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Motrona CI800 Operating Manual

Canopen interface module for mc800 motion controller, canopen slave compliant to cia ds301 v 4.02, process data communication with 4 receive-pdos and 4 transmit-pdos, galvanically isolated bus electronics, supports all standard baud rates, easy plug-in mo
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Operating Manual
CANopen Interface Module for MC800 Motion Controller
Product features:
 CANopen Slave compliant to CiA DS301 V 4.02
 Process data communication with 4 Receive-PDOs and 4 Transmit-PDOs
 Galvanically isolated bus electronics
 Supports all standard baud rates
 Easy plug-in mounting
motrona GmbH, Zeppelinstraße 16, DE - 78244 Gottmadingen, Tel. +49 (0) 7731 9332-0, Fax +49 (0) 7731 9332-30, info@motrona.com, www.motrona.com
CI800

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Summary of Contents for Motrona CI800

  • Page 1  Process data communication with 4 Receive-PDOs and 4 Transmit-PDOs  Galvanically isolated bus electronics  Supports all standard baud rates  Easy plug-in mounting motrona GmbH, Zeppelinstraße 16, DE - 78244 Gottmadingen, Tel. +49 (0) 7731 9332-0, Fax +49 (0) 7731 9332-30, info@motrona.com, www.motrona.com...
  • Page 2 First edition Legal notices: All contents included in this manual are protected by the terms of use and copyrights of motrona GmbH. Any reproduction, modification, usage or publication in other electronic and printed media as well as in the internet requires prior written authorization by motrona GmbH.

  • Page 3: Table Of Contents

    Table of contents 1. Safety Instructions and Responsibility ............4 General Safety Instructions ................... 4 Use according to the intended purpose ..............4 Installation ......................5 Cleaning, Maintenance and Service Notes ............5 2. General ......................6 3. Connections and LEDs ................. 7 4.

  • Page 4: Safety Instructions And Responsibility

    1. Safety Instructions and Responsibility 1.1 General Safety Instructions This operation manual is a significant component of the unit and includes important rules and hints about the installation, function and usage. Non-observance can result in damage and/or impairment of the functions to the unit or the machine or even in injury to persons using the equipment! Please read the following instructions carefully before operating the device and observe all safety and warning instructions! Keep the manual for later use.

  • Page 5: Installation

    Please find all respective hints and rules on www.motrona.com/download.html --> “[General EMC Rules for Wiring, Screening and Earthing]”. 1.4 Cleaning, Maintenance and Service Notes To clean the front of the unit please use only a slightly damp (not wet!), soft cloth.

  • Page 6: General

    2. General The CI800 interface module provides instant CANopen connectivity of the MC800 universal motion controller. It is a standard CANopen Slave compliant to CiA DS301 V 4.02. The CAN bus connection is galvanically isolated and supports all standard baud rates as well as auto baudrate detection.

  • Page 7: Connections And Leds

    3. Connections and LEDs Front view: LED “RUN”: Indicates the actual CANopen state LED state Indication Description  No power Green Operational The Module is in the CANopen state “Operational” Green blinking Pre-operational The Module is in the CANopen state “Pre-Operational” Green single flash Stopped The Module is in the CANopen state “Stopped”...

  • Page 8: Mounting

    4. Mounting If you want to mount the interface module for the very first time in your MC800 (cut-out at housing still closed) please follow the steps below. However, if the slot for the interface module is already available in your MC800’s housing, please go on with step 6.
  • Page 9 2. Carefully press to the upper side of the predetermined cut-out until the edge breaks 3. Flap the cut-out piece to the exterior with a small screw driver. 4. Dismantle the cut-out piece Ci800_01a_oi_e.doc / Jul-17 Page 9 / 18...
  • Page 10 5. The mounting slot for the interface module is now ready for use 6. Insert the interface module carefully. Please make sure that the module properly fits to the sliding bars in the slot, otherwise the connector pins can be damaged! Ci800_01a_oi_e.doc / Jul-17 Page 10 / 18...
  • Page 11 7. Tighten the two locking screws with a TORX 8 screwdriver 8. If you remove the interface module and leave the mounting slot empty, please cover the slot. A suitable cover is available on request (motrona part no. 42160). Ci800_01a_oi_e.doc / Jul-17 Page 11 / 18...

  • Page 12: Operation

    5. Operation 5.1 Parameter setting in the MC800 firmware In the MC800 firmware you will find the parameters for the interface module in parameter block “Communication settings” on the right hand side of the according register card: Fieldbus address CANopen Node Address Setting range 1…127 Fieldb.

  • Page 13: Sdo Communication

    Transmit Data 2 As above, but for TPDO 2 (Transmit Process Data Object 2) Transmit Data 3 As above, but for TPDO 3 (Transmit Process Data Object 3) Transmit Data 4 As above, but for TPDO 4 (Transmit Process Data Object 4) Receive Data 1 Mapping of the RPDO 1 (Receive Process Data Object 1): Register number of the MC800 parameter that is received by TPDO 1.

  • Page 14: Emergency Message

    The interface module supports the standard CANopen node guarding function for supervision by the CANopen master. 5.6 EDS The corresponding CANopen EDS file (Electronic Data Sheet) “CI800.eds” is available for download on the motrona homepage. Ci800_01a_oi_e.doc / Jul-17 Page 14 / 18...

  • Page 15: Object Dictonary

    6. Object Dictionary 6.1 CANopen Standard Objects (Communication Objects Index Object Object Name Data Type Access* Remarks (hex) Type 1000 Device Type Unsigned32 0000 0000 h (No profile) 1001 Error Register Unsigned8 1003 ARRAY Pre-defined error field Unsigned32 1005 COB-ID Sync Unsigned32 Default: 0000 0080 h 1008...

  • Page 16: Manufacturer Specific Objects (Mc800 Firmware Parameters)

    6.2 Manufacturer Specific Objects (MC800 firmware parameters) Index = 2000 hex + MC800 register number (marked with “#” in MC800 parameter tables) Object name (= Parameter name) is firmware specific, please refer to corresponding MC800 firmware manual parameter tables Index Object Name MC800 Data Type Access Remarks...
  • Page 17 Index Object Name MC800 Data type Access Remarks (hex) Register # (dec.) 2141 Block10 Parameter 00 Integer32 … … … … … 2160 Block10 Parameter 31 Integer32 2161 Block11 Parameter 00 Integer32 … … … … … 2180 Block11 Parameter 31 Integer32 2181 Block12 Parameter 00...

  • Page 18: Technical Data

    7. Technical Data Power supply: Internal Power supply 3.3 V by MC800, no external power supply via fieldbus required Ambient Temperature: Operating: 0 … +60 °C / 32 … 140 °F (not condensing) Storage: -40 … +70 °C / -40 … 158 °F (not condensing) Dimensions: 52 x 50 x 22 mm Operating mode:...

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