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VIPA System 100V Manual

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VIPA System 100V
SM-CAN | Manual
HB100E_SM-CAN | Rev. 15/02
January 2015

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Summary of Contents for VIPA System 100V

  • Page 1 VIPA System 100V SM-CAN | Manual HB100E_SM-CAN | Rev. 15/02 January 2015...
  • 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

    Safety information ..................2 Chapter 1 Basics ................1-1 Safety information for Users..............1-2 Overview System 100V ................ 1-3 General Description of the System 100V..........1-4 Assembly dimensions................1-5 Chapter 2 Decentral block periphery CAN-Bus CANopen ..... 2-1 Principles of CANopen ................. 2-2 System overview ..................
  • Page 4 Contents Manual VIPA System 100V HB100E - SM-CAN - Rev. 15/02...

  • Page 5: About This Manual

    About this Manual This manual describes the available System 100V decentral block periphery CAN from VIPA. Besides of a product overview you will find the detailed description of the single components. You'll get information about installing and operating decentral block periphery in a CAN system.
  • Page 6 About this manual Manual VIPA System 100V Objective and This manual describes the System 100V decentral block periphery CAN 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

    Manual VIPA System 100V Safety information Safety information The System 100V is constructed and manufactured for Applications conforming with • communication and process control specifications • general control and automation applications • industrial applications • operation within the environmental conditions specified in the technical data •...
  • Page 8 Safety information Manual VIPA System 100V HB100E - SM-CAN - Rev. 15/02...

  • Page 9: Chapter 1 Basics

    Basics This introduction includes recommendations on the handling of the Overview modules of the VIPA System 100V as central resp. decentral automation system. Besides a system overview you will find general information to the System 100V like dimensions, installation and operating conditions.

  • Page 10: Safety Information For Users

    Chapter 1 Basics Manual VIPA System 100V Safety information for Users VIPA modules make use of highly integrated components in MOS- Handling of technology. These components are extremely sensitive to over-voltages electrostatically that can occur during electrostatic discharges. sensitive modules...

  • Page 11: Overview System 100V

    Manual VIPA System 100V Chapter 1 Basics Overview System 100V The System 100V from VIPA is a compact central and decentral usable General automation system from VIPA. The system is recommended for lower and middle performance needs. At a System 100V module, CPU res. bus coupler are integrated together with in-/output functions in one case.

  • Page 12: General Description Of The System 100V

    • Dimensions basic module: 4tier width: (WxHxD) in mm: 101.6x76x48 / in inches: 4x3x1.9 6tier width: (WxHxD) in mm: 152.4x76x48 / in Inches: 6x3x1.9 The installation of a System 100V module works via snapping on a norm Installation profile head rail.

  • Page 13: Assembly Dimensions

    Manual VIPA System 100V Chapter 1 Basics Assembly dimensions Installation dimensions Installed and 45 mm 44 mm wired dimensions 34 mm 48 mm ca. 70 mm HB100E - SM-CAN - Rev. 15/02...
  • Page 14 Chapter 1 Basics Manual VIPA System 100V CPU 11x with 50 mm 51 mm EasyConn from 45 mm VIPA 11 mm 5 mm 85 mm 8 cm HB100E - SM-CAN - Rev. 15/02...

  • Page 15: Chapter 2 Decentral Block Periphery Can-Bus Canopen

    This chapter summarizes all information you need for assembly, project engineering and operating of this System 100V components. Besides a fast step-in in the project engineering for "experts", this chapter contains an introduction of the telegram structure and the function codes of CANopen.

  • Page 16: Principles Of Canopen

    Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Principles of CANopen UL Certification All the modules in this chapter have got the UL Certification: UL-Recognition-Mark Underwriters Laboratories (UL) Standard UL 508, File Nr.: E234291 General The CAN-Bus (Control Area Network) is an international open fieldbus standard for building, manufacturing and process automation and has been developed for automotive production.
  • Page 17 120 terminating resistor at the end. Your VIPA CAN-Bus coupler provides a 9pin plug. This plug allows you to link-up the CAN-Bus coupler directly to the CAN-Bus net as slave. All participants in the net are communicating with the same baudrate.
  • Page 18 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V • max. 128 participants per net - max. 64 slaves per segment Restrictions • max. net extension at 1MBaud 25m, at 50kBaud 1000m (depending on baudrate) • max. baudrate 1MBaud...

  • Page 19: System Overview

    Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen System overview The System 100V is an universal link between a fieldbus and the Decentral sensor/actuator level. block periphery One System 100V unit consists of a CANopen-Bus coupler and a combination of in-/output channels and extension terminals.

  • Page 20: Structure

    Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Structure Front view LED status monitoring CANopen interface Address selector Power supply DC24V In-/output periphery L+ M PE Components LEDs The module provides four LEDs for status monitoring. The usage and the...
  • Page 21 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen Status monitoring By combining the LEDs, several states may be shown: via LED combination PW on Error in RAM- or EEPROM initialization ER on RD on BA on PW on...
  • Page 22 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Address selector Via the address selector, you select the CAN baudrate as well as the for baudrate and module-ID. module-ID More detailed information is to find under "Baudrate and module-ID settings"...
  • Page 23 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen The digital input section a System 100V module collects the binary control Input section signals of the process level and transmits them to the leading CANopen slave. Every input channel shows its status via a green LED with a time delay of max.
  • Page 24 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V The digital output section collects the binary control signals of the leading Output section CANopen slave and transmits them via the outputs to the process level. The output section has to be provided with additional external DC 24V via the front-facing connector.
  • Page 25 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen The In-/Output section has 4 I/O channels that may be used as input or as In-/Output output channels and 4 normal outputs. Every I/O channel is provided with a section diagnostic function, i.e.

  • Page 26: Installation And Cabling

    Manual VIPA System 100V Installation and Cabling Assembly/ System 100V modules are clipped at a 35mm standard norm profile rail. Dismantling For dismantling the modules, you have to For the dismantling you have to pull down the locker with a screwdriver and lift the module from the profile rail.

  • Page 27: Circuit Diagrams

    Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen Circuit diagrams VIPA 153-4CF00 VIPA 153-4CH00 VIPA 153-6CL10 VIPA 153-6CH00 HB100E - SM-CAN - Rev. 15/02 2-13...

  • Page 28: Deployment With Canopen

    The CANopen communication profile defines two standard object types (PDO and SDO) and some special objects (for network management purposes etc.). The System 100V for CAN supports the following objects: • 1 send-PDO, 1 receive-PDO, PDO Linking • 2 standard-SDO (Server) •...

  • Page 29: Fast Introduction

    00 at the address selector within a period of 10s. Further information is available under "Baudrate and module-ID settings" below. CAN identifier The CAN identifier for the I/O data of the System 100V are evaluated from the node addresses (1...63): Data type Default CAN identifier Digital inputs 1 ...
  • Page 30 Manual VIPA System 100V Node Guarding For the System 100V works per default in the event triggered mode (no cyclic data exchange), the break down of one node is not necessarily recognized. Remedy provides the supervision of the nodes by means of a cyclic status request (Node Guarding).
  • Page 31 Note! With the messages described here, you are now able to start and to stop your System 100V, read inputs, write outputs and control the modules. In the following, all functions are once more described in detail. HB100E - SM-CAN - Rev. 15/02...

  • Page 32: Baudrate And Module-Id Settings

    Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Baudrate and module-ID settings 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 on the power supply.

  • Page 33: Message Structure

    CANopen devices exchange data in the form of objects. The CANopen communication profile defines two different object types as well as a number of special objects. The VIPA CAN bus coupler supports the following objects: • 1 Transmit-PDO • 1 Receive-PDO •...
  • Page 34 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V CANopen The following table lists the defined CANopen objects and the function function codes codes that are supported by the VIPA CAN bus coupler: Object Function code Receiver Definition...

  • Page 35: Pdo - Process Data Object

    - even without the passing on by a logical bus master. In the System 100V for the send and receive PDOs default identifiers in dependence on the node address are provided.
  • Page 36 The VIPA CANopen bus couplers support the request of PDOs via remote frames - for this is not presupposeable due to the hardware, this communication type is only recommended partially.
  • Page 37 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen The parameter "PDO transmission type" fixes, how the sending of the PDO transmission PDOs is initialized res. how received PDOs are handled: type Transmission Type Cyclical Acyclical Synchronous Asynchronous...

  • Page 38: Sdo - Service Data Object

    Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V SDO - Service Data Object For accesses on the object directory the service data object (SDO) is used. With the help of the SDO you may access the object directory for reading or writing.
  • Page 39 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen SDO Error-Codes 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 40: Object Directory

    Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Object directory In the CANopen object directory all CANopen objects relevant for the bus Structure coupler are listed. Every entry in the object directory is marked by a 16-Bit-Index.
  • Page 41 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen 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...
  • Page 42 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Device Type Index Sub- Name Type Attr. Map. Default value Meaning index 0x1000 0 Device Unsigned32 0x00030191 Statement of device type Type The 32Bit value is divided in two 16Bit fields:...
  • Page 43 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen 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...
  • Page 44 Visible string ro Device name of the bus device name coupler VIPA 153-xxxxx = VIPA CANopen slave 153-4CF00 VIPA CANopen slave 153-4CH00 VIPA CANopen slave 153-6CH00 VIPA CANopen slave 153-6CL10 For the returned value is larger than 4Byte, the segmented SDO protocol is used for transmission.
  • Page 45 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen version Hardware Index Sub- Name Type Attr. Map. Default value Meaning index 0x1009 Manufacturer Visible string ro Hardware version number Hardware of bus coupler version VIPA 153-xxxxx = 1.00 For the returned value is larger than 4Byte, the segmented SDO protocol is used for transmission.
  • Page 46 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V 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...
  • Page 47 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen 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...
  • Page 48 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Producer Heartbeat Time Index Sub- Name Type Attr. Map. Default value Meaning index 0x1017 Producer Unsigned16 0x0000 Defines the cycle time of heartbeat time heartbeat in ms Identity Object...
  • Page 49 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen 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 50 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V 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 51 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen CAN baudrate Index Sub- Name Type Attr. Map. Default value Meaning index 0x2001 0 CAN- Unsigned8 0x01 Setting CAN-Baudrate Baudrate This index entry writes a new baudrate into the EEPROM.
  • Page 52 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V 8Bit digital inputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6000 0x00 8-bit digital Unsigned8 VIPA 153-4CF00=0x01 Number of available input block VIPA 153-4CH00=0x02 digital 8-bit input blocks...
  • Page 53 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen 8Bit change polarity digital outputs Index Sub- Name Type Attr. Map. Default value Meaning Index 0x6202 0x00 8-bit digital Unsigned8 0x01 Number of available digital 8-bit output block output blocks 0x01 1.

  • Page 54: Emergency Object

    Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Emergency object Overview To inform the other participants at the CANopen bus of internal device errors or CAN-Bus errors, the CANopen bus coupler supports the emergency object. It is provided with a high priority and delivers important information about the state of the device and the network.

  • Page 55: Nmt - Network Management

    Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen NMT - Network Management The network management (NMT) specifies global services for network monitoring and management. Together with the login and logout of single participants this also includes the control of the participants during operation and the handling of exceptions.
  • Page 56 (0x100D) is set to 0 by the master by means of a SDO download, the expiration of the guarding time is not proofed and the module stays in the current state. Besides of the node guarding the VIPA CAN coupler also supports the Heartbeat heartbeat mode.

  • Page 57: Technical Data

    Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen Technical data 153-4CF00 Order no. 153-4CF00 Type SM 153, CANopen slave Technical data power supply Power supply (rated value) DC 24 V Power supply (permitted range) DC 20.4...28.8 V...
  • Page 58 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Order no. 153-4CF00 of a load Parallel switching of outputs for increased power not possible Actuation of digital input Switching frequency with resistive load max. 1000 Hz Switching frequency with inductive load max.
  • Page 59 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen Order no. 153-4CF00 Number of RxPDOs, max. Datasizes Input bytes Output bytes Parameter bytes Diagnostic bytes Housing Material PPE / PA 6.6 Mounting Profile rail 35 mm Mechanical data Dimensions (WxHxD) 101.6 x 76 x 48 mm...
  • Page 60 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V 153-4CH00 Order no. 153-4CH00 Type SM 153, 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 61 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen Order no. 153-4CH00 Switching frequency with inductive load max. 0.5 Hz Switching frequency on lamp load max. 10 Hz Internal limitation of inductive shut-off voltage L+ (-52 V) Short-circuit protection of output...
  • Page 62 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Order no. 153-4CH00 Parameter bytes Diagnostic bytes Housing Material PPE / PA 6.6 Mounting Profile rail 35 mm Mechanical data Dimensions (WxHxD) 101.6 x 76 x 48 mm Weight...
  • Page 63 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen 153-6CL10 Order no. 153-6CL10 Type SM 153, 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 64 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Order no. 153-6CL10 Switching frequency with inductive load max. 0.5 Hz Switching frequency on lamp load max. 10 Hz Internal limitation of inductive shut-off voltage L+ (-52 V) Short-circuit protection of output...
  • Page 65 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen Order no. 153-6CL10 Parameter bytes Diagnostic bytes Housing Material PPE / PA 6.6 Mounting Profile rail 35 mm Mechanical data Dimensions (WxHxD) 152.4 x 76 x 48 mm Weight...
  • Page 66 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V 153-6CH00 Order no. 153-6CH00 Type SM 153, 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 67 Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen Order no. 153-6CH00 Switching frequency with inductive load max. 0.5 Hz Switching frequency on lamp load max. 10 Hz Internal limitation of inductive shut-off voltage L+ (-52 V) Short-circuit protection of output...
  • Page 68 Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V Order no. 153-6CH00 Parameter bytes Diagnostic bytes Housing Material PPE / PA 6.6 Mounting Profile rail 35 mm Mechanical data Dimensions (WxHxD) 152.4 x 76 x 48 mm Weight...

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