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Beckhoff FC5101 Documentation

Beckhoff FC5101 Documentation

Pci cards for canopen
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FC5101 and FC5102
PCI Cards for CANopen
Version:
Date:
2.0
2017-11-17

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Summary of Contents for Beckhoff FC5101

  • Page 1 Documentation FC5101 and FC5102 PCI Cards for CANopen Version: Date: 2017-11-17...

  • Page 3: Table Of Contents

    LC5100: Bus connection via spring-loaded terminals............ 19 3.2.11 Fieldbus Box: M12 CAN socket .................. 20 4 Parameterization and Commissioning .................... 21 Configuration: TwinCAT System Manager .................. 21 Beckhoff Bus Coupler ........................ 29 CANopen node .......................... 31 Configuration Files........................... 36 5 CANopen Communication ........................ 37 Network Management ........................ 37 BootUp of the FC510x ........................ 41...
  • Page 4 Table of contents 7 Bus Trace function .......................... 74 FC510x as bus monitor ........................ 74 8 Appendix .............................. 80 CAN Identifier List.......................... 80 Approvals............................ 95 Bibliography ............................. 95 List of Abbreviations ........................ 96 Support and Service ........................ 98 Version: 2.0 FC5101 and FC5102...

  • Page 5: Foreword

    The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Copyright © Beckhoff Automation GmbH & Co. KG, Germany.

  • Page 6: Safety Instructions

    All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

  • Page 7: Documentation Issue Status

    • Migration • completely revised ◦ FC510x Monitor Software documented ◦ CANopen Protocol description revised 0.9 (Pre-Release) • Preliminary version, 11.03.2002 The using of the FC5101 in slave mode is described separately (FC510x Slave.chm resp. -.pdf). FC5101 and FC5102 Version: 2.0...

  • Page 8: Product Overview

    3) or a slide switch (from hardware version 4) near the CAN connectors. The Flash Disk socket is currently not in use. Fig. 1: FC5102 Pinout The CAN bus line is connected via 9-pin Sub-D sockets with the following pinout. Version: 2.0 FC5101 and FC5102...

  • Page 9: Fig. 2 Fc5102 Panel

    CAN high (CAN+) The unlisted pins are not connected. Note: an auxiliary voltage of up to 30 V may be connected to pin 9. Some CAN devices use this to supply the transceiver. Fig. 2: FC5102 panel FC5101 and FC5102 Version: 2.0...

  • Page 10: Technical Data

    Fig. 3: FC510x The FC510x is a CANopen [} 11] master card with the following features: • One (FC5101) or two (FC5102) CAN channels, each with its own processor, memory, etc. • Optionally CANopen master or slave. • All PDO communication types are supported.

  • Page 11: Canopen Introduction

    • Requested (polled) [} 44]: A CAN data request telegram causes the modules to send their input data. The desired communication type is set by the Transmission Type [} 44] parameter. FC5101 and FC5102 Version: 2.0...
  • Page 12 Beckhoff website (http://www.beckhoff.de) for the parameterization of Beckhoff CANopen devices using configuration tools from other manufacturers. Certification The Beckhoff CANopen devices have a powerful implementation of the protocol, and are certified by the CAN in Automation Association (http://www.can-cia.org). Version: 2.0...

  • Page 13: Fitting And Wiring

    The card can be fitted into any free PCI slot. Ensure that the PCI bus connector is making good contact, and that the module is seated firmly. Secure the board to the PC slot housing with the mounting bolt. FC5101 and FC5102 Version: 2.0...

  • Page 14: Canopen Cabling

    1 Mbit/s < 20 m* 500 kbit/s < 100 m 250 kbit/s < 250 m 125 kbit/s < 500 m 50 kbit/s < 1000 m 20 kbit/s < 2500 m 10 kbit/s < 5000 m Version: 2.0 FC5101 and FC5102...

  • Page 15: Drop Lines

    Shorter drop line lengths must be maintained when passive distributors ("multiport taps"), such as the Beckhoff ZS5052-4500 Distributor Box. The following table indicates the maximum drop line lengths and the maximum length of the trunk line (without the drop lines):...

  • Page 16: Fig. 10 Structure Of Can Cable Zb5100

    Fitting and wiring ZB5100 CAN Cable A high quality CAN cable with the following properties is included in Beckhoff's range: • 2 x 2 x 0.25 mm² (AWG 24) twisted pairs, cable colors: red/black + white/black • double screened • braided screen with filler strand (can be attached directly to pin 3 of the 5-pin connection terminal) •...

  • Page 17: Shielding

    - it should nevertheless still be fully connected through. Notes related to checking the CAN wiring can be found in the Trouble Shooting [} 71] section. 3.2.7 Cable colors Suggested method of using the Beckhoff CAN cable on Bus Terminal and Fieldbus Box: BK51x0 pin Pin BK5151 Fieldbus...

  • Page 18: Bk5151, Fc51Xx, Cx With Can Interface And El6751: D-Sub, 9 Pin

    The mounting rail contact spring and the plug shield are connected together. Note: an auxiliary voltage of up to 30 V may be connected to pin 9. Some CAN devices use this to supply the transceiver. Fig. 12: BK5151, EL6751 pin assignment FC51x2: Fig. 13: FC51x2 Version: 2.0 FC5101 and FC5102...

  • Page 19: Bk51X0/Bx5100: 5-Pin Open Style Connector

    In the low cost LC5100 Coupler, the CAN wires are connected directly to the contact points 1 (CAN-H, marked with C+) and 5 (CAN-L, marked with C-). The screen can optionally be connected to contact points 4 or 8, which are connected to the mounting rail via an R/C network. FC5101 and FC5102 Version: 2.0...

  • Page 20: Fieldbus Box: M12 Can Socket

    Fig. 16: Pin assignment: M12 plug, fieldbus box Beckhoff offer plugs for field assembly, passive distributor's, terminating resistors and a wide range of pre- assembled cables for the Fieldbus Box system. Details be found in the catalogue, or under www.beckhoff.de.

  • Page 21: Parameterization And Commissioning

    • Standard data formats such as arrays and structures • User defined data formats • Continuous variable linking • Drag and Drop • Import and export at all levels The procedure and the configuration facilities in the System Manager are described below. FC5101 and FC5102 Version: 2.0...

  • Page 22: Fig. 18 Context Menu

    General CANopen device or general CAN device (access via CAN layer 2) CANopen Node [} 31] Delete Device... <Del> Removes the FC510x fieldbus card and all subsidiary elements from the I/O configuration. Online Reset Initiates an online reset on the CANopen bus. Version: 2.0 FC5101 and FC5102...

  • Page 23: Fig. 19 Fc510X Tab

    SYNC telegrams in CAN systems inherently jitter by one telegram length if the bus is occupied at the time of the SYNC. The SYNC accuracy therefore primarily refers to the long-term stability. Bus nodes that synchronize via a PLL procedure are particularly dependent on good long-term stability. FC5101 and FC5102 Version: 2.0...

  • Page 24: Fig. 20 Synchronization Mode

    The shift time should be as small as possible in this mode, but sufficiently large to ensure that the TwinCAT task can access the process data. The function "Calculate Equi-Times", which is triggered by clicking on the corresponding button after the mappings have been created, helps to set the optimum shift time. Version: 2.0 FC5101 and FC5102...

  • Page 25: Fig. 21 Synchronization Mode: Slave (Sync Master: Balanced Pc Clock)

    CANopen. In order to be able to respond rapidly to an event, the TwinCAT task cycle time has to be less than the CANopen SYNC cycle time. If the sync cycle multiplier is set to values > 1, the TwinCAT task is called repeatedly before the SYNC telegram is sent again. FC5101 and FC5102 Version: 2.0...

  • Page 26: Fig. 23 Example

    Scans the CANopen network and adds all detected equipment to the device (FC510x) (boxes cannot be added). In the case of Beckhoff boxes, reads the configuration precisely. In the case of external devices, the PDO configuration and the identity object are read and evaluated.

  • Page 27: Fig. 24 Box States Tab

    Displays an overview of all current box states. DPRAM (Online) tab Refer to "Online display of DPRAM" in the System Manager documentation. Diagnostic Inputs The FC510x automatically provides various diagnostic variables which describe the status of the card and the CANopen network: FC5101 and FC5102 Version: 2.0...

  • Page 28: Fig. 25 Fc510X - Diagnostic Variables

    BusLoad: Shows the current bus load in %. The Bus Load [} 51] is an important design criterion for CAN networks. The value shown is an average value over 100 ms. Version: 2.0 FC5101 and FC5102...

  • Page 29: Beckhoff Bus Coupler

    (life guarding). Life guarding is deactivated if the lifetime factor is set to zero. Inhibit Time: Displays the minimum send interval for PDOs (telegrams) with analog and special signals. If more than 64 digital signals are present, they also furnished with this inhibit time [} 48]. FC5101 and FC5102 Version: 2.0...

  • Page 30: Fig. 27 Sdos Tab

    (e.g. from the PLC). It can be changed if required. The ADS IndexGroup contains the CANopen object index and the ADS IndexOffset contains the CANopen SubIndex. See chapter SDO communication [} 56] for details of SDO communication via ADS. Version: 2.0 FC5101 and FC5102...

  • Page 31: Canopen Node

    After CANopen, the parameter 0x1000 "Device Type" contains the number of the supported device profile in both the lowest value bytes. These are entered here and compared at the system StartUp with the device parameters present. If no device profile is supported, the parameter will contain the value 0 FC5101 and FC5102 Version: 2.0...
  • Page 32 After a recognized node error the card automatically attempts to restart the node. The StartUp attempt is initiated by a node reset command. Manual Restart After a node error, this node remains in error state and is not restarted automatically. You can actuate a restart via "I/O-Reset". Network Reaction Version: 2.0 FC5101 and FC5102...

  • Page 33: Fig. 29 Pdo Tab

    Identifiers [} 61]. These can then be changed. Trans.Type The Transmission Type [} 44] determines the send behavior of the PDO. 255 corresponds to the event driven send. Inhibit Time Send Delay [} 44] between two identical PDOs. Is entered in multiples of 0.1 ms. FC5101 and FC5102 Version: 2.0...

  • Page 34: Fig. 30 Tree Representation

    0x1802 – independent of the designation of the PDO in the System Manager. Thus, if only PDO1 and PDO3 are to be used, a PDO2 must also be entered – in this case without assigning variables. PDOs without variables are not transmitted and also not expected. Version: 2.0 FC5101 and FC5102...

  • Page 35: Fig. 31 Context Menu

    ADS. These ports can be used to read and write SDO objects using ADS read requests and/or write requests. The ADS IndexGroup contains the CANopen object index and the ADS IndexOffset contains the CANopen SubIndex. FC5101 and FC5102 Version: 2.0...

  • Page 36: Configuration Files

    Beckhoff CANopen slave devices are available for download from the Beckhoff website. Since it was found that a large number of eds files do not properly observe the standard, Beckhoff have until now not supported eds files in the System Manager. The direct configuration of PDO parameters makes it possible to adapt to the devices that are to be incorporated, and also to use devices that do not entirely meet the standard.

  • Page 37: Canopen Communication

    Pre-Operational state. In this way the NMT status machine in the network master can also immediately detect fatal errors. Stopped In the Stopped state (formerly: Prepared) data communication with the Coupler is no longer possible - only NMT messages are received. The outputs go into the fault state. FC5101 and FC5102 Version: 2.0...
  • Page 38 CAN monitor, without having to make write access to the bus (such as a scan of the network by reading out parameter 0x1000). Finally, the boot-up message communicates the end of the initialization phase; the Bus Coupler signals that it can now be configured or started. Version: 2.0 FC5101 and FC5102...

  • Page 39: Fig. 34 Schematic Diagram: "Guarding Procedure

    The toggle bit (t) transmitted in the first guarding telegram has the value 0. After this, the bit must change (toggle) in every guarding telegram so that the loss of a telegram can be detected. The node uses the remaining seven bits to transmit its network status (s): FC5101 and FC5102 Version: 2.0...
  • Page 40 The master also regularly transmits its heartbeat telegram, so that the slaves are also able to detect failure of the master. Version: 2.0 FC5101 and FC5102...

  • Page 41: Bootup Of The Fc510X

    0x05 (if there is an SDO data mismatch at start-up or the value do not comply) and an appropriate error message is displayed in the dialog box. FC5101 and FC5102 Version: 2.0...
  • Page 42 Because CANopen does not provide explicit confirmation of the start process, it is only possible to evaluate the first arrival of the transmit PDOs. Until all the configured TxPDOs have arrived, the state of the node remains set to 0x17 (expected TxPDO is missing). Version: 2.0 FC5101 and FC5102...
  • Page 43 4.3287 601 8 23 16 10 01 2c 01 7f 00 2c 01 7f 00 [1016,01] Initiate Download Rq. expedited    Heartbeat Consumer Time ist 0x012C=300ms, Node ID des Heartbeat Producers (hier: FC5101) ist 0x7F 4.3304 581 8 60 16 10 01 00 00 00 00 [1016,01] Initiate Download Rsp 4.3312 601 8 23 00 55 00 00 00 ff ff 00 00 ff ff [5500,00] Initiate Download Rq. expedited    User Parameter: Index 0x5500, SI 0, Wert 0x00 00 FF FF 4.3321 701 1 7f                       T0 Preoperational    Node 1 sends first heartbeat telegram, FC5101 starts controlling 4.4679 581 8 60 00 55 00 00 00 00 00 [5500,00] Initiate Download Rsp 4.4686 601 8 2f 23 64 00 01 00 00 00 01 [6423,00] Initiate Download Rq. expedited    User Parameter: Index 0x6423, SI 0, Wert 0x01 4.4700 581 8 60 23 64 00 00 00 00 00 [6423,00] Initiate Download Rsp 4.4707 00 2 01 01                     Start Node    Node 1 is transferred individually in operational 4.4717 701 1 7f                       T0 Preoperational    The next heartbeat telegram is sent before the status crossing is concluded 4.4986 181 1 00 00    Node 1 is operational and sends his TxPDO1 and TxPDO2 4.4989 281 4 00 00 00 00 00 00 00 00 4.5786 701 1 05                       T0 Operational 4.6390 281 4 00 00 08 00 00 00 08 00 4.6411 281 4 00 00 00 00 00 00 00 00 4.6891 701 1 05                       T0 Operational 4.7951 701 1 05                       T0 Operational 4.9032 701 1 05                       T0 Operational 5.0048 281 4 00 00 08 00 00 00 08 00 FC5101 and FC5102 Version: 2.0...

  • Page 44: Process Data Objects (Pdo)

    PDOs are located from index 0x1800 (TxPDO1) to 0x19FF (TxPDO512). The Beckhoff Bus Couplers or Fieldbus Coupler Box modules make 16 RxPDO and TxPDOs available for the exchange of process data (although the figure for Economy and LowCost BK5110 and LC5100 Couplers and the Fieldbus Boxes is 5 PDOs each, since these devices manage a lower quantity of process data).

  • Page 45: Fig. 36 Default Identifier Allocation: Master/Slave

    CANopen Communication of the 29-bit versions remains limited to unusual applications. It is therefore also not supported by a Beckhoff's CANopen devices. The highest bit (bit 31) can be used to activate the process data object or to turn it off.

  • Page 46: Fig. 38 Diagram: Can Process Data Transmission

    CAN controllers with simple message filtering (BasicCAN) on the other hand pass the request on to the application which can now compose the telegram with the latest data. This does take longer, but does mean that the data is up-to-date. Beckhoff use CAN controllers following the principle of Basic CAN.

  • Page 47: Fig. 39 Diagram: Can "Sync" Telegram

    (n = 1), whereas the data for analog inputs is transmitted in a slower FC5101 and FC5102 Version: 2.0...

  • Page 48: Fig. 40 Timing Diagram: "Inhibit Time

    Fig. 40: Timing diagram: "Inhibit time" Although the Beckhoff FC510x PC cards / EL6751 terminal can parameterize the inhibit time on slave devices, they do not themselves support it. The transmitted PDOs become automatically spread out (transmit delay) as a result of the selected PLC cycle time - and there is little value in having the PLC run faster than the bus bandwidth permits.

  • Page 49: Fig. 41 Time Representation Of The Event Timer

    The first location in the mapping table (sub-index 0) contains the number of mapped objects that are listed after it. The tables are located in the object directory at index 0x1600ff for the RxPDOs and at 0x1A00ff for the TxPDOs. FC5101 and FC5102 Version: 2.0...

  • Page 50: Fig. 42 Mapping Representation

    As a rule, the default mapping of the process data objects already satisfies the requirements. For special types of application the mapping can nevertheless be altered: the Beckhoff CANopen Bus Couplers, for instance, thus support variable mapping, in which the application objects (input and output data) can be freely allocated to the PDOs.

  • Page 51: Pdo Parameterization

    The BECKHOFF FC510x PC cards / EL6751 CANopen terminal are capable of synchronizing the CANopen bus system with the cycles of the application program (PLC or NC).
  • Page 52 The BECKHOFF FC510x CANopen master cards / EL6751 CANopen master terminal display the bus load via the System Manager. This variable can also be processed in the PLC, or can be displayed in the visualization system.

  • Page 53: Service Data Objects (Sdo)

    11 bit identifier 8 byte user data 0x600 (=1536dec) + node 0x40 Index0 Index1 SubIdx 0x00 0x00 0x00 0x00 Parameter Explanation Index0 Index low byte (Unsigned16, LSB) Index1 Index high byte (Unsigned16, MSB) SubIdx Sub-index (Unsigned8) FC5101 and FC5102 Version: 2.0...
  • Page 54 A download of data up to 4 bytes in length can therefore always be achieved in BECKHOFF bus nodes with 22 h in the first CAN data byte. Client -> Server, Download Response 11 bit identifier 8 byte user data...
  • Page 55 Function still active, try again later 0x05 04 00 40 General routing error 0x06 06 00 21 Error accessing BC table 0x06 09 00 10 General error communicating with terminal 0x05 04 00 47 Time-out communicating with terminal FC5101 and FC5102 Version: 2.0...

  • Page 56: Sdo Communication With Fc510X

    2. Upload and download at runtime via ADS It is possible to perform SDO accesses to the bus devices' object directories using Beckhoff's ADS communication when the system is running. This is also possible from the PLC, from the NC, from the OPC server, from ActiveX controls or from any other ADS device.
  • Page 57 The NetID is a string, 23 bytes in length, and is formed by default from the IP address of the computer with an additional two bytes. It addresses the FC5101 card and can be found under "ADS" in the System Manager.
  • Page 58     state:BYTE := 0;     ADSREAD:ADSREAD; END_VAR CASE state OF     0:         IF StartReading THEN            ReadDataAvailable := FALSE;            Error := 0;            ADSRead(                NETID:= ADSNetID,                PORT:= PortNr,                IDXGRP:= CO_Index,                IDXOFFS:= CO_SubIndex,                LEN:= DataLength,                DESTADDR:= ADR(ReadData),                READ:= TRUE,                TMOUT := T#1s                );            IF ADSRead.err THEN                state := 2;                ReadDataAvailable := TRUE;                Error := ADSRead.ErrId;            ELSE                state := 1;            END_IF         ELSE            ADSRead(                NETID:= ADSNetID,                PORT:= PortNr,                IDXGRP:= CO_Index,                IDXOFFS:= CO_SubIndex,                LEN:= DataLength,                DESTADDR:= ADR(ReadData),                READ:= FALSE, Version: 2.0 FC5101 and FC5102...
  • Page 59 It looks like this (starting with the variable declaration): FUNCTION_BLOCK SDO_WRITE VAR_INPUT     ADSNetID:STRING(23);   (* The AMSNetID addresses the FC5101 card. Can be empty if only one local  single channel card is present*)    PortNr:WORD;          (* The Port No. addresses the CANopen Node (see System Manager)*)    CO_Index:DWORD;        (* This is the Index of the CANopen Object Dictionary Entry*)     CO_SubIndex:DWORD;     (*This is the Sub-Index of the CANopen Object Dictionary Entry*)     DataLength:DWORD;     (* This is the Length of the CANopen Object Dictionary Entry*)     StartWriting:BOOL;     (*only reset to FALSE after WriteDataFinished=TRUE*)     WriteData:ARRAY[0..255] OF BYTE; (*This array contains the data to be written to the CANopen Obj ect Dictionary*) END_VAR VAR_OUTPUT     WriteDataFinished:BOOL;     Error:DWORD; END_VAR     state:BYTE := 0;     ADSWRITE:ADSWRITE; END_VAR CASE state OF     0:         IF StartWriting THEN            WriteDataFinished := FALSE;            Error := 0; FC5101 and FC5102 Version: 2.0...

  • Page 60: Baud Rate And Bit Timing

    0x18 0x1C 0x31 0x1C The bit-timing register settings given (BTR0, BTR1) apply, for example, for the Philips 82C200, SJA1000, Intel 80C527, Siemens 80C167 and other CAN controllers. They are optimized for the maximum bus length. Version: 2.0 FC5101 and FC5102...

  • Page 61: Identifier Distribution

    0x1016, 0x1017) Boot-up message * For historical reasons, the Beckhoff default mapping applies to PDOs 3 and 4 in Beckhoff I/O devices. In most configurations, PDOs 3+4 contain data related to analog inputs and outputs, but there can also be "excess"...

  • Page 62: Error Handling And Diagnostics

    For each CANopen fieldbus node there is a node state input variable, which signals the status of the current slave during the runtime and can be linked, for example with the PLC. Fig. 48: Input variable Node State Version: 2.0 FC5101 and FC5102...
  • Page 63 CANopen emergencies and other diagnostic data can be read out via ADS read (new data present as soon as you see the DiagFlag). You need to enter the FC510x ADS Net-ID. Further ADS parameters: Port: 200 FC5101 and FC5102 Version: 2.0...
  • Page 64 Bits 0-15: Abort additionalCode Offset 16-19: Read value (if offset 6 = 1) Offset 20-23: Expected value (if offset 6 = 1) Offset 24-25: Number of consecutive emergencies Offset 26 - n: Emergencies (8 bytes each) Version: 2.0 FC5101 and FC5102...

  • Page 65: Fc510X Diagnostics

    It is recommended that the cycleCounter be used here, as it is not incremented in these cases. Busload Indicates the current bus loading in %. FC5101 and FC5102 Version: 2.0...

  • Page 66: Error Telegrams: Emergency

    CANopen emergencies and other diagnostic data can be read via ADS. You need to enter the FC510x ADS Net-ID. Further ADS parameters: Port: 200 IndexGroup: Lo-Word = 0xF180, Hi-Word = Node-Number. IndexOffset: See below Length: See below Version: 2.0 FC5101 and FC5102...

  • Page 67: Ads Error Codes

    0x111A Incorrect data length at AddCdl 0x111B DeleteCdl not allowed in INIT state 0x111C Incorrect IndexOffset at DeleteCdl 0x111D Incorrect data length at DeleteCdl 0x111E Incorrect IndexGroup at AdsWrite 0x111F Device parameters cannot be read FC5101 and FC5102 Version: 2.0...
  • Page 68 AddCdl: Insufficient memory for synchronous receive list 0x1313 AddCdl: Insufficient memory for asynchronous receive list 0x1316 AddCdl: Insufficient memory for synchronous receive list 0x1318 AddCdl: Only slave action allowed 0x1319 AddCdl: Insufficient memory for slave list Version: 2.0 FC5101 and FC5102...
  • Page 69 StartFieldbus: Shift time is too large 0x1805 StartFieldbus: PLL sync time is too large 0x1806 StartFieldbus: Safety time is too large 0x1807 StartFieldbus: Cycle times shorter than 1 ms must be integral divisors of 1 ms FC5101 and FC5102 Version: 2.0...
  • Page 70 StartFieldbus: Loading the device parameters is only possible in the OFFLINE state 0x201F StartDataTransfer: No memory for copy queue 0x2020 ReadBox: no more memory 0x2021 ReadBox: SDO error or timeout 0x2022 ReadBox: SDO cannot be initialized 0x2023 StartFieldbus: reserved device parameter not equal to 0 Version: 2.0 FC5101 and FC5102...

  • Page 71: Canopen Trouble Shooting

    Test 2 Check that the same baud rate has been set everywhere. For special devices, if the bit timing parameters are accessible, do they agree with the CANopen definitions (sampling time, SJW, oscillator). FC5101 and FC5102 Version: 2.0...
  • Page 72 The length of cable that has been installed is often underestimated - estimates can even be a factor of 10 less than the actual length. The following test is therefore recommended: Version: 2.0 FC5101 and FC5102...
  • Page 73 CANopen experts - the Beckhoff support team can help here. A free channel on a Beckhoff FC5102 CANopen PCI card is appropriate for such a trace - Beckhoff make the necessary trace software available on the internet. Alternatively, it is of course possible to use a normal commercial CAN analysis tool.

  • Page 74: Bus Trace Function

    Bus Trace function FC510x as bus monitor From firmware version 1.00 and TwinCAT 2.8 (build 740), the FC5101 or FC5102 can also be used as CANopen monitor instead of master or slave. For example, the second channel of the FC5102 can be used for this purpose, in which case the first channel continues to function as CANopen master or slave, or vice versa.
  • Page 75 800 kbaud <= 12 ms 500 kbaud <= 20 ms 250 kbaud <= 40 ms 125 kbaud <= 80 ms 100 kbaud <= 100 ms 50 kbaud <= 200 ms 20 kbaud <= 500 ms 10 kbaud <= 1000 ms The Autostart checkbox is also to be set (see illustration above). FC5101 and FC5102 Version: 2.0...
  • Page 76 Only the DLL (TcRouterHelper.dll) is required in addition to the monitor program itself (CAN- Monitor.exe). This must be placed in the same directory as the monitor program. After starting the monitor program, the device ID of the FC5101 channel that will be used for the monitoring must be selected.
  • Page 77 Post Trigger: This can be used to specify how many telegrams are still to be recorded after the trigger condition has occurred. The number of telegrams recorded prior to occurrence of the trigger condition is only restricted by the specified buffer size. FC5101 and FC5102 Version: 2.0...
  • Page 78 25,000 CAN messages. It is then only necessary to start the recording via monitor software before the CAN card's buffer overflows. Stopping the Recording Click the red traffic light symbol to stop the recording. The following dialog box opens: Fig. 61: Stopping the recording Version: 2.0 FC5101 and FC5102...
  • Page 79 14 4.0848 ID: 632 Len: 8 Data: 23 00 14 01 32 02 00 00 15 4.0853 ID: 581 Len: 8 Data: 43 18 10 01 02 00 00 00 16 4.0863 ID: 601 Len: 8 Data: 23 00 18 01 81 01 00 00 FC5101 and FC5102 Version: 2.0...

  • Page 80: Appendix

    The list provided here should assist in identifying and assigning CANopen messages. All the identifiers allocated by the CANopen default identifier allocation are listed, as well as the manufacturer-specific default identifiers issued by BECKHOFF via object 0x5500 (only to be used in networks with node addresses less than 64).
  • Page 81 TxPDO1, DI, Nd.19 0x1A8 TxPDO1, DI, Nd.40 0x1BD TxPDO1, DI, Nd.61 0x194 TxPDO1, DI, Nd.20 0x1A9 TxPDO1, DI, Nd.41 0x1BE TxPDO1, DI, Nd.62 0x195 TxPDO1, DI, Nd.21 0x1AA TxPDO1, DI, Nd.42 0x1BF TxPDO1, DI, Nd.63 FC5101 and FC5102 Version: 2.0...
  • Page 82 RxPDO1, DO, Nd.19 0x228 RxPDO1, DO, Nd.40 0x23D RxPDO1, DO, Nd.61 0x214 RxPDO1, DO, Nd.20 0x229 RxPDO1, DO, Nd.41 0x23E RxPDO1, DO, Nd.62 0x215 RxPDO1, DO, Nd.21 0x22A RxPDO1, DO, Nd.42 0x23F RxPDO1, DO, Nd.63 Version: 2.0 FC5101 and FC5102...
  • Page 83 TxPDO2, AI, Nd.19 0x2A8 TxPDO2, AI, Nd.40 0x2BD TxPDO2, AI, Nd.61 0x294 TxPDO2, AI, Nd.20 0x2A9 TxPDO2, AI, Nd.41 0x2BE TxPDO2, AI, Nd.62 0x295 TxPDO2, AI, Nd.21 0x2AA TxPDO2, AI, Nd.42 0x2BF TxPDO2, AI, Nd.63 FC5101 and FC5102 Version: 2.0...
  • Page 84 RxPDO2, AO, Nd.19 0x328 RxPDO2, AO, Nd.40 0x33D RxPDO2, AO, Nd.61 0x314 RxPDO2, AO, Nd.20 0x329 RxPDO2, AO, Nd.41 0x33E RxPDO2, AO, Nd.62 0x315 RxPDO2, AO, Nd.21 0x32A RxPDO2, AO, Nd.42 0x33F RxPDO2, AO, Nd.63 Version: 2.0 FC5101 and FC5102...
  • Page 85 0x413 RxPDO3*, Nd.19 1064 0x428 RxPDO3*, Nd.40 1085 0x43D RxPDO3*, Nd.61 1044 0x414 RxPDO3*, Nd.20 1065 0x429 RxPDO3*, Nd.41 1086 0x43E RxPDO3*, Nd.62 1045 0x415 RxPDO3*, Nd.21 1066 0x42A RxPDO3*, Nd.42 1087 0x43F RxPDO3*, Nd.63 FC5101 and FC5102 Version: 2.0...
  • Page 86 0x513 RxPDO4*, Nd.19 1320 0x528 RxPDO4*, Nd.40 1341 0x53D RxPDO4*, Nd.61 1300 0x514 RxPDO4*, Nd.20 1321 0x529 RxPDO4*, Nd.41 1342 0x53E RxPDO4*, Nd.62 1301 0x515 RxPDO4*, Nd.21 1322 0x52A RxPDO4*, Nd.42 1343 0x53F RxPDO4*, Nd.63 Version: 2.0 FC5101 and FC5102...
  • Page 87 0x793 RxPDO5*, Nd.19 1960 0x7A8 RxPDO5*, Nd.40 1981 0x7BD RxPDO5*, Nd.61 1940 0x794 RxPDO5*, Nd.20 1961 0x7A9 RxPDO5*, Nd.41 1982 0x7BE RxPDO5*, Nd.62 1941 0x795 RxPDO5*, Nd.21 1962 0x7AA RxPDO5*, Nd.42 1983 0x7BF RxPDO5*, Nd.63 FC5101 and FC5102 Version: 2.0...
  • Page 88 0x252 RxPDO6*, Nd.18 0x267 RxPDO6*, Nd39 0x27C RxPDO6*, Nd.60 0x253 RxPDO6*, Nd.19 0x268 RxPDO6*, N.40 0x27D RxPDO6*, Nd.61 0x254 RxPDO6*, Nd.20 0x269 RxPDO6*, d.41 0x27E RxPDO6*, Nd.62 0x255 RxPDO6*, Nd.21 0x26A RxPDO6*,Nd.42 0x27F RxPDO6*, Nd.63 Version: 2.0 FC5101 and FC5102...
  • Page 89 RxPDO7*, Nd.18 0x367 RxPDO7*, Nd.39 0x37C RxPDO7*, Nd.60 0x353 RxPDO7*, Nd.19 0x368 RxPDO7*, Nd.40 0x37D RxPDO7*, Nd.61 0x354 RxPDO7*, Nd.20 0x369 RxPDO7*, Nd.41 0x37E RxPDO7*, Nd.62 0x355 RxPDO7*, Nd.21 0x36A RxPDO7*, Nd.42 0x37F RxPDO7*, Nd.63 FC5101 and FC5102 Version: 2.0...
  • Page 90 0x453 RxPDO8*, Nd.19 1128 0x468 RxPDO8*, Nd.40 1149 0x47D RxPDO8*, Nd.61 1108 0x454 RxPDO8*, Nd.20 1129 0x469 RxPDO8*, Nd.41 1150 0x47E RxPDO8*, Nd.62 1109 0x455 RxPDO8*, Nd.21 1130 0x46A RxPDO8*, Nd.42 1151 0x47F RxPDO8*, Nd.63 Version: 2.0 FC5101 and FC5102...
  • Page 91 0x553 RxPDO9*, Nd.19 1384 0x568 RxPDO9*, Nd.40 1405 0x57D RxPDO9*, Nd.61 1364 0x554 RxPDO9*, Nd.20 1385 0x569 RxPDO9*, Nd.41 1406 0x57E RxPDO9*, Nd.62 1365 0x555 RxPDO9*, Nd.21 1386 0x56A RxPDO9*, Nd.42 1407 0x57F RxPDO9*, Nd.63 FC5101 and FC5102 Version: 2.0...
  • Page 92 0x653 RxPDO10*, Nd.19 1640 0x668 RxPDO10*, Nd.40 1661 0x67D RxPDO10*, Nd.61 1620 0x654 RxPDO10*, Nd.20 1641 0x669 RxPDO10*, Nd.41 1662 0x67E RxPDO10*, Nd.62 1621 0x655 RxPDO10*, Nd.21 1642 0x66A RxPDO10*, Nd.42 1663 0x67F RxPDO10*, Nd.63 Version: 2.0 FC5101 and FC5102...
  • Page 93 0x753 RxPDO11*, Nd.19 1896 0x768 RxPDO11*, Nd.40 1917 0x77D RxPDO11*, Nd.61 1876 0x754 RxPDO11*, Nd.20 1897 0x769 RxPDO11*, Nd.41 1918 0x77E RxPDO11*, Nd.62 1877 0x755 RxPDO11*, Nd.21 1898 0x76A RxPDO11*, Nd.42 1919 0x77F RxPDO11*, Nd.63 FC5101 and FC5102 Version: 2.0...
  • Page 94 1597 0x63D SDO Rx Nd.61 1556 0x614 SDO Rx Nd.20 1577 0x629 SDO Rx Nd.41 1598 0x63E SDO Rx Nd.62 1557 0x615 SDO Rx Nd.21 1578 0x62A SDO Rx Nd.42 1599 0x63F SDO Rx Nd.63 Version: 2.0 FC5101 and FC5102...

  • Page 95: Approvals

    • Holger Zeltwander (Pub.): CANopen, VDE Verlag, 2001. 197 pages,  ISBN 3-800-72448-0 Fig. 62: CANopen • Konrad Etschberger: Controller Area Network, Grundlagen, Protokolle, Bausteine, Anwendungen. (Principles, protocols, components, applications.) Hanser Verlag, 2000. 431 pages. ISBN 3-446-19431-2 General fieldbus technology FC5101 and FC5102 Version: 2.0...

  • Page 96: List Of Abbreviations

    Controller Area Network. Serial bus system standardized in ISO 11898 that is used as the basic technology for CANopen. CAN in Automation e.V.. An international association of manufacturers and users based in Erlangen, Germany. Communication Object. A CAN telegram with up to 8 data bytes. Version: 2.0 FC5101 and FC5102...
  • Page 97 TxPDO with input data from an I/O module becomes an RxPDO from the controller's point of view. Service Data Object. A CAN telegram with a protocol for communication with data in the object directory (typically parameter data). TxPDO Transmit PDO (named from the point of view of the CAN node). FC5101 and FC5102 Version: 2.0...

  • Page 98: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 99 Fig. 40 Timing diagram: "Inhibit time" ...................... Fig. 41 Time representation of the event timer ..................Fig. 42 Mapping representation ....................... Fig. 43 SDO protocol: access to the object directory................Fig. 44 Edit SDO entry..........................FC5101 and FC5102 Version: 2.0...
  • Page 100 CAN Monitor - options ......................... Fig. 58 Entering the device ID ......................... Fig. 59 Entering 250 telegrams........................ Fig. 60 Starting the recording ........................Fig. 61 Stopping the recording......................... Fig. 62 CANopen ............................. Fig. 63 Controller Area Network, ......................Version: 2.0 FC5101 and FC5102...

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