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VIPA System 200V Manual

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VIPA System 200V
IM | Manual
HB97E_IM | RE_253-1CAxx | Rev. 14/21
May 2014

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  • Page 1 VIPA System 200V IM | Manual HB97E_IM | RE_253-1CAxx | Rev. 14/21 May 2014...
  • Page 2 Copyright © VIPA GmbH. All Rights Reserved. This document contains proprietary information of VIPA and is not to be disclosed or used except in accordance with applicable agreements. This material is protected by the copyright laws. It may not be reproduced, distributed, or altered in any fashion by any entity (either internal or external to VIPA), except in accordance with applicable agreements, contracts or licensing, without the express written consent of VIPA and the business management owner of the material.

  • Page 3: Table Of Contents

    Manual VIPA System 200V Contents Contents About this manual ..................1 Safety information ..................2 Chapter 1 Basics and Assembly ............. 1-1 Safety Information for Users..............1-2 System conception ................1-3 Dimensions ..................1-5 Installation .................... 1-7 Demounting and module exchange ............ 1-11 Wiring....................
  • Page 4 Contents Manual VIPA System 200V HB97E - IM - RE_253-1CAxx - Rev. 14/21...

  • Page 5: About This Manual

    Overview Chapter 1: Basics and Assembly The focus of this chapter is on the introduction of the VIPA System 200V. Here you will find the information required to assemble and wire a controller system consisting of System 200V components. Besides the dimensions the general technical data of System 200V will be found.
  • Page 6 About this manual Manual VIPA System 200V Objective and This manual describes the System 200V CANopen slave modules IM 253- 1CAxx from VIPA. It contains a description of the construction, project contents implementation and usage. This manual is part of the documentation package with order number...

  • Page 7: Safety Information

    Safety information Safety information The IM 253CAN is constructed and produced for: Applications conforming with • all VIPA System 200V components specifications • communication and process control • general control and automation applications • industrial applications • operation within the environmental conditions specified in the technical data •...
  • Page 8 Safety information Manual VIPA System 200V HB97E - IM - RE_253-1CAxx - Rev. 14/21...

  • Page 9: Chapter 1 Basics And Assembly

    Chapter 1 Basics and Assembly Overview The focus of this chapter is on the introduction of the VIPA System 200V. Here you will find the information required to assemble and wire a controller system consisting of System 200V components. Besides the dimensions the general technical data of System 200V will be found.

  • Page 10: Safety Information For Users

    Chapter 1 Basics and Assembly Manual VIPA System 200V Safety Information for Users Handling of VIPA modules make use of highly integrated components in MOS- electrostatic Technology. These components are extremely sensitive to over-voltages sensitive modules that can occur during electrostatic discharges.

  • Page 11: System Conception

    Chapter 1 Basics and Assembly System conception Overview The System 200V is a modular automation system for assembly on a 35mm profile rail. By means of the peripheral modules with 4, 8 and 16 channels this system may properly be adapted matching to your automation tasks.
  • Page 12 Chapter 1 Basics and Assembly Manual VIPA System 200V Power supplies With the System 200V the DC 24V power supply can take place either externally or via a particularly for this developed power PS 207/2 supply. The power supply may be mounted on the...

  • Page 13: Dimensions

    Manual VIPA System 200V Chapter 1 Basics and Assembly Dimensions Dimensions 1tier width (HxWxD) in mm: 76 x 25.4 x 74 Basic enclosure 2tier width (HxWxD) in mm: 76 x 50.8 x 74 Installation dimensions Installed and wired dimensions In- / Output...
  • Page 14 Chapter 1 Basics and Assembly Manual VIPA System 200V Function modules/ 89 mm 88 mm Extension modules 85 mm 84,46 mm 11 mm 4,66 mm CPUs (here with 91 mm 89 mm EasyConn from 85 mm VIPA) 11 mm 5 mm...

  • Page 15: Installation

    Bus connector System 200V modules communicate via a backplane bus connector. The backplane bus connector is isolated and available from VIPA in of 1-, 2-, 4- or 8tier width. The following figure shows a 1tier connector and a 4tier connector bus: The bus connector is to be placed on the profile rail until it clips in its place and the bus connections look out from the profile rail.
  • Page 16 • Sort the modules with a high current consumption right beside the head consumption module. In the service area of www.vipa.com a list of current consumption of every System 200V module can be found. HB97E - IM - RE_253-1CAxx - Rev. 14/21...
  • Page 17 Manual VIPA System 200V Chapter 1 Basics and Assembly Assembly possibilities hoizontal assembly vertical Please regard the allowed environmental temperatures: assembly • horizontal assembly: from 0 to 60°C • vertical assembly: from 0 to 40°C • lying assembly: from 0 to 40°C...
  • Page 18 Chapter 1 Basics and Assembly Manual VIPA System 200V Assembly procedure • Install the profile rail. Make sure that a clearance of at least 60mm exists above and 80mm below the middle of the profile rail. • Press the bus connector into the profile rail until it clips securely into place and the bus-connectors look out from the profile rail.

  • Page 19: Demounting And Module Exchange

    Manual VIPA System 200V Chapter 1 Basics and Assembly Demounting and module exchange • Remove if exists the wiring to the module, by pressing both locking lever on the connector and pulling the connector. • The casing of the module has a spring loaded clip at the bottom by which the module can be removed.

  • Page 20: Wiring

    Chapter 1 Basics and Assembly Manual VIPA System 200V Wiring Overview Most peripheral modules are equipped with a 10pole or a 18pole connector. This connector provides the electrical interface for the signaling and supply lines of the modules. The modules carry spring-clip connectors for interconnections and wiring.
  • Page 21 Manual VIPA System 200V Chapter 1 Basics and Assembly Wiring procedure • Install the connector on the module until it locks with an audible click. For this purpose you press the two clips together as shown. The connector is now in a permanent position and can easily be wired.

  • Page 22: Installation Guidelines

    General The installation guidelines contain information about the interference free deployment of System 200V systems. There is the description of the ways, interference may occur in your control, how you can make sure the electromagnetic digestibility (EMC), and how you manage the isolation.
  • Page 23 - Please take care for the targeted employment of the grounding actions. The grounding of the PLC is a protection and functionality activity. - Connect installation parts and cabinets with the System 200V in star topology with the isolation/protected earth conductor system. So you avoid ground loops.
  • Page 24 • Lay the isolation on an isolation rail directly after the entry of the cable in the cabinet. Lead the isolation further on to the System 200V module and don't lay it on there again!

  • Page 25: General Data

    Manual VIPA System 200V Chapter 1 Basics and Assembly General data • Profile rail 35mm Structure/ • Peripheral modules with recessed labelling dimensions • Dimensions of the basic enclosure: 1tier width: (HxWxD) in mm: 76x25.4x74 in inches: 3x1x3 2tier width: (HxWxD) in mm: 76x50.8x74 in inches: 3x2x3 •...
  • Page 26 Chapter 1 Basics and Assembly Manual VIPA System 200V General data Conformity and approval Conformity 2006/95/EC Low-voltage directive 2004/108/EC EMC directive Approval UL 508 Approval for USA and Canada others RoHS 2011/65/EU Product is lead-free; Restriction of the use of...

  • Page 27: Chapter 2 Hardware Description

    Manual VIPA System 200V Chapter 2 Hardware description Chapter 2 Hardware description Overview Here the hardware components of the IM 253-1CAxx are described. The technical data are at the end of the chapter. Contents Topic Page Chapter 2 Hardware description............2-1 Properties.....................

  • Page 28: Properties

    Chapter 2 Hardware description Manual VIPA System 200V Properties • 10 Rx and 10 Tx PDOs IM 253CAN 253-1CA01 • 2 SDOs • Support of all baud rates • PDO linking • PDO mapping Restrictions The IM 253-1CA30 - ECO is functionally identical to the IM 253-1CA01 and...

  • Page 29: Structure - 253-1Ca01

    Ground CAN high n. c. n. c. + DC 24 V 9pin D-type plug The VIPA CAN-Bus coupler is connected to the CAN-Bus system by means of a 9pin plug. HB97E - IM - RE_253-1CAxx - Rev. 14/21...
  • Page 30 Chapter 2 Hardware description Manual VIPA System 200V LEDs The module is equipped with four LEDs for diagnostic purposes. The following table shows how the diagnostic LEDs are used along with the respective colors. Name Color Description green Indicates that the supply voltage is available.
  • Page 31 Manual VIPA System 200V Chapter 2 Hardware description Power supply The CAN-bus coupler is equipped with an internal power supply. This power supply requires DC 24V. In addition to the internal circuitry of the bus coupler the supply voltage is also used to power any modules connected to the backplane bus.

  • Page 32: Structure - 253-1Ca30

    Ground CAN high n. c. n. c. + DC 24 V 9pin D-type plug The VIPA CAN-Bus coupler is connected to the CAN-Bus system by means of a 9pin plug. HB97E - IM - RE_253-1CAxx - Rev. 14/21...
  • Page 33 Manual VIPA System 200V Chapter 2 Hardware description Power supply The CAN-bus coupler is equipped with an internal power supply. This power supply requires DC 24V. In addition to the internal circuitry of the bus coupler the supply voltage is also used to power any modules connected to the backplane bus.
  • Page 34 Chapter 2 Hardware description Manual VIPA System 200V LEDs The module is equipped with four LEDs for diagnostic purposes. The following table shows how the diagnostic LEDs are used along with the respective colors. Name Color Description green Indicates that the supply voltage is available.

  • Page 35: Wiring Under Can-Bus

    Manual VIPA System 200V Chapter 2 Hardware description Wiring under CAN-Bus The CAN-Bus communication medium bus is a screened three-core cable. Master Slave Shield CAN high CAN high 120Ω 120Ω CAN low CAN Ground CAN Ground CAN Ground Do not connect Line termination All stations on systems having more than two stations are wired in parallel.

  • Page 36: Technical Data

    Chapter 2 Hardware description Manual VIPA System 200V Technical data 253-1CA01 Order number 253-1CA01 Type IM 253CAN, CANopen slave Technical data power supply Power supply (rated value) DC 24 V Power supply (permitted range) DC 20.4...28.8 V Reverse polarity protection...
  • Page 37 Manual VIPA System 200V Chapter 2 Hardware description 253-1CA30 Order number 253-1CA30 Type IM 253CAN, CANopen slave Technical data power supply Power supply (rated value) DC 24 V Power supply (permitted range) DC 20.4...28.8 V Reverse polarity protection Current consumption (no-load operation)
  • Page 38 Chapter 2 Hardware description Manual VIPA System 200V 2-12 HB97E - IM - RE_253-1CAxx - Rev. 14/21...

  • Page 39: Chapter 3 Deployment

    Chapter 3 Deployment Chapter 3 Deployment Overview This chapter contains the description of the VIPA CANopen slave modules. Another section of this chapter concerns the project engineering for "experts" and an explanation of the telegram structure and the function codes of CANopen.

  • Page 40: Basics Canopen

    Chapter 3 Deployment Manual VIPA System 200V Basics CANopen General CANopen (Control Area Network) is an international standard for open fieldbus systems intended for building, manufacturing and process automation applications that was originally designed for automotive applications. Due to its extensive error detection facilities, the CAN-Bus system is regarded as the most secure bus system.
  • Page 41 Ω terminated by a 120 terminating resistor. Your VIPA CAN-Bus coupler contains a 9pin socket. You must use this socket to connect the CAN-Bus coupler as a slave directly to your CAN-Bus network. All devices on the network use the same baudrate.

  • Page 42: Fast Introduction

    For details please refer to the section under the heading "Baudrate and module-ID" in this chapter. CAN identifier The CAN identifier for the in-/output data of the System 200V are generated from the node addresses (1...99): Kind of data Default CAN identifier...
  • Page 43 Identifier 11Bit AI 0 1Word AI 1 1Word AI 2 1Word AI 3 1Word Node Guarding For the System 200V works per default in event-controlled mode (no cyclic DataExchange), a node failure is not always immediately detected. Remedy is the control of the nodes per cyclic state request (Node Guarding).
  • Page 44 Chapter 3 Deployment Manual VIPA System 200V Heartbeat Besides the Node Guarding, the System 200V CANopen coupler also supports the Heartbeat Mode. If there is a value set in the index 0x1017 (Heartbeat Producer Time), the device state (Operational, Pre-Operational, ...) is transferred when the...
  • Page 45 Manual VIPA System 200V Chapter 3 Deployment ... continue Emergency Object Error Meaning Info 0 Info 1 Info 2 Info 3 Info4 Code 0x1000 PDO Control 0xFF 0x10 LowByte HighByte Number Timer Value Timer Value 0x5000 Module 0x6300 SDO PDO-Mapping...

  • Page 46: Baudrate And Module-Id

    Chapter 3 Deployment Manual VIPA System 200V Baudrate and module-ID Overview You have the option to specify the baudrate and the module-ID by setting the address selector to 00 within a period of 10s after you have turned the power on.

  • Page 47: Message Structure

    The VIPA CAN-Bus coupler IM 253 CAN supports the following objects: • 10 transmit PDOs (PDO Linking, PDO Mapping) • 10 receive PDOs (PDO Linking, PDO Mapping) •...
  • Page 48 Chapter 3 Deployment Manual VIPA System 200V CANopen function Every object is associated with a function code. You can obtain the codes required function code from the following table: Object Function code Receiver Definition Function (4 bits) 0000 Broadcast CiA DS-301...

  • Page 49: Pdo

    CAN telegram and is identified and prioritized via its specific CAN identifier. For the exchange of process data, the VIPA CAN-Bus coupler IM 253CAN supports 20 PDOs. Every PDO consists of a maximum of 8 data bytes. The transfer of PDOs is not verified by means of acknowledgments since the CAN protocol guarantees the transfer.
  • Page 50 - without needing the pass through a logical bus master. The System 200V provides receive and transmit PDOs default identifier in dependence of the node address. Below follows a list of the COB identifiers for the receive and the transmit PDO transfer that are pre-set after boot-up.
  • Page 51 The VIPA CANopen bus couplers support the query of PDOs via remote frames - for this can, due to the hardware, not be granted for all CANopen devices, this communication type is only partially recommended.
  • Page 52 Chapter 3 Deployment Manual VIPA System 200V The parameter "PDO transmission type" fixes how the sending of the PDOs PDO transmission is initialized and what to do with received ones: type Transmission Type Cyclical Acyclical Synchronous Asynchronous 1 - 240...

  • Page 53: Sdo

    Manual VIPA System 200V Chapter 3 Deployment The Service Data Object (SDO) serves the read or write access to the object directory. The CAL layer 7 protocol gives you the specification of the Multiplexed-Domain-Transfer-Protocol that is used by the SDOs. This...
  • Page 54 Chapter 3 Deployment Manual VIPA System 200V SDO error codes Code Error 0x05030000 Toggle bit not alternated 0x05040000 SDO protocol timed out 0x05040001 Client/server command specifier not valid or unknown 0x05040002 Invalid block size (block mode only) 0x05040003 Invalid sequence number (block mode only)

  • Page 55: Object Directory

    Manual VIPA System 200V Chapter 3 Deployment Object directory The CANopen object directory contains all relevant CANopen objects for Structure the bus coupler. Every entry in the object directory is marked by a 16Bit index. If an object exists of several components (e.g. object type Array or Record), the components are marked via an 8Bit sub-index.
  • Page 56 Chapter 3 Deployment Manual VIPA System 200V Index Content of Object Object directory overview 0x1000 Device type 0x1001 Error register 0x1003 Error store 0x1004 Number of PDOs 0x1005 SYNC identifier 0x1006 SYNC interval 0x1008 Device name 0x1009 Hardware version 0x100A...
  • Page 57 Manual VIPA System 200V Chapter 3 Deployment ... continued Index Content of Object object directory 0x6302 Polarity Digital-Output-16-Bit Array (see DS 401) overview 0x6306 Fault Mode Digital-Output-16-Bit Array (see DS 401) 0x6307 Fault State Digital-Output-16-Bit Array (see DS 401) 0x6320...
  • Page 58 Chapter 3 Deployment Manual VIPA System 200V Device Type Index Sub-index Name Type Attr. Map. Default value Meaning 0x1000 Device Unsigned32 0x00050191 Statement of device type Type The 32Bit value is divided into two 16Bit fields: Additional information device Profile number...
  • Page 59 Manual VIPA System 200V Chapter 3 Deployment Error store Index Sub- Name Type Attr. Map. Default value Meaning index 0x1003 0 Predefined Unsigned8 0x00 Object 0x1003 contains a error field description of the error that has (error store) occurred in the device - sub-...
  • Page 60 VIPA IM 253 1CA01 = VIPA CANopen slave IM 253-1CA01 VIPA IM 253 1CA30 = VIPA CANopen slave IM 253-1CA30 - ECO Since the returned value is longer than 4Byte, the segmented SDO protocol is used for transmission.
  • Page 61 Visible string ro Hardware version number Hardware of bus coupler version VIPA IM 253 1CA01 = 1.00 VIPA IM 253 1CA30 = 1.00 Since the returned value is longer than 4Byte, the segmented SDO protocol is used for transmission. Software version...
  • Page 62 Chapter 3 Deployment Manual VIPA System 200V Life time factor Index Sub- Name Type Attr. Map. Default value Meaning index 0x100D Life time factor Unsigned8 0x00 Life time factor x guard time = life time (watchdog for life guarding) If a guarding telegram is not received within the life time, the node enters the error state.
  • Page 63 Manual VIPA System 200V Chapter 3 Deployment Load default values Index Sub- Name Type Attr. Map. Default value Meaning index 0x1011 Restore Unsigned8 0x01 Number of reset options parameters Restore all Unsigned32 0x01 Resets all parameters parameters to their default values By writing the string "load"...
  • Page 64 Chapter 3 Deployment Manual VIPA System 200V Producer heartbeat time Index Sub- Name Type Attr. Map. Default value Meaning index 0x1017 Producer Unsigned16 rw 0x0000 Defines the cycle time of heartbeat time heartbeat in ms Identity Object Index Sub- Name Type Attr.
  • Page 65 Manual VIPA System 200V Chapter 3 Deployment Module types Module type Identification No. of Digital No. of Digital (hex) Input-Byte Output-Byte DI 8 9FC1h DI 8 - Alarm 1FC1h DI 16 9FC2h DI 16 / 1C 08C0h DI 32 9FC3h...
  • Page 66 Chapter 3 Deployment Manual VIPA System 200V Communication parameter RxPDO1 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1400 0 Number of Unsigned8 0x02 Communication parameter for Elements the first receive PDOs, sub- index 0: number of following...
  • Page 67 Manual VIPA System 200V Chapter 3 Deployment Communication parameter RxPDO4 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1403 0 Number of Unsigned8 0x02 Communication parameter for the first receive PDOs, sub- Elements index 0: number of following...
  • Page 68 Chapter 3 Deployment Manual VIPA System 200V Communication parameter RxPDO7 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1406 0 Number of Unsigned8 0x02 Communication parameter for the first receive PDOs, sub- Elements index 0: number of following...
  • Page 69 Manual VIPA System 200V Chapter 3 Deployment Communication parameter RxPDO10 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1409 0 Number of Unsigned8 0x02 Communication parameter for the first receive PDOs, sub- Elements index 0: number of following...
  • Page 70 Chapter 3 Deployment Manual VIPA System 200V Mapping RxPDO2 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1601 0 Number of Unsigned8 0x01 Mapping parameter of the Elements second receive PDO; sub-index 0: number of mapped objects 1st mapped...
  • Page 71 Manual VIPA System 200V Chapter 3 Deployment Communication parameter TxPDO1 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1800 0 Number of Unsigned8 0x05 Communication parameter of Elements the first transmit PDO, sub- index 0: number of following...
  • Page 72 Chapter 3 Deployment Manual VIPA System 200V Communication parameter TxPDO3 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1802 0 Number of Unsigned8 0x05 Communication parameter for the 3rd transmit PDO. Elements COB-ID Unsigned32 rw 0x80000380 COB-ID TxPDO3...
  • Page 73 Manual VIPA System 200V Chapter 3 Deployment Communication parameter TxPDO6 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1805 0 Number of Unsigned8 0x05 Communication parameter for the 6th transmit PDO. Elements COB-ID Unsigned32 rw 0x800001C0 COB-ID TxPDO6...
  • Page 74 Chapter 3 Deployment Manual VIPA System 200V Communication parameter TxPDO9 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1808 0 Number of Unsigned8 0x05 Communication parameter for the 9th transmit PDO. Elements COB-ID Unsigned32 rw 0x800004C0 COB-ID TxPDO9...
  • Page 75 Manual VIPA System 200V Chapter 3 Deployment The first send PDO (TxPDO1) is per default for digital inputs. Depending on ... continue the number of the inserted inputs, the needed length of the PDO is Mapping TxPD01 calculated and the according objects are mapped.
  • Page 76 Chapter 3 Deployment Manual VIPA System 200V Mapping TxPDO3- TxPDO10 Index Sub- Name Type Attr. Map. Default value Meaning index 0x1A02 Number of Unsigned8 depending on the Mapping parameter of the Elements components fitted 3rd to 10 th transmit PDO;...
  • Page 77 Manual VIPA System 200V Chapter 3 Deployment KILL EEPROM Index Sub- Name Type Attr. Map. Default value Meaning index 0x2100 KILL EEPROM Boolean KILL EEPROM The KILL EEPROM is supported for reasons of compatibility. Writing to index 0x2100 deletes all stored identifiers from the EEPROM.
  • Page 78 Chapter 3 Deployment Manual VIPA System 200V PDO control Index Sub- Name Type Attr. Map. Default value Meaning index 0x2400 Number of Unsigned8 0x0A Time control for RxPDOs Elements RxPDO1 Unsigned16 0x0000 Timer value [ms] RxPDO2 Unsigned16 0x0000 Timer value [ms]...
  • Page 79 Manual VIPA System 200V Chapter 3 Deployment Default configuration 0x00, 0x00, 0x28, 0x28, 0x28, 0x28, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 0x00, 0x00, 0x26, 0x26, 0x26, 0x26, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00...
  • Page 80 Chapter 3 Deployment Manual VIPA System 200V Example 2 Set FM250 to Counter Mode 0x08 and 0x0B Read default Read SubIndex 0 M2S: 0x40 0x02 0x30 0x00 0x00 0x00 0x00 0x00 configuration S2M: 0x4F 0x02 0x30 0x00 0x04 0x00 0x00 0x00...
  • Page 81 Manual VIPA System 200V Chapter 3 Deployment Module parameterization Index Sub- Name Type Attr. Map. Default value Meaning index 0x3401 0x00 Number of Unsigned8 depending on Number of entries the components Elements fitted 0x01 1st mapped Unsigned32 object 0x40 8th mapped...
  • Page 82 Chapter 3 Deployment Manual VIPA System 200V 8bit polarity digital inputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6002 0x00 8bit digital Unsigned8 0x01 Number of available digital input block 8bit input blocks 0x01 1st input Unsigned8...
  • Page 83 Manual VIPA System 200V Chapter 3 Deployment 16bit polarity digital inputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6102 0x00 16bit digital Unsigned8 depending on Number of available digital input block the compo- 16bit input blocks nents fitted...
  • Page 84 Chapter 3 Deployment Manual VIPA System 200V 32bit polarity digital inputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6122 0x00 8bit digital Unsigned8 depending on Number of available digital input block 32bit input blocks the components fitted...
  • Page 85 Manual VIPA System 200V Chapter 3 Deployment 8bit change polarity digital outputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6202 0x00 8bit digital Unsigned8 Depending Number of available digital 8bit output block on the output blocks compo-nents...
  • Page 86 Chapter 3 Deployment Manual VIPA System 200V 8bit error value digital outputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6207 0x00 8bit digital Unsigned8 Depending Number of available digital 8bit output block on the output blocks compo-nents...
  • Page 87 Manual VIPA System 200V Chapter 3 Deployment 16bit change polarity digital outputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6302 0x00 16bit digital Unsigned8 Depending on Number of available digital input block the compo- 16bit output blocks...
  • Page 88 Chapter 3 Deployment Manual VIPA System 200V 16bit error value digital outputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6307 0x00 16bit digital Unsigned8 Depending on Number of available digital input block the compo- 16bit output blocks...
  • Page 89 Manual VIPA System 200V Chapter 3 Deployment 32bit change polarity digital outputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6322 0x00 32bit digital Unsigned8 Depending on Number of available digital input block the compo- 32bit output blocks...
  • Page 90 Chapter 3 Deployment Manual VIPA System 200V 32bit error value digital outputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6237 0x00 32bit digital Unsigned8 depending on Number of available digital input block the compo- 32bit output blocks...
  • Page 91 Manual VIPA System 200V Chapter 3 Deployment Analog input interrupt trigger selection Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6421 0x00 Number of Unsigned8 depending on Number of available Inputs the compo- analog inputs nents fitted 0x01...
  • Page 92 Chapter 3 Deployment Manual VIPA System 200V Event driven analog inputs Index Sub- Name Type Attr. Map. Default value Meaning index 0x6423 0x00 Global Boolean FALSE ("0") Activates the event-driven interrupt transmission of PDOs with enable analog inputs Although the analog inputs are -acc. to CANopen - per default set to the transmission type 255 (event triggered) in the TxPDO2, the "event"...
  • Page 93 Manual VIPA System 200V Chapter 3 Deployment Lower limit value analog inputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6425 0x00 Number of Unsigned8 depending on Number of available analog inputs Inputs the compo- nents fitted 0x01...
  • Page 94 Chapter 3 Deployment Manual VIPA System 200V Analog output error mode Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6443 0x00 Analog Unsigned8 Depending on Number of available analog output block the compo- outputs nents fitted 0x01 1st analog...
  • Page 95 Manual VIPA System 200V Chapter 3 Deployment 0x05030000 //Toggle bit not alternated SDO Abort Codes 0x05040000 //SDO protocol timed out 0x05040001 //Client/server command specifier not valid or unknown 0x05040002 //Invalid block size (block mode only) 0x05040003 //Invalid sequence number (block mode only)

  • Page 96: Emergency Object

    Manual VIPA System 200V Emergency Object Outline The VIPA CAN-Bus coupler is provided with the emergency object to notify other devices connected to the CANopen bus about internal error events or CAN-Bus errors. It has a high priority and gives you important information about the states of device and network.
  • Page 97 Manual VIPA System 200V Chapter 3 Deployment ... continue Emergency Object Error Meaning Info 0 Info 1 Info 2 Info 3 Info4 Code 0x1000 PDO Control 0xFF 0x10 LowByte HighByte Number Timer Value Timer Value 0x5000 Module 0x6300 SDO PDO-Mapping...

  • Page 98: Nmt - Network Management

    Chapter 3 Deployment Manual VIPA System 200V NMT - network management Network management (NMT) provides the global services specifications for network supervision and management. This includes the login and logout of the different network devices, the supervision of these devices as well as the processing of exceptions.
  • Page 99 (0x100D) has been set to zero by an SDO download from the master, the expiry of the guard time is not monitored and the module remains in its current operating mode. The VIPA CAN coupler also supports the Heartbeat Mode in addition to Heartbeat Node Guarding.
  • Page 100 Chapter 3 Deployment Manual VIPA System 200V 3-62 HB97E - IM - RE_253-1CAxx - Rev. 14/21...

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