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Kübler BM Series Manual

Safety-m communication modules
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Safety-M Communication Modules
BMxx
R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013
Version: 01A
Seite 1 von 65

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  • Page 1 Safety-M Communication Modules BMxx R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 1 von 65 Version: 01A...
  • Page 2 Configuration On the backplane bus of the Safety-M device (MS1, MSP1, MS2, MSP2) there can be send one or two CAN standard messages which contain diagnostic data. Basic Settings CAN-Baudrate 500 kBit/s CAN ID message 1 CAN ID message 2 Cycle time CAN messages Settings “cycle time”:...
  • Page 3 Settings CAN message 1 User data selection Moving the selected data bit position View of all added logic data Settings CAN message 2 Size of selected data Choise of process data View of used bits Example: When the Actual position axes 1(24 Bit) , Actual SLP Teach In Position (24 Bit) and Alarm and Operation Notification is set the process data frame is arranged: Bit 0…23: Actual position axes 1...

  • Page 4: Can Messages

    CAN Messages Message 1 „Run“ mode (2, 3, 4) “Alarm” mode (A, F) Byte Byte 0 0...3 Safety-M Staus 1, 2, 3, 4, 5, 6 = FatalError, 7 = Alarm 0x1 (define) 5..7 Alive counter (3 Bit) Byte 1 0...7 diagnostic data (Bit: 48..55) Byte 2 0...7...
  • Page 5 Connection and installation The BMxx modules must be connected via backplane connector with a Safety-M basic module. R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 5 von 65 Version: 01A...
  • Page 6 Start-Up BM11 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 6 von 65 Version: 01A...

  • Page 7: Intended Use

    Definitions BM11 is a shorthand term for communication module BM11 - DeviceNet. Intended Use The module BM11 can not be used for safety-related reactions, it is used exclusively for non-secure data transmission with DeviceNet protocol. Scope of delivery Is included: ...
  • Page 8 Procedure A start-up may only be carried out by qualified personnel! Please note when commissioning the safety instructions! In the following, a startup using RSNetWorx and shown as an example. Expiry First, the provided EDS file must be loaded and included in the network. Then setting the address and configuration for the BM11 must be made.
  • Page 9 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 9 von 65 Version: 01A...
  • Page 10 Integrated into the network Can then be drawn by "drag and drop" into the plan in the device vendor hardware menu under "Anybus-IC DEV". R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 10 von 65 Version: 01A...
  • Page 11 Setting the BM11 address Double-click on "Anybus-IC DEV", the following information can be displayed. The only setting that needs to be made here is assignment of the bus address (node), which must be the same setting on the unit BM11. General Settings: CAN-ID and IO-Dates: R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013...
  • Page 12 DeviceNet scanner configuration By selecting the scanner (here: 1756-DNB), the following settings must be made. • Select the I/O parameters: In the Scan List menu the I/O parameters must be selected.  mapping of the input data: In the Input menu, input information (16 bytes Cyclic) must be "mapped" into the address space of the scanner.
  • Page 13 Integration into RSLogix 5000 To validate the data from the scanner (1756-DNB), the scanner must be included in the "I / O Configuration". By selecting the module can be in the "Module Properties" in the menu of saved RSNetWorx network load. R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 13 von 65 Version: 01A...
  • Page 14 Validation of BM11 dates You can activate the Controller Tags window from the Logic menu. Before the data can be validated, the DeviceNet scanner must be placed in the "RUN" mode. This is done by setting bit "Local: 4: O.CommandRegister.Run". R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 14 von 65 Version: 01A...
  • Page 15 Start-Up BM21 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 15 von 65 Version: 01A...

  • Page 16: Device Settings

    Device settings Version1: Dip switches for bus termination 3 LEDs show operating mode CAN Interface Rotary dip switches for selecting address and baudrate R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 16 von 65 Version: 01A...
  • Page 17 Version2: 3 LEDs show operating mode CAN Interface Dip switches for bus termination TS ) Rotary dip switch for selecting addres s and baudrate ( LOW ) Rotary dip switch for selecting address and baudrate ( HIGH ) R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 17 von 65 Version: 01A...

  • Page 18: Can Bus Termination

    LEDs There are 3 LEDs on the front side of the BM21: LED name state meaning solution Constant red or Internal error BM21 damaged green green blinking BM21 is working Constant red The CANopen controller is bus off Check connection Red single flash Warning limit At least one of the error counters of...
  • Page 19 Parameterising the back plane communication The used BM21 devices have to be configured with for the network unique CAN IDs. This CAN IDs have to be entered per SDO into the OD index 0x6200 and the corresponding subindex for the device. Index Subindex meaning...
  • Page 20 If you want the BM21 to generate heartbeat messages, you can configure the „producer heartbeat time“ as described in „Heartbeat producer“ below. An example: „HIGH“ rotary dipswitch has the value 10, the „LOW“ rotary dipswitch has the value 3. RDSvalue = 10*16 + 3 = 163 = 0xA3 The most significant bit is set, so the BM21 CANopen interface would be configured with 1 MBaud.

  • Page 21: Device Specific Od Entries

    Device specific OD entries Index Subindex Type Meaning 0x6000 0x00 UINT8 Number of used subindexes (const 8) 0x6000 0x01 UINT8 1. byte diagdata of the 1. mapped device 0x6000 0x02 UINT8 2. byte diagdata of the 1. mapped device 0x6000 0x03 UINT8 3.
  • Page 22 0x6005 0x03 UINT8 3. byte diagdata of the 6. mapped device 0x6005 0x04 UINT8 4. byte diagdata of the 6. mapped device 0x6005 0x05 UINT8 5. byte diagdata of the 6. mapped device 0x6005 0x06 UINT8 6. byte diagdata of the 6. mapped device 0x6005 0x07 UINT8 7.
  • Page 23 TPDOs When initialising the BM21, the following COB-IDs are used for the TPDOs. They can be changed on the default position within the OD (index 0x1800 to 0x1807, subindex TPDO COB-ID assigned device TPDO1 0x180 + NodeID device 1 TPDO2 0x280 + NodeID device 2 TPDO3...

  • Page 24: Heartbeat Producer

    Heartbeat producer The BM21 is a heartbeat producer in terms of the CANopen standard. The „producer heartbeat time“ is adjustable and can be change by writing into the OD index 0x1017. The default value is 0, which means the production of heartbeat messages is switched off.
  • Page 25 Start-Up BM31 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 25 von 65 Version: 01A...

  • Page 26: Description Of Function

    Description of function The BM31 enables the user to transmit CAN telegrams (diagnostic telegram e.g. Safety-M) via PROFIBUS DP. The system will receive and pass on a maximum number of 8 CAN telegrams. Make sure to parameterize the subassembly as Profibus participant (slave). The relevant GSD files are enclosed with the device.
  • Page 27 Device settings Version1: The settings specified below are adjustable at the front panel: Coding switch for bus termination Diagnostic LED‘s PROFIBUS connector PROFIBUS address switch R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 27 von 65 Version: 01A...
  • Page 28 Version2: 3 LEDs show operating mode Profibus Interface Dip switches for bus termination TS ) Rotary dip switch for selecting addres s and baudrate ( LOW ) Rotary dip switch for selecting address and baudrate ( HIGH ) R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 28 von 65 Version: 01A...
  • Page 29 Address dials Enter Profibus address using hexadecimal code. ADDR HIGH = “0” e.g. address: 5: ADDR LOW = “5“ ADDR HIGH = “2” e.g. address: 46: ADDR LOW = “E“ Coding switch Terminating resistors for CAN bus connection 120 Ohm terminating resistor for CAN on rear Switch 1 panel 120 Ohm terminating resistor for 2nd CAN...

  • Page 30: How To Proceed

    How to proceed Make sure to have the system put into operation by qualified personnel only! Make sure to respect the safety instructions when putting the system into operation! Following below is an example which shows the start-up in Step7. Integration of the GSD file First, copy the GSD to the Step7 software directory.
  • Page 31 Integration into Step7 network plan Go to subitem „Additional Field Devices“->“General“-> BM31 DP-V0 to drag to network plan and assign Profibus address. R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 31 von 65 Version: 01A...
  • Page 32 Integration into HW-Konfig Select subassembly BM31 and enter CAN objects at plug-in locations (INPUT: 8 Byte). You may enter 1 to 8 CAN objects depending on the application. R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 32 von 65 Version: 01A...
  • Page 33 Configuration of BM31 Below, the configurations required for the internal CAN bus (bus on rear panel) of the Safety-M series of subassemblies are shown. The settings specified below are available: CAN baud rate Set baud rate for CAN communication (currently the only setting admissible is 500kBit/s) No.
  • Page 34 Configuration of CAN objects The settings specified below are available: CAN ID: CAN Identifier (type: Standard ID) Setting range: 1 …. 2047 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 34 von 65 Version: 01A...
  • Page 35 Start-Up BMB1 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 35 von 65 Version: 01A...

  • Page 36: Characteristic Data

    Device description and operation Together with the Safety-M basic module this device works as a gateway from backplane CAN bus to EtherCAT. The user has the possibility to send the status message data to EtherCAT. Max. user data from 8 CAN messages can be send. Till 32 byte user data can be received from EtherCAT and send to the Safety-M device.

  • Page 37: Safety Related Characteristics

    Safety related characteristics BMB1 can only be used as a non safe communication with EtherCAT protocol. Connection and installaation BMB1 has to be connected to a basic device (MS1, MSP1, MS2, MSP2) with a back plan connetor. Installation Safety-M-module The module is solely to be installed in control cabinets with a degree of protection of at least IP54.
  • Page 38 Start up Procedure Start-up must only be performed by qualified personnel! Strictly follow the safety regulations when commissioning! Parameterization Usage of program TwinCAT from Beckhoff. Installation ESI-File Copy ESI-File into ESI-Folder of TwinCAT program. TwinCAT program has to be closed for this step. After starting TwinCAT the ESI cache will be reinitialized.
  • Page 39 Settings SafePLC CAN-IDs for the status message data can be configured in the connection settings SafePLC. Image 6: Connection settings SafePLC Note: The 4 CAN messages with input bytes for BMB1 are transmitted via the backplane bus with CAN ID’s - 0x9D up to 0xA0 – and can’t be use for other points.
  • Page 40 Following table shows the defined CAN ID’s for input and output bytes for EtherCAT. Bytes CAN-ID Direction 0 bis 7 0xA1 Output (BMB1->EtherCAT Master) 8 bis 15 0xA2 Output (BMB1->EtherCAT Master) 16 bis 23 0xA3 Output (BMB1->EtherCAT Master) 24 bis 31 0xA4 Output (BMB1->EtherCAT Master) 32 bis 39...
  • Page 41 Click “I/O Device” -> “Append Device“. Image 8: TwinCAT System Manager with context menu “I/O Device“ Confirm “EtherCAT“ Image 9: TwinCAT menu “I/O device“ R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 41 von 65 Version: 01A...
  • Page 42 Now a EtherCAT master is added into TwinCAT and searching for EtherCAT slave can be started. The EtherCAT –Slave should be running and connected to the PC (TwinCAT program). Image 10: TwinCAT with EtherCAT master device Click “Device 1 (EtherCAT)“ and then „Scan boxes“. Searching for slave device is starting.
  • Page 43 Image 12: TwinCAT with founded EtherCAT-slaves R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 43 von 65 Version: 01A...
  • Page 44 If “Free Run Status change“ in the toolbar is selected, the EtherCAT connection is opened. Status message data sent from BMB1 over EtherCAT are displayed in TwinCAT. Image 13: TwinCAT with Free Run mode R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 44 von 65 Version: 01A...
  • Page 45 Output bytes, sent to BMB1 device can be selected and be set in here. Image 14: TwinCAT output bytes R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 45 von 65 Version: 01A...
  • Page 46 Bild 15: TwinCAT with dialog „Set Value Dialog“ R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 46 von 65 Version: 01A...

  • Page 47: Diagnostic-Led

    Diagnostic-LED Device BMB1 has three LEDs. Conditions: Color Mode Description „blinking“ green Device OK „constant“ green EtherCAT Connection is active BMB1 initialized, waiting for EtherCAT „ blinking “ green connection „ blinking “ BMB1 in startup mode Minimum one CAN message (Safety-M) „...
  • Page 48 Start-Up BMC1 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 48 von 65 Version: 01A...
  • Page 49 Device description and operation SM53 is a communication device and can only be used with a Safety-M basic Module (and their variants). Together with the Safety-M basic module this device works as a gateway from backplane CAN bus to PROFINET. The user has the possibility to send the status message data () to PROFINET DP.

  • Page 50: Connection And Installation

    Safety related characteristics BMC1 can only be used as a non safe communication with PROFINET-protocol. The Proof-Test-interval according to EN61508 is up to 20 years – after this time the device hast o be replaced Safety note: The safety regulations and EMC guidelines hast o be observed. Connection and installation BMC1 has to be connected to a Safety-M basic module with a back plan connector.
  • Page 51 Terminal assignment Pins RJ45 … Name Description Colour Tranceive Data + white-orange Tranceive Data - orange Receive Data + white-grün Not used blue Not usedt white-blue Receive Data - green Not used white-brown Not usedt brown Image 4: Assignment RJ45 R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 51 von 65 Version: 01A...
  • Page 52 Procedure Start-up must only be performed by qualified personnel! Strictly follow the safety regulations when commissioning! The following shows an example of a start-up in Step7. Note: The S7 CPU hast o be activated before the BMC1 device is switched Parameterization First the GSDML File hast o be included Therefore the GSDML file (short GSD file) has to copy into the Step7 program folder.
  • Page 53 One click to „Browse …“ and the root directory where the GSDML file is can be selected. Image 6: Choice of GSDML file Afterwards in the listing GSD/GSDML-File the corresponding GSDML file can be selected via mouse click and with activation of button „Install“ the file can be installed. Note: In the window „HW-Config“...
  • Page 54 Image 8: Selection of the network Device BMC1 can be dragged with the mouse into the network plan and is then inserted there. Image 9: Program NetPro with opened network plan and inserted BMC1 device. R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 54 von 65 Version: 01A...
  • Page 55 Afterwards the network plan has to be saved and compiled. Image 10: Save and compile network plan With menu tab „PLC / Ethernet / Edit Ethernet node“ the window for changing the IP address and device name can be opened. Image 11: IP address and device name setting R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 55 von 65...
  • Page 56 Image 12: Edit Ethernet nodes By clicking „Browse...“ the following window „Browse Network “ is opened: Image 13: Dialog box „Browse Network“ with two PROFINET nodes This dialog box shows all PROFINET nodes with their IP address, MAC address, device type and station name. Here the BMC1 device (see MAC address, device type and station name) can be selected and confirmed with button “OK”.
  • Page 57 Then in the dialog box „Edit Ethernet Node“ in field „Assign device name“ the station name can be reassigned: Image 14: Dialog box “Edit Ethernet Node“ for BMC1 settings The chosen station name must have the file extension of the PROFINET connection, in this case „.profinet-io-system“.
  • Page 58 Image 15: Program HW Config Device BMC1 has to be selected. Now a list of slots and their assignment is shown. Each slot represents 8 bytes or a CAN message on the backplane bus. When fully used all 8 slots = 64 bytes has to be supported. For one basic device one CAN message with logic data and optional one with analog data can be used.
  • Page 59 Image 16: Selection input module BMC1 Extended functionality starting at version 1.2.0.1 The BMC1 starting at version 1.2.0.1 contains a backchannel functionality, which allows data to be transferred from SPS to BMC1. So it is possible to control functional inputs on the Safety-M modules. At this point output modules can now be configured.
  • Page 60 Image 17: HW Config with opened project and BMC1 device The input and output module is now available in the hardware configuration. By double clicking on the corresponding module start address of the inputs or outputs can be changed. Then close dialog „Properties“ of the module. Double-clicking object BMC1 in the dialog box “Properties”...
  • Page 61 Image 18: Dialog box „Eigenschaften“ of BMC1 device in HW Config R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 61 von 65 Version: 01A...
  • Page 62 Configuration of BMC1 Now the configuration possibilities for the internal CAN bus (backplane) of the Safety-M series will be explained. The configuration data are shown in dialog box „ Properties“ of the Safety-M device on tab „Parameter“ and can be changed there. For one basic device maximum 2 CAN messages for output data (input data SPS) and 1 message for input data (output data SPS) can be used.
  • Page 63 Followed settings can be made: Timeout for „internal“ CAN communication Interval Time CAN-ID Slot 1...8 CAN identifier for the particular slot CAN input data. This has to match the configured CAN ID of this slot assigned basic device. CAN ID of the basic device is configured in the SafePLC.
  • Page 64 Unused slots are set to CAN ID = 0 Note: There must be at least one input and one output module. Starting with version 1.3.0.1 this restriction no longer applies but unused slots has to be occupied with empty modules and the CAN ID is set to “0”. R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 64 von 65 Version: 01A...

  • Page 65: Diagnostic Message

    Diagnostic-LED The BMC1 device has three LEDs. Conditions: Colour Mode Description „blinking“ green Device OK „constant“ green PROFINET-Connection active „blinking“ green PROFINET-connection lost, parameters valid „blinking“ Transfered parameters not valid „blinking“ „internal“ CAN-message (Safety-M) received green „constant“ green Verarbeitung OK Missing CAN message or CAN message out of „blinking“...

This manual is also suitable for:

Bm11Bm31Bmb1Bmc1Bm21

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