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PCE Electronics PC6RO User Manual

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05/08/2014 V1.0
IO Module
User Manual
P.O.Box 164
Seven Hills 1730
NSW
AUSTRALIA
Tel:
+61 2 96248376
Fax:
+61 2 9620 8709
Email:
proconel@proconel.com
Web:
www.proconel.com

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Summary of Contents for PCE Electronics PC6RO

  • Page 1 IO Module User Manual P.O.Box 164 Tel: +61 2 96248376 Seven Hills 1730 Fax: +61 2 9620 8709 Email: proconel@proconel.com AUSTRALIA Web: www.proconel.com 05/08/2014 V1.0...
  • Page 2 Every precaution has been taken in the preparation of this manual. Nevertheless, Procon Electronics assumes no responsibility, express or implied, for errors or omissions or any damages resulting from the use of the information contained in this publication. All trademarks belong to their respective owners. PROCON ELECTRONICS CANopen PC6RO...

  • Page 3: Table Of Contents

    Object 1017h: Producer Heartbeat Time................ 30 7.2.15 7.2.16 Object 1018h: Identity Object ..................31 Object 1029h: Error Behaviour ..................33 7.2.17 7.2.18 Object 1200h: Server SDO Parameter 1 ................. 34 7.2.19 Object 1400h: Receive PDO Communication Parameter 1..........35 PROCON ELECTRONICS CANopen PC6RO...
  • Page 4 Object 6207h: Fault State 6 Output Lines ............... 44 7.4.4 Object 6220h: Write State 1 Output Line 1-6 ..............45 7.4.5 SAFETY GUIDELINES ..................47 ........................... 47 NTRODUCTION ..........................47 NTENDED ......................47 RANSPORT AND TORAGE ..........................47 NSTALLATION PROCON ELECTRONICS CANopen PC6RO...

  • Page 5: Introduction

    1. Introduction The PC6RO module has 6 normally open/ normally closed relay outputs. These modules may be used when a higher drive capability is required, or when isolation between outputs are required. The module plugs into a special bus connector which fits inside the DIN rail. The power supply voltage and the CAN bus signals are connected via this bus connector.

  • Page 6: Technical Specification

    Operating Temperature. -20°C to + 70°C Storage Temperature -40°C to + 85°C Connectors Logic Power and Comms. 5 way connector that clips onto DIN rail Inputs 6 x 3 Way screw connector on top and bottom PROCON ELECTRONICS CANopen PC6RO...

  • Page 7: Physical Information

    3. Physical Information 3.1 Physical Dimensions The PC6RO enclosure is shown below. The module clips directly onto an industry standard DIN rail. Field wiring is on the top and bottom of the module via 6 plug-in connectors. The module power and CAN communications wiring is on a separate connector which clips onto the DIN rail on the back of the housing.

  • Page 8: Din Rail Bus Adaptor

    Do not force the module onto the connector otherwise the module or connector may be damaged. Note: The modules are not designed for hot plug in. The power must be turned off before the modules are plugged into the base. PROCON ELECTRONICS CANopen PC6RO...

  • Page 9: Removing The Module From The Din Rail

    To eliminate the presence of reflections from the end of the cable, the cable must be terminated at both ends with a resistor across the line equal to its characteristic impedance. Both ends must be terminated since the direction of propagation is bi-directional. This termination is typically 120 ohms. PROCON ELECTRONICS CANopen PC6RO...

  • Page 10: Setting The Node Id And Baud Rate

    CAN port. The user is welcome to change the dip switches while the module is powered, however, a reset must be initiated afterward. The DIP switch can be toggled using a small flat blade screwdriver, or equivalent tool, as shown in the picture below. PROCON ELECTRONICS CANopen PC6RO...

  • Page 11: Setting The Node Id Using The Dip Switches

    Before the internal node id is selected, the user must first write the correct id value to the Module ID object in the manufacturer segment. The object address is 2001h. The node id can be configured from 1 to 127. PROCON ELECTRONICS CANopen PC6RO...

  • Page 12: Setting The Baud Rate Using Software

    Before the internal baud rate is selected, the user must first write the correct baud rate value to the Module Baud Rate object in the manufacturer segment. The object address is 2002h. The following baud rates are supported. BAUD RATE OBJECT VALUE (2002h) kbits/s 1000 PROCON ELECTRONICS CANopen PC6RO...

  • Page 13: Wiring

    CAN GND terminals on the modules together. This ensures that all of the modules are at the same potential. The ground wire must be earthed at one end only. CANL CANL network connection CANH CANH network connection PROCON ELECTRONICS CANopen PC6RO...

  • Page 14: Wiring The Relay Outputs

    COM 1 N/C 1 N/O 1 COM 2 N/C 2 N/O 2 COM 3 N/C 3 N/O 3 COM 4 N/C 4 N/O 4 COM 5 N/C 5 N/O 5 COM 6 N/C 6 N/O 6 PROCON ELECTRONICS CANopen PC6RO...

  • Page 15: Indicators

    Indicates a CANopen error. Output Status: “OFF” when the output is off “ON” when the output is on. R = CANopen RUN state P = Power T = CANopen Error Output Status 1 - 6 Switch 1 Switch 8 PROCON ELECTRONICS CANopen PC6RO...

  • Page 16: Run Indicator (R)

    At least one of the error counters of the CAN controller has reached or exceeded the warning limit. Double flash Error Control Event A guard event (NMT- Slave or NMT- Master) or a Heartbeat event has occurred. Bus Off The CAN controller is bus-off. PROCON ELECTRONICS CANopen PC6RO...

  • Page 17: Implemented Canopen Objects

    7. Implemented CANopen Objects 7.1 Object Block Diagrams 7.1.1 Block diagram for relay outputs PROCON ELECTRONICS CANopen PC6RO...

  • Page 18: Communication Segment

    The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set. Meaning generic error communication error (overrun, error state) INDEX 1001 Name Error Register Object Code Variable Data Type UNSIGNED8 Access PDO Mapping Default Value 0x00 PROCON ELECTRONICS CANopen PC6RO...

  • Page 19: Object 1003H: Pre-Defined Error Field

    Data Type UNSIGNED32 Sub-Index Description Number of Errors Access PDO Mapping Default Value 0x00000000 Sub-Index Description Standard Error Field Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 Sub-Index Description Standard Error Field Data Type UNSIGNED32 PROCON ELECTRONICS CANopen PC6RO...
  • Page 20 Standard Error Field Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 Sub-Index Description Standard Error Field Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 Sub-Index Description Standard Error Field Data Type UNSIGNED32 Access PDO Mapping PROCON ELECTRONICS CANopen PC6RO...
  • Page 21 Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 Sub-Index Description Standard Error Field Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 Sub-Index Description Standard Error Field Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 PROCON ELECTRONICS CANopen PC6RO...

  • Page 22: Object 1005H: Cob-Id Sync

    UNSIGNED32 Access PDO Mapping Default Value 0x00000080 7.2.5 Object 1008h: Manufacturer Device Name Contains the device name. INDEX 1008 Name Manufacturer Device Name Object Code Variable Data Type VISIBLE_STRING Access CONST PDO Mapping Default Value PC6RO PROCON ELECTRONICS CANopen PC6RO...

  • Page 23: Object 1009H: Manufacturer Hardware Version

    CONST PDO Mapping Default Value V01.00 7.2.7 Object 100Ah: Manufacturer Software Version Contains the device software version. INDEX 100A Name Manufacturer Software Version Object Code Variable Data Type VISIBLE_STRING Access CONST PDO Mapping Default Value V01.00 PROCON ELECTRONICS CANopen PC6RO...

  • Page 24: Object 100Ch: Guard Time

    The life time factor multiplied with the guard time gives the life time for the device. It is 0, if not used. INDEX 100D Name Life Time Factor Object Code Variable Data Type UNSIGNED8 Access PDO Mapping Default Value 0x00000000 PROCON ELECTRONICS CANopen PC6RO...

  • Page 25: Object 1010H: Store Parameter Field

    Error Mode 6 Output Lines 6206h Fault State 6 Output Lines 6207h INDEX 1010 Name Store Parameter Field Object Code Array Data Type UNSIGNED32 Sub-Index Description Number of Entries Access PDO Mapping Default Value Sub-Index Description Save all Parameters PROCON ELECTRONICS CANopen PC6RO...

  • Page 26: Object 1011H: Restore Default Parameters

    Default Value 0x00000000 7.2.11 Object 1011h: Restore Default Parameters This entry supports restoring of default parameters. With a read access the device provides information about its capabilities to restore these values. Several parameter groups are distinguished. PROCON ELECTRONICS CANopen PC6RO...
  • Page 27 Number of Entries Access PDO Mapping Default Value Sub-Index Description Restore all Default Parameters Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 Sub-Index Restore Communication Default Description Parameters Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000000 PROCON ELECTRONICS CANopen PC6RO...

  • Page 28: Object 1014H: Cob-Id Emcy

    UNSIGNED32 Access PDO Mapping Default Value 0x00000000 7.2.12 Object 1014h: COB-ID EMCY COB-ID used for emergency message (Emergency Producer). INDEX 1014 Name COB-ID EMCY Object Code Variable Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000080 PROCON ELECTRONICS CANopen PC6RO...

  • Page 29: Object 1015H: Inhibit Time Emergency

    The lower 16 bits contain the heartbeat time INDEX 1016 Name Heartbeat Consumer Entries Object Code Array Data Type UNSIGNED32 Sub-Index Description Number of Entries Access PDO Mapping Default Value 0x02 Sub-Index Description Consumer Heartbeat Time 1 Data Type UNSIGNED32 PROCON ELECTRONICS CANopen PC6RO...

  • Page 30: Object 1017H: Producer Heartbeat Time

    The producer heartbeat time defines the cycle time of the heartbeat. If the time is 0 it is not used. The time has to be a multiple of 1 msec INDEX 1017 Name Producer Heartbeat Time Object Code Variable Data Type UNSIGNED16 Access PDO Mapping Default Value 0x00000000 PROCON ELECTRONICS CANopen PC6RO...

  • Page 31: Object 1018H: Identity Object

    IDENTITY Sub-Index Description number of entries Access PDO Mapping Default Value Sub-Index Description Vendor Id Data Type UNSIGNED32 Access PDO Mapping Default Value 0x000003AD Sub-Index Description Product Code Data Type UNSIGNED32 Access PDO Mapping Default Value PROCON ELECTRONICS CANopen PC6RO...
  • Page 32 Sub-Index Description Revision number Data Type UNSIGNED32 Access PDO Mapping Default Value Sub-Index Description Serial number Data Type UNSIGNED32 Access PDO Mapping Default Value PROCON ELECTRONICS CANopen PC6RO...

  • Page 33: Object 1029H: Error Behaviour

    3 .. 127 reserved INDEX 1029 Name Error Behaviour Object Code Array Data Type UNSIGNED8 Sub-Index Description Number of Entries Access PDO Mapping Default Value Sub-Index Description Communication Error Data Type UNSIGNED8 Access PDO Mapping Default Value PROCON ELECTRONICS CANopen PC6RO...

  • Page 34: Object 1200H: Server Sdo Parameter 1

    Number of Entries Access PDO Mapping Default Value Sub-Index Description COB-ID Client -> Server Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000600 Sub-Index Description COB-ID Server -> Client Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000580 PROCON ELECTRONICS CANopen PC6RO...

  • Page 35: Object 1400H: Receive Pdo Communication Parameter 1

    Sub-Index Description Number of Entries Access PDO Mapping Default Value 0x03 Sub-Index Description COB-ID Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00000200 Sub-Index Description Transmission Type Data Type UNSIGNED8 Access PDO Mapping Default Value 0xFF PROCON ELECTRONICS CANopen PC6RO...

  • Page 36: Object 1600H: Receive Pdo Mapping Parameter 1

    Receive PDO Mapping Name Parameter 1 Object Code Record Data Type PDO_MAPPING Sub-Index Description Number of Entries Access PDO Mapping Default Value 0x08 Sub-Index Description Mapping Entry 1 Data Type UNSIGNED32 Access PDO Mapping Default Value 0x62000108 PROCON ELECTRONICS CANopen PC6RO...
  • Page 37 Default Value 0x00050008 Sub-Index Description Mapping Entry 4 Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00050008 Sub-Index Description Mapping Entry 5 Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00050008 Sub-Index Description Mapping Entry 6 PROCON ELECTRONICS CANopen PC6RO...
  • Page 38 Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00050008 Sub-Index Description Mapping Entry 7 Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00050008 Sub-Index Description Mapping Entry 8 Data Type UNSIGNED32 Access PDO Mapping Default Value 0x00050008 PROCON ELECTRONICS CANopen PC6RO...

  • Page 39: Manufacturer Segment

    Object Code Variable Data Type UNSIGNED8 Access PDO Mapping Default Value 0x7F 7.3.2 Object 2002h: Module Baud Rate INDEX 2002 Name Module Baud Rate Object Code Variable Data Type UNSIGNED8 Access PDO Mapping Default Value 0x04 PROCON ELECTRONICS CANopen PC6RO...

  • Page 40: Object 2003H: Module Dip Switch

    7.3.3 Object 2003h: Module DIP Switch INDEX 2003 Name Module DIP Switch Object Code Variable Data Type UNSIGNED8 Access PDO Mapping Default Value 0x00 PROCON ELECTRONICS CANopen PC6RO...

  • Page 41: Device Profile Segment

    6200 Name Write State 6 Output Lines Object Code Array Data Type UNSIGNED8 Sub-Index Description Number of Elements Access PDO Mapping Default Value Sub-Index Description digital Outputs 1-6 Data Type UNSIGNED8 Access PDO Mapping Default Value PROCON ELECTRONICS CANopen PC6RO...

  • Page 42: Object 6202H: Polarity 6 Output Lines

    Polarity 6 Output Lines Object Code Array Data Type UNSIGNED8 Sub-Index Description Number of Elements Access PDO Mapping Default Value Sub-Index Description Polarity for digital Outputs 1-6 Data Type UNSIGNED8 Access PDO Mapping Default Value 0x00 PROCON ELECTRONICS CANopen PC6RO...

  • Page 43: Object 6206H: Error Mode 6 Output Lines

    Error Mode 6 Output Lines Object Code Array Data Type UNSIGNED8 Sub-Index Description Number of Elements Access PDO Mapping Default Value Sub-Index Fault Mode for digital Outputs 1- Description Data Type UNSIGNED8 Access PDO Mapping Default Value 0x3F PROCON ELECTRONICS CANopen PC6RO...

  • Page 44: Object 6207H: Fault State 6 Output Lines

    Fault State 6 Output Lines Object Code Array Data Type UNSIGNED8 Sub-Index Description Number of Elements Access PDO Mapping Default Value Sub-Index Fault State for digital Outputs 1- Description Data Type UNSIGNED8 Access PDO Mapping Default Value 0x00 PROCON ELECTRONICS CANopen PC6RO...

  • Page 45: Object 6220H: Write State 1 Output Line 1-6

    Access PDO Mapping Default Value Sub-Index Description digital Output 1 Data Type BOOLEAN Access PDO Mapping Default Value Sub-Index Description digital Output 2 Data Type BOOLEAN Access PDO Mapping Default Value Sub-Index Description digital Output 3 PROCON ELECTRONICS CANopen PC6RO...
  • Page 46 Output 4 Data Type BOOLEAN Access PDO Mapping Default Value Sub-Index Description digital Output 5 Data Type BOOLEAN Access PDO Mapping Default Value Sub-Index Description digital Output 6 Data Type BOOLEAN Access PDO Mapping Default Value PROCON ELECTRONICS CANopen PC6RO...

  • Page 47: Safety Guidelines

    The IO Modules are only allowed to be installed wit out voltage app lied and by qualified personnel.  General safety regulations and nationally applicable accident prevention guidelines must be observed. Electrical installation must be carried out according to the relevant guidelines (e.g. line cross section, fuse, protective ground connection). PROCON ELECTRONICS CANopen PC6RO...

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