defines values in 16 bit groups. A total of 18 groups (each 16 bit) can be defined (288 digital output channels). The substitute value is defined for each digital output channel. The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object (e.g.
  • Page 207 Description/ Value Objects 6326 Name Error mode output 32 Bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 09 Data Type Unsigned32 Access Default value, BL20 FFFF FFFF D301087 0308 - BL20 CANopen 4-135...
  • Page 208 BL20 - Communication in CANopen Object 6327 - Error State Output 32 Bit The object defines values in 32-bit groups. A total of 9 groups (each 32 bit) can be defined (288 digital output channels). The substitute value is defined for each digital output channel. The substitute values will only be used in the event of an error if a 1 is entered in an Error mode output object (e.g.

  • Page 209: Objects For Analog Input Modules

    Analog input interrupt upper limit 4-150 Integer 6425 Analog input interrupt lower limit 4-151 Integer 6426 Analog input interrupt delta Unsigned 4-152 6427 Analog input interrupt negative delta 4-153 Unsigned 6428 Analog input interrupt positive delta 4-154 Unsigned D301087 0308 - BL20 CANopen 4-137...
  • Page 210 BL20 - Communication in CANopen The following figure shows the relationship between the analog input objects for an Integer16 access: Figure 4: Relationship between the analog input objects (according to CiA Draft Standard DS401) Hardware Objects Communication Objects Default Default...
  • Page 211 The object "Manu spec analog input range" defines the parameters of the analog input channels. Write accesses initiate a parameter update on the BL20- module bus. The parameter is stored retentively in the gateway and in the appro- priate module, and is restored with every node reset.
  • Page 212 BL20 - Communication in CANopen The structure of the 2 bytes of parameter data depends on the module concerned. A sub-index is assigned for each channel. The following explains the structure for each module type: BL20-1AI-I(0/4...20MA) Table 81: Byte Parameter...
  • Page 213 1011 = Ni1000, -60...150 °C 1100 = Resistance, 0...100 Ω 1101 = Resistance, 0...200 Ω 1110 = Resistance, 0...400 Ω 1111 = Resistance, 0...1000 Ω n +1 0 measurement 0 = 2-wire mode 1 = 3-wire D301087 0308 - BL20 CANopen 4-141...
  • Page 214 BL20 - Communication in CANopen BL20-2AI-THERMO-PI Table 84: Byte Parameter Value/ Meaning Parameters BL20-2AI- THERMO-PI A default setting Mains 0 = 50 Hz suppression 1 = 60 Hz Value 0 = Integer (15 bit + sign) representation 1 = reserved...
  • Page 215 0 = Integer (15 bit + sign) representation 1 = reserved Diagnostic 0 = release 1 = block Channel 0 = activate 1 = deactivate Operation mode 0 = voltage 1 = current 5 to reserved D301087 0308 - BL20 CANopen 4-143...
  • Page 216 BL20 - Communication in CANopen Object 6401 - Read Analog Input 16 Bit The object represents the measured values for the analog input modules with 16 bits for each channel. Attention The process data traffic for the analog input values is not started un-...
  • Page 217 The behavior of the analog inputs is now adapted to the actuall CANopen standard DS401. This means, that the firmware versions ≥ 4.02 for BL20-GW-CANO- PEN and version ≥ 2.02 for BL20-GWBR-CANOPEN are thus not compatible with older firmware versions relating to the behavior of the analog inputs.
  • Page 218 BL20 - Communication in CANopen Table 87: Feature Description/ Value Objects 6421 Name Analog input interrupt trigger selec- tion Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 Sub-index to 8E Data Type Unsigned8 Access Default value, BL20 Firmware: ≤...
  • Page 219 If another triggering event occurs at the same time (e.g. increase by "Delta value"), the repeated transmitting is aborted. Note Several bits can be set simultaneously so that the transmitting of the input process data can be triggered by several events. D301087 0308 - BL20 CANopen 4-147...
  • Page 220 BL20 - Communication in CANopen Object 6422 - Analog Input Interrupt Source The object indicates if an analog input channel has fulfilled a condi- tion for triggering an interrupt signal. The conditions were defined with object 6421 If a condition for triggering an interrupt signal on a channel is fulfilled, the corresponding bit is set to 1.
  • Page 221 TRUE, the transmitting of the analog input data (TPDOs) can be trig- gered by means of an interrupt signal. Feature Description/ Value Table 90: Objects 6423 Name Analog input global interrupt enable Object code PDO-mapping Sub-index Data Type Boolean Access Default value, BL20 FALSE D301087 0308 - BL20 CANopen 4-149...
  • Page 222 Access Default value, BL20 00000000 Note The appropriate numerical values and number ranges for each input variable (current, voltage, temperature...) can be found in the Ap- pendix of the manual for BL20 I/O-modules (D300529). 4-150 D301087 0308 - BL20 CANopen...
  • Page 223 Access Default value, BL20 00000000 Note The appropriate numerical values and number ranges for each input variable (current, voltage, temperature...) can be found in the Ap- pendix of the manual for BL20 I/O-modules (D300529). D301087 0308 - BL20 CANopen 4-151...
  • Page 224 Access Default value, BL20 00000000 Note The appropriate numerical values and number ranges for each input variable (current, voltage, temperature...) can be found in the Ap- pendix of the manual for BL20 I/O-modules (D300529). 4-152 D301087 0308 - BL20 CANopen...
  • Page 225 Default value, BL20 0000 0000 Note The appropriate numerical values and number ranges for each input variable (current, voltage, temperature...) can be found in the Ap- pendix of the manual for BL20 I/O-modules (D300529). D301087 0308 - BL20 CANopen 4-153...
  • Page 226 Access Default value, BL20 00000000 Note The appropriate numerical values and number ranges for each input variable (current, voltage, temperature...) can be found in the Ap- pendix of the manual for BL20 I/O-modules (D300529). 4-154 D301087 0308 - BL20 CANopen...

  • Page 227: Objects For Analog Output Modules

    Name Page General overview 5440 Manu spec analog output range 4-161 for analog output objects 6411 Write analog output 16 bit 4-157 6443 Analog output error mode 4-158 6444 Analog output error state 4-160 D301087 0308 - BL20 CANopen 4-155...
  • Page 228 BL20 - Communication in CANopen The following figure shows the relationship between the analog output objects for an Integer16 access: Figure 5: Relationship between the analog output objects (according to CiA Draft Standard 401) Communication Objects Hardware Objects Default Default...
  • Page 229 Table 97: Feature Description/ Value Objects 6411 Name Write analog output 16 bit Object code ARRAY PDO-mapping Sub-index Data Type Unsigned8 Access Default value, BL20 to 8E Sub-index Data Type Integer16 Access Default value, BL20 D301087 0308 - BL20 CANopen 4-157...
  • Page 230 BL20 - Communication in CANopen Object 6443 - Analog Output Error Mode It defines for each digital output channel whether or not the output should take on a substitute value in the event of an error. The Sub- indices of 01 –...
  • Page 231 I/O-Module Objects Note The appropriate numerical values and number ranges for each input variable (current, voltage, temperature...) can be found in the Ap- pendix of the manual for BL20 I/O-modules (D300529). D301087 0308 - BL20 CANopen 4-159...
  • Page 232 BL20 - Communication in CANopen Object 6444 - Analog Output Error State The substitute value is defined for each analog output channel. The substitute values are only taken into account in the event of an error if a 01 was entered for the relevant output channel in object...
  • Page 233 The object "Manu spec analog output range" defines the parame- ters of the analog output channels. Write accesses initiate a param- eter update on the BL20- module bus. The parameter is stored retentively in the gateway and in the appro- priate module, and is restored with every node reset.
  • Page 234 BL20 - Communication in CANopen The structure of the 2 bytes of parameter data depends on the module concerned. A sub-index is assigned for each channel. The following explains the structure for each module type: BL20-1AO-I(0/4...20MA)/ BL20-2AO-I(0/4...20MA) Table 101: Byte...

  • Page 235: Objects For Rs232/Rs4Xx-Modules

    I/O-Module Objects Objects for RS232/RS4xx-modules General overview for RS232/RS4xx-objects Table 103: Object Name Page General overview 5600 RS232/RS4xx Parameters 4-164 for RS232/RS4xx- objects 5601 RS232/RS4xx RxD 4-168 5602 RS232/RS4xx TxD 4-172 D301087 0308 - BL20 CANopen 4-163...
  • Page 236 BL20 - Communication in CANopen Object 5600 – RS232/RS4xx Parameters The parameter setting of the BL20-1RS××× module enables communication with different data terminal devices. The handshake procedure (software/hardware) can be selected. The number of data bits embedded in the telegram, the type of parity, the number of...
  • Page 237 At the location of the first data byte, byte 1 of the object 5602hex contains a byte with two control bits. These can initiate a clearing of the receive and transmit buffer. D301087 0308 - BL20 CANopen 4-165...
  • Page 238 BL20 - Communication in CANopen Parameter Value/ Meaning BitRate 0000 = reserved 0001 = 300 bps 0010 = 600 bps 0011 = 1200 bps 0100 = 2400 bps 0101 = 4800 bps 0110 = 9600 bps 0111 = 14400 bps...
  • Page 239 XOFFChar (XOFF 0 to 255 character) XOFF character (19 This character is used to start the data transfer of the data terminal device with software hands- hake activated. D301087 0308 - BL20 CANopen 4-167...
  • Page 240 Process input data is data that is transmitted from the connected field device via the BL20-1RS××× module to the communication partner (e.g. PLC). The data received from the device by the BL20- 1RS××× module is entered in a 128 byte receive buffer and then transferred in segments to the communication partner via the module bus and the gateway.
  • Page 241 5600 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 STAT TX_CNT_ACK RX_CNT RX_BYTE_CNT (Status) Byte 1 Data byte 0 Byte 7 Data byte 6 D301087 0308 - BL20 CANopen 4-169...
  • Page 242 BL20 - Communication in CANopen Table 107: Designation Value Description Meaning of the data bits for RS232/485- modules STAT 1: Communication with the data terminal device is OK. 0: Communication with the data terminal device is faulty. A diagnos- tics signal is sent if DisableDiagnos- tics = 0 (diagnostics activated).
  • Page 243 Bit 5 0 = ok 1 = Error in the data flow control The data terminal device connected to the BL20-1RS××× module is not responding to the XOFF or RTS hand- shake. The internal receive buffer can over- flow (buffer overflow = 1).
  • Page 244 Object 5602 - RS232/RS4xx TxD Process output data is data that is output from the communication partner (e.g. PLC) via the gateway and the BL20-1RS××× module to the field device. The data received from the communication partner in the BL20- 1RS×××...
  • Page 245 5600 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 STATR RX_CNT_ACK TX_CNT TX_BYTE_CNT (Status) Byte 1 Data byte 0 Byte 7 Data byte 6 D301087 0308 - BL20 CANopen 4-173...
  • Page 246 BL20 - Communication in CANopen Table 109: Designation Value Description Meaning of the data bits for RS232/485- modules STATRES The STATRES bit is used for resetting the STAT bit of the process input data (object 5601 The STAT bit is reset (from 0 to 1) with the transition from 1 to 0 (falling edge).
  • Page 247 The TXBUF FLUSH bit is used for clearing the transmit buffer. If STATRES = 1: A request with TXBUF FLUSH = 1 will be ignored. If STATRES = 0: TXBUF FLUSH = 1 will clear the receive buffer. D301087 0308 - BL20 CANopen 4-175...

  • Page 248: Objects For Ssi-Modules

    BL20 - Communication in CANopen Objects for SSI-Modules General Overview for SSI Objects Table 110: Object Name Page General overview 5801 Encoder config 4-177 for SSI objects 5802 Encoder status 4-180 5803 Encoder flags 4-181 5804 Encoder diag 4-183 5805...
  • Page 249 – Encoder Config The Encoder config object has an effect on parameter bytes 0 to 3 of the BL20-1SSI module and is used for setting the configuration. Write accesses initiate a parameter update on the BL20- module bus. The parameter is stored retentively in the gateway and is restored with every node reset.
  • Page 250 BL20 - Communication in CANopen Table 112: Designation Value Description Meaning of the data bits for SSI- modules A default setting DIS_ERR_SSI Activate: Encoder data ZERO test of data cable. cable test Deactivate After the last valid bit, a ZERO test of the data cable is not carried out.
  • Page 251 Number of bits of the SSI data frame. SSI_FRAME_LEN must always be Number of data greater than INVALID_BITS. frame bits Default: 25 = 19 SSI_CODE_G/D SSI encoder sends data in binary Data format code SSI encoder sends data in Gray code D301087 0308 - BL20 CANopen 4-179...
  • Page 252 BL20 - Communication in CANopen Object 5802 – Encoder Status On the BL20-1SSI module, bits 6 and 7 of the Encoder status object are emulated for the counter. The bits describe the up/down direc- tion of the current values. Table 113:...
  • Page 253 I/O-Module Objects Object 5803 – Encoder Flags On the BL20-1SSI module, bits 3 to 6 of the Encoder flags object are emulated as much as possible for the counter. The object comprises the bits FLAG_CMP1, FLAG_CMP2, STS_OFLW and STS_UFLW. Unlike the counter module, the bits STS_OFLW and STS_UFLW SSI module are non-retentive status bits.
  • Page 254 BL20 - Communication in CANopen Table 116: Designation Value Description Meaning of the encoder flags FLAG_CMP2 Default status, i.e. the register contents have not yet matched (REG_SSI_POS) = (REG_CMP2) since the last reset. The contents of the registers match: (REG_SSI_POS) = (REG_CMP2).
  • Page 255 I/O-Module Objects Object 5804 – Encoder Diag The Encoder diag object reads the diagnostics byte of the BL20- 1SSI module. Table 117: Feature Description Objects 5804 Name Encoder diag Object code ARRAY Data type Unsigned8 Access Default value PDO-mapping Bit 7 Bit 6 Bit 5 Bit 4...
  • Page 256 BL20 - Communication in CANopen Table 118: Designation Value Description Meaning of the data bits STS_UFLW SSI encoder value above / equal to lower limit. SSI encoder value below lower limit. Underflow occurred. ERR_PARA The parameter set of the module has been accepted.
  • Page 257 – SSI Native Status The SSI Native status object reads the bytes 0 to 1 of the process input of the BL20-1SSI module. Writing the object with any value will reset the retentive markers FLAG_CMP1 and FLAG_CMP2. Exception: if the relevant condition for setting a marker is still fulfilled, this marker will continue to remain set.
  • Page 258 BL20 - Communication in CANopen Table 120: Designation Value Description Meaning of the data bits STS_STOP The SSI encoder is read cyclically. Communication with the SSI encoder is stopped as STOP = 1 (process output) or ERR_PARA = ERR_PARA The parameter set of the module has been accepted.
  • Page 259 (REG_ SSI_POS) = (REG_CMP2) REL_CMP1 A comparison of the register contents has produced the following result: (REG_SSI_POS) < (REG_CMP1) A comparison of the register contents has produced the following result: (REG_ SSI_POS) f (REG_CMP1) D301087 0308 - BL20 CANopen 4-187...
  • Page 260 BL20 - Communication in CANopen Table 120: Designation Value Description Meaning of the data bits FLAG_CMP1 Default status, i.e. the register contents have not yet matched (REG_SSI_POS) = (REG_CMP1) since the last reset. The contents of the registers match: (REG_SSI_POS) = (REG_CMP1). This marker must be reset when CLR_CMP1 = 1 in the process output data.
  • Page 261 I/O-Module Objects Object 5806 – SSI Optional Encoder Status The SSI Optional encoder status object reads byte 2 of the process input of the BL20-1SSI module. Bits 6 and 7 are masked out. Table 121: Feature Description Objects 5806 Name...
  • Page 262 BL20 - Communication in CANopen Object 5808 – Encoder Control The object Encoder control writes and reads byte 0 of the control interface of the SSI module and serves for influencing the module during operation. At the moment only bit 7 (STOP) is used.
  • Page 263 Object 5840 – SSI Diag Mapping The SSI Diag mapping object writes and reads register 51 (REG_SSI_MASK) of the BL20-1SSI module. The REG_SSI_MASK contains the SSI encoder diagnostics trans- ferred. Some SSI encoders not only transfer the position value in the data frame that they transfer to the module but also supply additional status messages.
  • Page 264 BL20 - Communication in CANopen Table 125: Designation Value Description Meaning of the data bits A default setting EN_Dx_RMSx 0 The evaluation of the SSI status messages for bit 0 of the diagnostics is not activated The evaluation of the SSI status messages for bit 0 of the diagnostics is activated.
  • Page 265 Object 6800 – Operating Parameters Note Object 6800 (corresponds to object 6000 in accordance with CiA DS406) has no meaning with BL20-, and only exists because it is a "mandatory" object in accordance with DS406. Table 126: Feature Description Objects 6800...
  • Page 266 Object 6820 (corresponds to object 6020 as per CiA DS406) contains the SSI encoder value of the BL20-1SSI module. The content of the object 6810 "Preset values for multi-sensor devices" contains a value that is added to correct the measured value for a zero point adjustment.
  • Page 267 , an inversi- is not activated on will be carried The actual SSI encoder value is outside of the range defined by CAM1 Low limit and CAM1 High limit or the comparison function is not activated D301087 0308 - BL20 CANopen 4-195...
  • Page 268 BL20 - Communication in CANopen Object 6B01 – CAM Enable Register The object CAM Enable register defines if the SSI encoder value is to be compared with the values CAM1 Low limit and CAM1 High limit (object 6B10 and 6B20...
  • Page 269 Object code ARRAY Data type Unsigned8 Access Default value PDO-mapping Value Meaning Table 134: Meaning of the data byte The value represented with object 6B00 not inverted. The value represented with object 6B00 inverted. D301087 0308 - BL20 CANopen 4-197...
  • Page 270 BL20 - Communication in CANopen Object 6B10 – CAM1 Low Limit The object CAM1 Low limit defines in accordance with DS406 a lower limit of the counter range. Object CAM1 Low limit matches the comparison value 2 of the BL20-1SSI module.

  • Page 271: Objects For Counter-Modules

    4-229 Objects to CiA DS-406 6800 Operating Parameters 4-230 6810 Load Value For Multi-Sensors 4-230 Devices 6820 Position Value For Multi-Sensors 4-231 Devices 6B00 Cam State Register 4-232 6B01 CAM 1 Enable Register 4-235 D301087 0308 - BL20 CANopen 4-199...
  • Page 272 BL20 - Communication in CANopen Table 138: Object Name Page 6B02 Cam 1 Polarity Register 4-236 6B10 Cam 1 Low Limit 4-237 6B20 Cam 1 High Limit 4-238 6B30 Cam 1 Hysteresis 4-240 6C00 Area State Register 4-241 6C01 Work Area Low Limit...
  • Page 273 Its uses include the setting of count mode or measurement mode. Write accesses initiate a parameter update via the internal BL20 module bus. The parameter is stored retentively in the BL20 gateway and is restored with every node reset.
  • Page 274 BL20 - Communication in CANopen Structure of data bits for count mode: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 count mode Byte 1 main count synchro- function DI digital...
  • Page 275 If the counting operation is aborted, counting begins from the load value on restart. interrupt count procedure: If the counting operation is inter- rupted, however, the counter continues on restart from the actual counter value. D301087 0308 - BL20 CANopen 4-203...
  • Page 276 BL20 - Communication in CANopen Structure of data bits for measurement mode: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 measurement mode Byte 1 function DI digital input DI Byte 2...
  • Page 277 Sensor and input filter Sensor parameters Behaviour on failure of the higher-level PLC Write accesses initiate a parameter update via the internal BL20 module bus. The parameter is stored retentively in the BL20 gateway and is restored with every node reset.
  • Page 278 BL20 - Communication in CANopen Structure of the data bytes for count mode: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 0 function DO2 function DO1 diag- substi- nostic tute value...
  • Page 279 F ref. value pulse when cnt. value = ref. value function DO1 output (measurement measured value outside of the set mode) limits below lower limit above upper limit D301087 0308 - BL20 CANopen 4-207...
  • Page 280 BL20 - Communication in CANopen A default settings Designation Value Designation of the values/ Value range function DO2 output (count mode) on when cnt. value f ref. value on when cnt. value F ref. value pulse when cnt. value = ref. value...
  • Page 281 Release (byte 2) group diagnostics 0 release block Behaviour on failure of the higher-level PLC behavior CPU/ turn off DO1 master STOP proceed with operating mode DO1 switch substitute value DO1 hold last value D301087 0308 - BL20 CANopen 4-209...
  • Page 282 BL20 - Communication in CANopen Object 5802 – Encoder Status Object 5802 supplies the following status messages: Direction forwards Direction backward Status DO2 Status DO1 Status DI Counting/measuring running Table 144: Feature Description Objects 5802 Name Encoder status Object code...
  • Page 283 The DO2 status bit indicates the status of digital output DO2. STS_DO1 The DO1 status bit indicates the status of digital output DO1. STS_DI The DI status bit indicates the status of digital input STS_GATE 1: Counting/measuring operation running. D301087 0308 - BL20 CANopen 4-211...
  • Page 284 BL20 - Communication in CANopen Object 5803 – Encoder Flags Object 5803 supplies the following status messages in count mode: Status zero crossing Status lower count limit Status upper count limit Status comparator 1 Status comparator 2 Status synchronization The following status messages are supplied in measurement mode:...
  • Page 285 011: Pulse if cnt. value = ref. value A comparison is executed. Otherwise STS_CMP2 simply indicates that the output is or was set. STS_CMP2 is also set if DO2 SET_DO2 = 1 when the output is not released. D301087 0308 - BL20 CANopen 4-213...
  • Page 286 BL20 - Communication in CANopen Table 147: Designation Description Meaning of the encoder flags STS_CMP1 Status comparator 1 This status bit indicates a comparison result for comparator 1 if: The output DO1 is released with CTRL_DO1 = 1 and via Function DO1: 001: On when cnt.
  • Page 287 I/O-Module Objects Object 5804 – Encoder Diag Object 5804 reads the diagnostics byte of the BL20 counter module. A short/open circuit and error are indicated when config- ured. Table 149: Feature Description Objects 5804 Name Encoder diag Object code ARRAY...
  • Page 288 BL20 - Communication in CANopen Meaning of the data bits in count mode: Tabelle 6: Diagnostics Meaning Meaning of the message data bits in count mode Short-/open circuit Short-/open circuit short-/open circuit Short-circuit sensor supply ERR_DO Bit 2: Parameter The following parameter errors are...
  • Page 289 100010 = Period duration measure- ment Measurement This message is always shown in mode conjunction with other diagnostics messages and indicates that measu- rement mode is active. This message never occurs in count mode. D301087 0308 - BL20 CANopen 4-217...
  • Page 290 BL20 - Communication in CANopen Meaning of the data bits in measurement mode: Table 150: Diagnostics Meaning Meaning of the message data bits in measurement mode Short-/open circuit Short-/open circuit short-/open circuit Short-circuit sensor supply ERR_DO Bit 2: Parameter This error signal refers to the param-...
  • Page 291 100001 = Revolutions measurement 100010 = Period duration measure- ment Measurement This message is always shown in mode conjunction with other diagnostics messages and indicates that messages refer to an active measure- ment mode. D301087 0308 - BL20 CANopen 4-219...
  • Page 292 BL20 - Communication in CANopen Object 5808 – Encoder Control The object 5808 has the following control functions: Release/set the digital outputs Start/stop counting/measuring Release synchronization Table 151: Feature Description Object 5808 Name Encoder control Object code ARRAY PDO-mapping Sub-index...
  • Page 293 CTRL_SYN Release synchronization 1: 0 A 1 (rising edge) at the physical DI input enables the counter value to be set (synchro- nized) once/periodically to the load value. Single-action/periodical is selected in object 5800 D301087 0308 - BL20 CANopen 4-221...
  • Page 294 BL20 - Communication in CANopen Table 152: Designation Description Meaning of the data bits SW_GATE 0 A 1: Counting/measuring is started (release). 1 A 0: Counting/measuring is stopped. The starting and stopping of the counting/ measuring operation with a data bit is called the "SW gate".
  • Page 295 Feature Description Table 153: Object 5810 Name Encoder Load Prepare Value Object code ARRAY PDO-mapping Sub-index Data type Unsigned8 Access Default value D301087 0308 - BL20 CANopen 4-223...
  • Page 296 Pulse on count value = Comp. value is set (see "Object 5801hex – Encoder Config") and the values are equal. Write accesses initiate a parameter update on the BL20 internal module bus. The parameter is stored retentively in the gateway and is restored with every node reset.
  • Page 297 The value range for the integration time can be set in 10 ms increments between 10 ms to 10000 ms. D301087 0308 - BL20 CANopen 4-225...
  • Page 298 1 to 1 000 periods. The number of periods is defined by the Integration time parameter. Write accesses initiate a parameter update on the BL20 internal module bus. The parameter is stored retentively in the gateway and is restored with every node reset.
  • Page 299 Permissible value range: 0 to 16777214 Write accesses initiate a parameter update on the BL20 internal module bus. The parameter is stored retentively in the gateway and is restored with every node reset.
  • Page 300 BL20 - Communication in CANopen Object 5822 - Measuring High Limit Object 5822 is used to set the upper measuring limit for the BL20 counter module. Permissible value range: 1 to 16777215 Write accesses initiate a parameter update on the BL20 internal module bus.
  • Page 301 Object 5823 is used to set the sensor pulses per revolution for the BL20 counter module. Write accesses initiate a parameter update on the BL20 internal module bus. The parameter is stored retentively in the gateway and is restored with every node reset.
  • Page 302 Note Object 6800 (corresponds to object 6000 in accordance with CiA DS406) has no meaning with BL20, and only exists because it is a "mandatory" object in accordance with DS406. Object 6810 – Load Value For Multi-Sensor Devices Object 6810...
  • Page 303 Table 160: Feature Description Object 6820 Name Position value for multi-sensor devices Object code ARRAY PDO-mapping Sub-index Data type Unsigned8 Access Default value Sub-index - 47 Data type Integer32 Access Default value D301087 0308 - BL20 CANopen 4-231...
  • Page 304 This range is limited by CAM1 Low Limit (object 6B10 ) and CAM1 High Limit (object 6B20 On the BL20 counter module the behaviour is only defined in accor- dance with CiA DS-406 by means of the appropriate configuration and operating mode selection:...
  • Page 305 I/O-Module Objects Table 161: Feature Description Objects 6B00 Name CAM State register Object code ARRAY PDO-mapping Sub-index Data type Unsigned8 Access Default value Sub-index - 47 Data type Unsigned8 Access Default value D301087 0308 - BL20 CANopen 4-233...
  • Page 306 BL20 - Communication in CANopen Structure of the data byte: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 STAT_ CAM1 X = reserved Table 162: Designation Description Meaning of the data bits...
  • Page 307 Feature Description Table 163: Object 6B01 Name CAM 1 Enable Register Object code ARRAY PDO-mapping Sub-index Data type Unsigned8 Access Default value Sub-index - 47 Data type Unsigned8 Access Default value D301087 0308 - BL20 CANopen 4-235...
  • Page 308 BL20 - Communication in CANopen Structure of the data byte: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 CAM1 X = reserved Table 164: Designation Description Meaning of the data bits EN_CAM1 0: The object 6B00 is blocked.
  • Page 309 1: The status message of the object 6B00 inverted. Object 6B10 – CAM1 Low Limit The object 6B10 corresponds to reference value2 of the BL20 counter module. The following comparisons can be configured (5801 Count value ≥ reference value2 Count value ≤ reference value2...
  • Page 310 Access Default value Object 6B20 – CAM1 High Limit The object 6B20 corresponds to reference value1 of the BL20 counter module. The following comparisons can be configured (5801 Count value ≥ reference value1 Count value ≤ reference value1 Count value = reference value1...
  • Page 311 I/O-Module Objects Table 168: Feature Description Object 6B20 Name CAM1 High Limit Object code ARRAY PDO-mapping Sub-index Data type Unsigned8 Access Default value Sub-index - 47 Data type Integer32 Access Default value 0000 D301087 0308 - BL20 CANopen 4-239...
  • Page 312 BL20 - Communication in CANopen Object 6B30 - CAM1 Hysteresis The object 6B30 (corresponds to object 6330 in accordance with CiA DS-406) defines a hysteresis value for reference value2 (CAM1 Low Limit - Object 6B10 ) and reference value1 (CAM1...
  • Page 313 Table 170: Feature Description Object 6C00 Name Area State Register Object code ARRAY PDO-mapping Sub-index Data type Unsigned8 Access Default value Sub-index - 47 Data type Unsigned8 Access Default value D301087 0308 - BL20 CANopen 4-241...
  • Page 314 BL20 - Communication in CANopen Structure of the data byte: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 STS_ STS_ UFLW OFLW X = reserved Table 171: Designation Description Meaning of the...
  • Page 315 Feature Description Table 172: Object 6C01 Name Work Area Low Limit Object code ARRAY PDO-mapping Sub-index Data type Unsigned8 Access Default value Sub-index - 47 Data type Unsigned32 Access Default value D301087 0308 - BL20 CANopen 4-243...
  • Page 316 BL20 - Communication in CANopen Object 6C02 - Work Area High Limit Object 6C02 (corresponds to object 6402 in accordance with CiA DS-406) defines the value for the upper count limit. In the event of an underflow, bit 1 in object 6C00 and bit 5 in object 5803 set.
  • Page 317 6502 in accordance with CiA DS-406) have no meaning for BL20 and only exist because they are mandatory objects in accor- dance with DS-406. With BL20 the objects are always set to 0. Object 6FFF - Device Type Object 6FFF...
  • Page 318 BL20 - Communication in CANopen Parameters of BL20-1CNT Table 175: Module/Parameter Object Sub- Byte Parameters of the Index BL20-1CNT Count mode – Operating mode Operating mode 5800 5 to 0 Release function Digital input DI Function DI 3 to 2...
  • Page 319 7 to 5 Signal evaluation (A,B) 1 to 0 Sensor/Input filter (A) Sensor/Input filter (B) Sensor/Input filter (DI) Sensor (A) 6 to 5 Direction input (B) Group diagnostics Behaviour CPU/Master 5 to 4 STOP D301087 0308 - BL20 CANopen 4-247...
  • Page 320 BL20 - Communication in CANopen Table 175: Module/Parameter Object Sub- Byte Parameters of the Index BL20-1CNT Measurement mode – Operating mode Operating mode 5800 5 to 0 Digital input DI Function DI 3 to 2 Measuring range limits Lower limit...
  • Page 321 Digital input DI Normal Inverted Function DI Input Hardware release (HW gate) Latch retrigger function when edge positive Synchronization when edge positive Synchronization Single-action Periodical Main count direction None Up counting Down counting default settings D301087 0308 - BL20 CANopen 4-249...
  • Page 322 BL20 - Communication in CANopen Module/Parameter Object Value Meaning – Count limits Lower count limit 6C01 0 to Lower counter limit for -2147483648 channel x Upper count limit 6C02 0 to Upper counter limit for 2147483647 channel x Hysteresis 6B30...
  • Page 323 25 ms (20 kHz) Sensor (A) Normal Inverted Direction input (B) Normal Inverted Group diagnostics Release Block Behaviour CPU/Master turn off DO1 STOP Proceed with operating mode Switch substitute value DO1 DO1 hold last value default settings D301087 0308 - BL20 CANopen 4-251...
  • Page 324 BL20 - Communication in CANopen Module/Parameter Object Value Meaning Measurement mode – Operating mode Operating mode 5800 10000 frequency measurement 10001 revolutions measurement 10010 period duration measure- ment Digital input DI Normal Inverted Function DI 5800 Input Hardware release (HW gate) –...
  • Page 325 2.5 ms (200 kHz) Sensor/Input filter (B) 25 ms (20 kHz) Sensor/Input filter (DI) 2.5 ms (200 kHz) 25 ms (20 kHz) Sensor (A) Normal Inverted Direction input (B) Normal Inverted Group diagnostics Release Block D301087 0308 - BL20 CANopen 4-253...
  • Page 326 BL20 - Communication in CANopen Module/Parameter Object Value Meaning Behaviour CPU/Master 5801 turn off DO1 STOP Proceed with operating mode Switch substitute value DO1 DO1 hold last value default settings 4-254 D301087 0308 - BL20 CANopen...

  • Page 327: Objects For Swire Modules

    4-123 6320 Write output 32 bit 4-126 Diagnostic data 3040 XBI Diag Byte 4-264ff. 3042 XBI Diag Word 3044 XBI Diag Dword 3045 XBI Diag Dword2 3046 XBI Diag Dword3 3047 XBI Diag Dword4 D301087 0308 - BL20 CANopen 4-255...
  • Page 328 BL20 - Communication in CANopen Parameter data 3060 XBI Param Byte 4-273ff. 3062 XBI Param Word 3064 XBI Param DWord 3065 XBI Param DWord2 3066 XBI Param DWord3 3067 XBI Param DWord4 3068 XBI Param DWord5 3069h XBI Param DWord6...

  • Page 329: Representation Of Process Input Data

    I/O-Module Objects Representation of process input data The process input data of the BL20-E-1SWIRE modules is repre- sented by objects 6000 , 6020 , 6021 , and 6022 , 6100 6120 for digital input channels of a BL20 station. The user can choose between 4 different formats for representing...
  • Page 330 Process input The field input data is transferred from the connected SWIRE-BUS to the BL20-E-1SWIRE module. The process input data is the data that is transferred by the BL20-E-1SWIRE module via a gateway to the PLC. The transfer is carried out in 8-byte format. 4 bits are reserved for each SWIRE slave.
  • Page 331 Contactor coil is switched Contactor coil is switched PKZSTx Switch status, PKZ x The motor-protective circuitbreaker is off or has tripped The motor-protective circuitbreaker is switched on D301087 0308 - BL20 CANopen 4-259...
  • Page 332 BL20 - Communication in CANopen Designa- Status Comment tion Communication error, slave x Setting the NDDIAG parameter copies the slave diagnostics message (input byte 1/bit 3) to the feed- back interface. The information is provided as status information in the PLC for the user.

  • Page 333: Representation Of Process Output Data

    The process output data of the BL20-E-1SWIRE modules is repre- sented by objects 6200hex, 6220hex, 6221hex, and 6222hex, 6300hex or 6320hex for digital output channels of a BL20 station. The user can choose between 4 different formats for representing the values:...
  • Page 334 BL20 - Communication in CANopen Process output Field output data is output from an BL20-E-1SWIRE module to a field device. The process output data is the data that is transferred by the PLC via a gateway to the BL20-E-1SWIRE module. The transfer is carried out in 8-byte format.
  • Page 335 Relay x relay x SOx is transferred as the switch status of the contactor coil from the SWIRE bus master to the appropriate SWIRE bus slave. Contactor not switched on Contactor is switched on D301087 0308 - BL20 CANopen 4-263...
  • Page 336 BL20 - Communication in CANopen Representation of diagnostics data The 8 bytes of diagnostics data for the BL20-E-1SWIRE module are represented by the manufacturer specific objects of the CANopen gateway. The following manufacturer specific objects for representing the diagnostics data are used: 3040hex, “XBI Diag Byte”, ARRAY, Unsigned8...
  • Page 337 3044 and 3045 The sub-index of the objects must correspond to the slot of the module in the BL20 slave. The structure of the diagnostics data of the BL20-1SWIRE module is described in the following: Bit 7 Bit 6...
  • Page 338 BL20 - Communication in CANopen The following table shows the meanign of the diagnostic bits: Byte Design. Status Comment Byte 1 SWIRE MASTER The configuration was accepted according to the parameter setting and the SWIRE bus is in data exchange mode.
  • Page 339 PKZ of a slave has tripped. No PKZ has tripped or diagnostics function has been deactivated via the parameter setting. tripping At least one PKZ has tripped. D301087 0308 - BL20 CANopen 4-267...
  • Page 340 BL20 - Communication in CANopen Byte Design. Status Comment Byte 2 Configuration A parameter is set for group diagnostics, this bit If the TYPE indicates an error as soon as the ACTUAL configuration of a slave does not match the SET configuration for this position.
  • Page 341 Sx is triggered. No error is present or diagnostics function has been deactivated via the parameter setting. Offline A diagnostics message is present. D301087 0308 - BL20 CANopen 4-269...
  • Page 342 BL20 - Communication in CANopen Byte Design. Status Comment Byte 7,8 PKZ Overcurrent protective circuit-breaker, slave x Info field for the individual indication of the tripping a motor- protective circuit-breaker (PKZ) as error message. If the A is set for single diagnostics, this bit field indicates the INFO error as soon as the PKZ of the slave Sx has tripped.
  • Page 343 Object 3044hex - XBI Diag Dword The object XBI Diag Dword reads the first Diag-Dword (Bytes 0...3) of a module on the BL20 module bus. The sub-index 1 to 74 corre- sponds to the module number of the BL20 module.
  • Page 344 Object 3045hex - XBI Diag Dword2 The object XBI Diag Dword2 reads the second Diag-Dword (Bytes 4...7) of a module on the BL20module bus. The sub-index 1 to 74 corresponds to the module number of the BL20 module. Table 180: Feature...
  • Page 345 I/O-Module Objects Representation of parameter data The 24 bytes of parameter data for the BL20-E-1SWIRE module are represented by the manufacturerspecific objects of the CANopen gateway.The following manufacturer specific objects for repre- senting the parameter data are used: 3060hex, “XBI Param Byte”, ARRAY, Unsigned8 3062hex, “XBI Param Word”, ARRAY, Unsigned16...
  • Page 346 BL20 - Communication in CANopen The following table shows the assignment of the parameter data bytes of the BL20-E-1SWIRE module to the manufacturer specific objects: Byte no. Parameter bytes 1 to 8 of BL20-E-SWIRE Object no. 3064 3065 in (hex)
  • Page 347 I/O-Module Objects The structure of the parameter data of the BL20-1SWIRE module is described in the following: Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Byte 1 reserved free free free Confi-...
  • Page 348 BL20 - Communication in CANopen The following table shows the meaning of the parameter bits: Byte Design. Status Comment Byte 1 Disable Automatic SWIRE configuration Disabling of the acceptance of the physically present configu- ration as ACTUAL configuration on manual pushbutton actua- tion.
  • Page 349 Sx. As soon as only one slave on the bus sets its error bit, this is indicated as a group error depending on the parameter setting. Inactive Group diagnostics is activated Active Group diagnostics is not activated D301087 0308 - BL20 CANopen 4-277...
  • Page 350 BL20 - Communication in CANopen Byte Design. Status Comment Byte 2 PKZ error field INFO Sx. As soon as a Activate slave diagnostics info field PKZ slave on the bus clears its PKZ bit, this is indicated as an indi- vidual error depending on the parameter setting.
  • Page 351 Sx Input bit communication error, slave x DIAG Slave diagnostics message from Byte 1 / Bit 7 is accepted in the feedback interface as Bit4 Inactive Sx is accepted DIAG Active Sx is not accepted DIAG D301087 0308 - BL20 CANopen 4-279...
  • Page 352 BL20 - Communication in CANopen Byte Design. Status Comment Byte Device TYPE setting for the LIN slave at position x on the SWIRE bus 9-24 0x20 SWIRE-DIL-MTB (: 0xFF) slave x 0xFF Basic setting (no slave) Byte 3,4 TYP Device configuration, slave x Info field for the individual indication of a configuration error as error message.
  • Page 353 Object 3064hex - XBI Param Dword The object XBI Param Dword reads the first Param-Dword (Byte 0...3) of a module on the BL20module bus. The sub-index 1 to 74 corresponds to the module number of the BL20 module. Table 181: Feature...
  • Page 354 Object 3065hex - XBI Param Dword2 The object XBI Param Dword2 reads the second Param-Dword (Byte 4...7) of a module on the BL20module bus. The sub-index 1 to 74 corresponds to the module number of the BL20 module. Table 182: Feature...
  • Page 355 Object 3067hex - XBI Param Dword4 The object XBI Param Dword4 reads the fourth Param-Dword (Byte 12...15) of a module on the BL20module bus. The sub-index 1 to 74 corresponds to the module number of the BL20 module. Table 184: Feature...
  • Page 356 Object 3069hex - XBI Param Dword6 The object XBI Param Dword reads the sixth Param-Dword (Byte 20…...24) of a module on theBL20 module bus. The sub-index 1 to 74 corresponds to the module number of the BL20 module. Feature Description...

  • Page 357: Diagnostics - Emergency Frames

    General ....................2 Structure of the Emergency Frames..........3 Error Register ....................4 – Additional information ................4 Gateway-Diagnostics ................. 5 I/O-Module Diagnostics ..............8 Digital Input Modules ..................8 Digital Output Modules................11 Analog Input Modules ................11 Technology Modules .................14 D301087 0308 - BL20 CANopen...

  • Page 358: General

    Diagnostics - Emergency Frames General The gateway sends out the following diagnostic information: the state of the BL20 station, the communication through the internal modules bus, the communication with CANopen, the state of the gateway itself. Diagnostics messages are indicated in two different ways: through the individual LEDs, see page 3-27 ff.

  • Page 359: Structure Of The Emergency Frames

    Structure of the Emergency Frames Structure of the Emergency Frames BL20 CANopen supports Emergency Frames (EMCY) as standard- ized in CiA DS-301. The COB-IDs for the EMCY telegrams are defined by the Predefined Master-Slave Connection Set: COB-ID = 129 - 1 + Node-ID In the event of a communication error, not only the Emergency Error Code but also the Error register (see "Object 1001...

  • Page 360: Error Register

    Bit 5 Device-profile-specific error Bit 6 reserved Bit 7 Manufacturer-specific error Additional information Table 188: Content Meaning Content of Byte 3 to 7 of Emergency Frame Guard Fail Warning Level Reached Transmit-Time-Out Bus-off D301087 0308 - BL20 CANopen...

  • Page 361: Gateway-Diagnostics

    I/O module list module removed CAN-Warning- 8100 Communication CAN communica- Level reached tion faulty (at least one of the error counters for the CAN controller of the BL20-CANopen gateway has reached the value D301087 0308 - BL20 CANopen...
  • Page 362 I/O-Assistant 9009 External Error Force Mode is Force Mode active active, i.e. the outputs of the BL20 station are not under the control of CANopen at the moment. D301087 0308 - BL20 CANopen...

  • Page 363: I/O-Module Diagnostics

    I/O-Module Diagnostics I/O-Module Diagnostics Digital Input Modules The digital input modules BL20-4DI-NAMUR with diagnosis function have supplementary diagnostics which can not be sent via detailed error codes. In case of an error occurring at one of these modules, the gateway sends an error frame specifying the module- and channel-number of the respective module as well as a common error classification.
  • Page 364 Object 3042 - XBI Diag Word This object reads the first diagnosis word (byte 0 and byte 1) of a BL20 module within the station. Attention The sub-index corresponds to the slot number of the respective module in a station.
  • Page 365 BL20-4DI- NAMUR short circuit sensor 1 open circuit sensor 1 short circuit sensor 2 open circuit sensor 2 short circuit sensor 3 open circuit sensor 3 short circuit sensor 4 open circuit sensor 4 D301087 0308 - BL20 CANopen...

  • Page 366: Digital Output Modules

    Module Channel number range: (current error) number The current is outside of the permissible range Note For the exact byte assignment of the Emergency frame, please see "Structure of the Emergency Frames", page 5-3. 5-10 D301087 0308 - BL20 CANopen...

  • Page 367: Analog Input Modules

    A The threshold for this error message is 1% over the upper measuring range value or 1 % below the lower measuring range value. Note For the exact byte assignment of the Emergency frame, please see "Structure of the Emergency Frames", page 5-3. D301087 0308 - BL20 CANopen 5-11...
  • Page 368 Module Channel number The input (voltage error) number voltage is outside of the permissible range. Note For the exact byte assignment of the Emergency frame, please see "Structure of the Emergency Frames", page 5-3. 5-12 D301087 0308 - BL20 CANopen...
  • Page 369 Module Channel number range: (current error) number The current is outside of the permissible range Note For the exact byte assignment of the Emergency frame, please see "Structure of the Emergency Frames", page 5-3. D301087 0308 - BL20 CANopen 5-13...
  • Page 370 Channel number Open circuit or (voltage error) number input voltage is outside of the permissible range. Note For the exact byte assignment of the Emergency frame, please see "Structure of the Emergency Frames", page 5-3. 5-14 D301087 0308 - BL20 CANopen...
  • Page 371 AThe threshold for this error message is 1% over the upper measuring range value or 1 % below the lower measuring range value. Note For the exact byte assignment of the Emergency frame, please see "Structure of the Emergency Frames", page 5-3. D301087 0308 - BL20 CANopen 5-15...

  • Page 372: Technology Modules

    For the exact byte assignment of the Emergency frame, please see "Structure of the Emergency Frames", page 5-3. Note For the process data image and the diagnostic data of the modules please refer to page 4-163ff. 5-16 D301087 0308 - BL20 CANopen...
  • Page 373 Channel SSI diag number number SSI error (always = 1) Overflow error Underflow error Parameter error Note For the process data image and the diagnostic data of the modules please refer to page 4-176ff. D301087 0308 - BL20 CANopen 5-17...
  • Page 374 2330 Bit 1 = 1 Module Channel number range: (current error) number The current is outside of the permissible range Note For the process data image of the modules please refer to page 4-199ff. 5-18 D301087 0308 - BL20 CANopen...
  • Page 375 SWIRE module, which is the result of the bit OR-opera- tion of the module diagnositc bytes (see page 4-264ff). Note For the process data image and the diagnostic data of the modules please refer to page 4-255ff. D301087 0308 - BL20 CANopen 5-19...
  • Page 376 Diagnostics - Emergency Frames 5-20 D301087 0308 - BL20 CANopen...

  • Page 377: Guidelines For Station Planning

    Creating Potential Groups .................10 Protecting the Service Interface on the Gateway........11 C-Rail (Cross Connection).................12 Direct Wiring of Relay Modules ..............14 Plugging and Pulling Electronics Modules ........15 Extending an Existing Station ............16 Firmware Download ................. 17 D301087 0308 - BL20 CANopen...

  • Page 378: Random Module Arrangement

    BL20 modules. Maximum System Extension A BL20 station can consist of a gateway and a maximum of 74 modules in slice design (equivalent to 1 m in length of mounting rail including the end bracket and end plate). The maximum number of modules is less when using block modules (1 block module is equiv- alent to 8 modules in slice design).
  • Page 379 Analog inputs, BL20-2AI-U(-10/0...+10VDC) modules voltage Analog inputs, BL20-4AI-U/I voltage/current Analog inputs, BL20-2AI-PT/NI-2/3 PT /Ni Analog inputs, BL20-2AI-THERMO-PI Thermocouple Analog outputs, BL20-2AO-I(0/4...20MA) current Analog inputs, BL20-2AO-U(-10/0...+10VDC) voltage Counter BL20-1CNT-24VDC RS232 BL20-1RS232 RS485/422 BL20-1RS232 BL20-1SSI SWIRE BL20-E-1SWIRE D301087 0308 - BL20 CANopen...
  • Page 380 Guidelines for Station Planning Further limitations can be placed on the maximum possible number of BL20 modules by the use of the Power Feeding modules BL20- PF-24VDC-D or BL20-PF-120/230VAC-D; these being used either for creating potential groups or by insufficient field supply.

  • Page 381: Power Supply

    SBBC base module with tension clamp or screw connection. Module Bus Refreshing The number of BL20 modules that can be supplied by the gateway or a separate Bus Refreshing module via the internal module bus depends on the respective nominal current consumption of the indi- vidual modules on the module bus.
  • Page 382 Maximum permissible current via module bus: 1 500 mA The calculation shows that an additional/further Bus Refreshing module is required at the latest following the last BL20-2AO module. This Bus Refreshing module is sufficient to supply the remaining modules. Note The power requirements of the BL20 gateway is to be considered when calculating the required number of Bus Refreshing modules.
  • Page 383 Power Supply The following table offers an overview of the nominal current consumption of the individual BL20 modules on the module bus: Module Supply Nominal current Table 193: Nominal current consumption consumption of the BL20 modules ≤ 430 mA Gateway...
  • Page 384 140 mA BL20-1RS485/422 60 mA BL20-1SSI 50 mA BL20-2RFID 30 mA BL20-E-1SWIRE 60 mA If the power supply from the module bus is not guaranteed, thereby making a further Bus Refreshing module necessary, the software D301087 0308 - BL20 CANopen...
  • Page 385 “Station → Verify“. Note Bus Refreshing modules which do not supply the gateway with power are to be combined with either a BL20-P3T-SBB-B or a BL20-P4T-SBBC-B (tension clamp connection) base module or with the base modules BL20-P3S-SBB-B or BL20-P4S-SBBC-B (screw connection).
  • Page 386 Refreshing module. All Bus Refreshing modules are connected to one another via the same ground potential. The power to the module bus is supplied via the connections 11 and 21 on the base module. 6-10 D301087 0308 - BL20 CANopen...

  • Page 387: Creating Potential Groups

    BL20-GWBR- CANOPEN System supply CAN_H Shield CAN_L Field supply 2L+ 2L- Potential group 1 Potential group 2 Note The system can be supplied with power independent of the potential group formation described above. D301087 0308 - BL20 CANopen 6-11...

  • Page 388: Protecting The Service Interface On The Gateway

    120/230 V AC field supply in a joint potential group. Protecting the Service Interface on the Gateway During operation, the cover protecting the service interface and the rotary coding-switches must remain closed due to EMC and ESD. 6-12 D301087 0308 - BL20 CANopen...

  • Page 389: C-Rail (Cross Connection)

    Access to the C-rail is possible with the help of base modules with a C in their designation (for example, BL20-S4T-SBCS). The corre- sponding connection level is indicated on these modules by a thick black line.
  • Page 390 PE terminal, which is available as an accessory. Note For information about introducing a BL20 station into a ground ref- erence system, please read chapter 7. Figure 11:...

  • Page 391: Direct Wiring Of Relay Modules

    Direct Wiring of Relay Modules As well as the options mentioned above, relay modules can be wired directly. In this case, base modules without C-rail connections should be chosen to guarantee the potential isolation to the adjoining modules. D301087 0308 - BL20 CANopen 6-15...

  • Page 392: Plugging And Pulling Electronics Modules

    If the field and system supplies remain connected when electronics modules are plugged or pulled, short interruptions to the module bus communications can occur in the BL20 station. This can lead to undefined statuses of individual inputs and outputs of different modules.

  • Page 393: Extending An Existing Station

    Once alterations have been made to the order of the modules on the BL20 station, the new configuration must be saved to the ”actual configuration memory” of the BL20 gateway. This is done by either...

  • Page 394: Firmware Download

    I/O-ASSISTANT. More information is available in the program’s online help. Attention The station should be disconnected from the fieldbus when down- loading. Firmware must be downloaded by authorized personnel only. The field level must be isolated. 6-18 D301087 0308 - BL20 CANopen...

  • Page 395: Guidelines For Electrical Installation

    – Protect against high frequency interference signals .......9 Mounting Rails.....................9 EMC Compliant Cabinet Installation ............10 Shielding of cables ................11 Potential Compensation ..............13 Switching Inductive Loads ................15 Protection against Electrostatic Discharge (ESD) ........15 Bus Connection ................16 Two-Pole Shield Connection............17 D301087 0308 - BL20 CANopen...

  • Page 396: General Notes

    AC voltage > 25 V and ≤ 400 V Group 3: unshielded cables for DC and AC voltages > 400 V The following group combination can be routed only in separate bundles or separate cable ducts (no minimum distance apart): Group 1/Group 2 D301087 0308 - BL20 CANopen...

  • Page 397: Lightning Protection

    Transmission Cables The slaves on the bus are connected to one another with fieldbus lines that correspond to the DeviceNet specification (ODVA Spec. Rel. V2.0). D301087 0308 - BL20 CANopen...

  • Page 398: Cable Types

    Representation of a bus cable terminating terminating resistor resistor Station 0 Station x Station 63 Cable Types TURCK offers a variety of premoulded bus cables - please refer to the BL20-catalog (TURCK documentation number: D300418). D301087 0308 - BL20 CANopen...

  • Page 399: Potential Relationships

    I/O modules), are connected capacitively via base modules to the mounting rails. Separate power supplies for the system and the field level allow a potential-free installation. The block diagram shows the arrangement of a typical BL20 station. Gateway Bus Refreshing I/O module...

  • Page 400: Potential-Free Installation

    BL20-PF-120/230VAC-D) Floating DC load circuits The potential-free installation does not depend on the method of grounding. Non-isolated Installation In a non-isolated installation, the reference potentials of the control and load circuitry are galvanically connected. D301087 0308 - BL20 CANopen...

  • Page 401: Electromagnetic Compatibility (Emc)

    Ensuring Electromagnetic Compatibility The EMC of BL20 modules is guaranteed when the following basic rules are adhered to: Correct and large surface grounding of inactive metal compo- nents.

  • Page 402: Pe Connection

    For this reason, always protect the ground potential with a protective cable. PE Connection A central connection must be established between ground and PE connection (protective earth). Earth-Free Operation Observe all relevant safety regulations when operating an earthfree system. D301087 0308 - BL20 CANopen...

  • Page 403: Mounting Rails

    In order to comply with radiation limit values in accordance with EN 55 011/2 000, the supply lines of the power distribution module BL20-BR-24VDC-D for supplying the gateway with power are to be fed through a ferrite ring (BL20PS416-ZBX-405). This is to be placed immediately next to the connection terminals.

  • Page 404: Emc Compliant Cabinet Installation

    Guidelines for Electrical Installation EMC Compliant Cabinet Installation Figure 15: EMC compliant cabinet installa- tion 7-10 D301087 0308 - BL20 CANopen...

  • Page 405: Shielding Of Cables

    20 cm apart) and be connected to a reference potential area. The cable shield should not be severed, but routed further within the system (for example, to the switchgear cabinet), right up to the inter- face connection. D301087 0308 - BL20 CANopen 7-11...
  • Page 406 A further possibility is a double-shielded cable (galvanically separat- ed), whereby the innermost shield is connected on one side and the outermost shield is connected on both sides. 7-12 D301087 0308 - BL20 CANopen...

  • Page 407: Potential Compensation

    Warning Never use the shield as a potential compensation. Connection 1 Connection 2 CAN_H 0 --------- 0 CAN_H CAN_L 0 --------- 0 CAN_L 0 --------- 0 Shield Potential compensation cable Reference potential Reference potential D301087 0308 - BL20 CANopen 7-13...
  • Page 408 Compensation cables and data cables should be routed as close together as possible, meaning the enclosed area should be kept as small as possible. Figure 16: Potential com- pensation be- tween switchgear cabinets Potential compensation 7-14 D301087 0308 - BL20 CANopen...

  • Page 409: Switching Inductive Loads

    Protection against Electrostatic Discharge (ESD) Attention Electronic modules and base modules are at risk from electrostatic discharge when disassembled. Avoid touching the bus connections with bare fingers as this can lead to ESD damage. D301087 0308 - BL20 CANopen 7-15...

  • Page 410: Bus Connection

    Guidelines for Electrical Installation Bus Connection An Open Style Connector (5-pole) is available for connecting the BL20-GWBR-CANopen to the CANopen fieldbus. The shield connection is made via the shielding braid of the cable. For detailed information about the bus connection of the gateway please refer to Chapter 3, Section „Connections of the data cables...

  • Page 411: Two-Pole Shield Connection

    The 2-pole shield connection can be used to connect signal-cable shielding to the base modules of analog input and output modules. A special tension-clamp operating tool (BL20-ZBW5-2) is required to mount the shield connection onto the base module. Figure 17:...
  • Page 412 Guidelines for Electrical Installation 7-18 D301087 0308 - BL20 CANopen...

  • Page 413: Bl20-Approvals For Zone 2/ Division

    BL20-Approvals for Zone 2/ Division 2 Certified BL20-Components .............. 2 Certificates for Europe ..............4 Type Examination Certificate ..............4 ATEX IEC Rev.1.doc..................10 Declaration of Conformity/ Konformitätserklärung........11 Zertifikate für Europa ..............12 Baumusterprüfbescheinigung ..............12 ATEX IEC Rev.1.doc..................18 Declaration of Conformity/Konformitätserklärung........19 Certificates IECEx ................20 IECEx Certificate of Conformity ..............20...

  • Page 414: Certified Bl20-Components

    BL20-Approvals for Zone 2/ Division 2 Certified BL20-Components Attention Only the BL20-components listed in the following are approved for the usage in Zone 2/ Division 2! Gateways BL20-GWBR-PBDP BL20-GWBR-DNET BL20-GWBR-CANOPEN BL20-GW-DPV1 BL20-GW-EN BL20-GW-EN-IP BL20-PG-EN-IP BL20-PG-EN Digital input modules BL20-2DI-24VDC-P BL20-2DI-24VDC-N...
  • Page 415 Digital output modules BL20-2DO-24VDC-0,5A-P BL20-2DO-24VDC-0,5A-N BL20-2DO-24VDC-2A-P BL20-4DO-24VDC-0,5A-P BL20-16DO-24VDC-0,5A-P BL20-32DO-24VDC-0,5A-P BL20-E-8DO-24VDC-0,5A-P BL20-E-16DO-24VDC-0,5A-P Analog output modules BL20-2AO-I(0/4...20MA) BL20-2AO-U(-10/0...+10VDC) Relay modules BL20-2DO-R-NC BL20-2DO-R-NO BL20-2DO-R-CO Technology modules BL20-1CNT-24VDC BL20-1RS232 BL20-1RS485/422 BL20-1SSI Power supply modules BL20-BR-24VDC-D BL20-PF-24VDC-D RFID modules BL20-2RFID-A BL20-2RFID-C D301087 0308 - BL20 CANopen...

  • Page 416: Certificates For Europe

    BL20-Approvals for Zone 2/ Division 2 Certificates for Europe Type Examination Certificate D301087 0308 - BL20 CANopen...
  • Page 417 Certificates for Europe D301087 0308 - BL20 CANopen...
  • Page 418 BL20-Approvals for Zone 2/ Division 2 D301087 0308 - BL20 CANopen...
  • Page 419 Certificates for Europe D301087 0308 - BL20 CANopen...
  • Page 420 BL20-Approvals for Zone 2/ Division 2 D301087 0308 - BL20 CANopen...
  • Page 421 Certificates for Europe D301087 0308 - BL20 CANopen...

  • Page 422: Atex Iec Rev.1.Doc

    BL20-Approvals for Zone 2/ Division 2 ATEX IEC Rev.1.doc 8-10 D301087 0308 - BL20 CANopen...

  • Page 423: Declaration Of Conformity/ Konformitätserklärung

    Certificates for Europe Declaration of Conformity/ Konformitätserklärung D301087 0308 - BL20 CANopen 8-11...

  • Page 424: Zertifikate Für Europa

    BL20-Approvals for Zone 2/ Division 2 Zertifikate für Europa Baumusterprüfbescheinigung 8-12 D301087 0308 - BL20 CANopen...
  • Page 425 Zertifikate für Europa D301087 0308 - BL20 CANopen 8-13...
  • Page 426 BL20-Approvals for Zone 2/ Division 2 8-14 D301087 0308 - BL20 CANopen...
  • Page 427 Zertifikate für Europa D301087 0308 - BL20 CANopen 8-15...
  • Page 428 BL20-Approvals for Zone 2/ Division 2 8-16 D301087 0308 - BL20 CANopen...
  • Page 429 Zertifikate für Europa D301087 0308 - BL20 CANopen 8-17...

  • Page 430: Atex Iec Rev.1.Doc

    BL20-Approvals for Zone 2/ Division 2 ATEX IEC Rev.1.doc 8-18 D301087 0308 - BL20 CANopen...

  • Page 431: Declaration Of Conformity/Konformitätserklärung

    Zertifikate für Europa Declaration of Conformity/Konformitätserklärung D301087 0308 - BL20 CANopen 8-19...

  • Page 432: Certificates Iecex

    BL20-Approvals for Zone 2/ Division 2 Certificates IECEx IECEx Certificate of Conformity 8-20 D301087 0308 - BL20 CANopen...
  • Page 433 Certificates IECEx D301087 0308 - BL20 CANopen 8-21...
  • Page 434 BL20-Approvals for Zone 2/ Division 2 8-22 D301087 0308 - BL20 CANopen...
  • Page 435 Certificates IECEx D301087 0308 - BL20 CANopen 8-23...
  • Page 436 BL20-Approvals for Zone 2/ Division 2 8-24 D301087 0308 - BL20 CANopen...

  • Page 437: Atex Iec Rev.1.Doc

    Certificates IECEx ATEX IEC Rev.1.doc D301087 0308 - BL20 CANopen 8-25...

  • Page 438: Certificates For The Usa

    BL20-Approvals for Zone 2/ Division 2 Certificates for the USA Certificate Of Compliance 8-26 D301087 0308 - BL20 CANopen...
  • Page 439 Certificates for the USA D301087 0308 - BL20 CANopen 8-27...
  • Page 440 BL20-Approvals for Zone 2/ Division 2 8-28 D301087 0308 - BL20 CANopen...
  • Page 441 Certificates for the USA D301087 0308 - BL20 CANopen 8-29...

  • Page 442: Installation Drawings

    BL20-Approvals for Zone 2/ Division 2 Installation Drawings 8-30 D301087 0308 - BL20 CANopen...
  • Page 443 Certificates for the USA D301087 0308 - BL20 CANopen 8-31...

  • Page 444: Certificates For Canada

    BL20-Approvals for Zone 2/ Division 2 Certificates for Canada Certificate Of Compliance 8-32 D301087 0308 - BL20 CANopen...
  • Page 445 Certificates for Canada D301087 0308 - BL20 CANopen 8-33...
  • Page 446 BL20-Approvals for Zone 2/ Division 2 8-34 D301087 0308 - BL20 CANopen...
  • Page 447 Certificates for Canada D301087 0308 - BL20 CANopen 8-35...

  • Page 448: Installation Drawings

    BL20-Approvals for Zone 2/ Division 2 Installation Drawings 8-36 D301087 0308 - BL20 CANopen...
  • Page 449 Certificates for Canada D301087 0308 - BL20 CANopen 8-37...
  • Page 450 BL20-Approvals for Zone 2/ Division 2 8-38 D301087 0308 - BL20 CANopen...

  • Page 451: Glossary

    Baud is a measure for the transmission speed of data. 1 Baud corresponds to the transmission of one bit per second (Bit/s). Baud rate Unit of measurement for data transmission speeds in Bit/s. Bidirectional Working in both directions. D301087 0308 - BL20 CANopen...
  • Page 452 Class are identical in form and behavior, they can though contain different attributes. Communication Object, which is made of one or more CAN frames. Any infor- mation transmitted via CANopen has to be mapped into COBs (Source: CiA DS 401 V2.1). D301087 0308 - BL20 CANopen...
  • Page 453 They simplify the planning of the DeviceNet nodes. Electronic Industries Association – association of electrical companies in the United States. Electrical components All objects that produce, convert, transmit, distribute or utilize electrical power (e. g. conductors, cable, machines, control devices). D301087 0308 - BL20 CANopen...
  • Page 454 One or more components that have a good and direct contact to earth. Ground reference Potential of ground in a neutral grounding device. Unlike earth whose potential is always zero, it may have a potential other than zero. D301087 0308 - BL20 CANopen...
  • Page 455 An Instance is defined as being an Object that is actually set up in a device. Load value Predefined value for the counter module with which the count process begins. Lightning protection All measures taken to protect a system from damage due to overvoltages caused by lightning strike. D301087 0308 - BL20 CANopen...
  • Page 456 All interconnected inactive components that do not take on a dangerous touch potential in the case of a fault. Module bus The module bus is the internal bus in a BL20 station. The BL20 modules communicate with the gateway via the module bus which is independent of the fieldbus.
  • Page 457 It is the time required by an input module to change a signal at its input until the signal is sent to the bus system. see Chapter 2 "Short description of CANopen", Page 2-4. D301087 0308 - BL20 CANopen...
  • Page 458 Glossary D301087 0308 - BL20 CANopen...

  • Page 459: Index

    Node-ID ......3-24, 4-10 Node-ID setting ......3-24 earth-free operation ....... 7-8 electromagnetic compatibility ..7-7 electronic modules ......1-7 Object Dictionary ......4-35 electrostatic discharge ....7-15 objects EMC ..........7-7 – analog inputs ......4-137 D301087 0308 - BL20 CANopen 10-1...
  • Page 460 – SSI modules ......4-176 – SWIRE modules ..... 4-255 parameter assignment ....3-2 Parameterization ......4-16 PDOs – BL20 specific ......4-28 PE connection ....... 7-8 planning ......... 6-2 potential relationships ....7-5 potential-compensation cable ..7-13 power distribution ......1-6 power supply .........
  • Page 461 Hans Turck GmbH & Co. KG 45472 Mülheim an der Ruhr Germany Witzlebenstraße 7 Tel. +49 (0) 208 4952-0 Fax +49 (0) 208 4952-264 E-Mail more@turck.com Internet www.turck.com D301087 0308 *D300782ßß0704* Subject to change without notice...

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