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ESD CAN-CBX-REL4 Manual

Canopen module with 4 relay outputs with inrailbus
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CAN-CBX-REL4
CANopen Module with 4 Relay Outputs
with InRailBus
Manual
to Product C.3012.02
CAN-CBX-REL4
Page 1 of 99
Manual • Doc.-No.: C.3012.21 / Rev. 1.1
esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

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  • Page 1 CAN-CBX-REL4 Page 1 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 esd electronic system design gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68...
  • Page 2 The information in this document has been carefully checked and is believed to be entirely reliable. esd makes no warranty of any kind with regard to the material in this document, and assumes no responsibility for any errors that may appear in this document. In particular descriptions and technical data specified in this document may not be constituted to be guaranteed product features in any legal sense.
  • Page 3 Chapter moved and updated Chapter moved and updated Chapter “Software” renamed to “CANopen-Firmware”, general part (chapter 7.1 - 7.4) updated and restructured Chapter to “Definition of Terms” inserted Product-specific Properties CAN-CBX-REL4 inserted in table, new objects 1005 ,, 1019 7.9.1 1F80 , 1F91 Chapter revised, description of the product-specific properties only contained in the table 7.9.2-...
  • Page 4 The intended use of the CAN-CBX module is the operation as a CANopen module with four relay outputs. The esd guarantee does not cover damages which result from improper use, usage not in accordance with regulations or disregard of safety instructions and warnings.

  • Page 5: Table Of Contents

    5.2.3 Termination ............33 CAN-CBX-REL4 Page 5 of 99 Manual •...
  • Page 6 ) ......75 Page 6 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...
  • Page 7 ) ......77 7.9.25.1 Synchronous Setting of the Relays of 8 CAN-CBX-REL4-Modules: ..78 7.9.25.2 Switching the four Relays of a Module with Mapping of Bit-Objects .
  • Page 8 Number Representation All numbers in this document are base 10 unless designated otherwise. For hexadecimal numbers appended . For example, 42 is represented as 2A in hexadecimal format. Page 8 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 9: Overview

    1.1 Description of the Module Fig. 1: Block circuit diagram of the CAN-CBX-REL4 module The CAN-CBX-REL4 module offers four monostable relay outputs. Two of these are normally open contacts and two are change over contacts. The individual channels are electrically isolated and therefore various voltages can be applied to the CAN-CBX-REL4 module simultaneously.

  • Page 10: Technical Data

    Plastic housing for carrier rail mounting NS35/7,5 DIN EN 60715 width: 22.5 mm, length: 99 mm, constructional height: 114.5 mm Dimensions (dimensions without mating connectors) Weight 145 g Table 1: General technical data of the module Page 10 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 11: Cpu-Unit

    10 Kbit/s up to 1 Mbit/s Bustermination has to be set externally if required 5-pin connector with spring-cage connection or via CAN- Connection CBX-TBUS-connector (InRailBus) Table 3: Data of the CAN interface CAN-CBX-REL4 Page 11 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 12: Relay-Connection

    The firmware of the module supports CANopen according to CiA CANopen profile CiA 301 [1] and CiA DS-401 [2]. The CAN-CBX-REL4 EDS file can be downloaded from the esd website www.esd.eu. Page 12 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 13: Hardware Installation

    Hardware-Installation 3. Hardware Installation 3.1 Connecting Diagram Fig. 2: Connections of the CAN-CBX-REL4 module Note: The connector pin assignment can be found on page 24 and following. For conductor connection and conductor cross section see page 29. CAN-CBX-REL4 Page 13 of 99...

  • Page 14: Led Display

    Fig. 3: Position of the LEDs in the front panel The CAN-CBX-REL4 module is equipped with four Status LEDs and four relay LEDs. The terms of the indicator states of the LEDs are chosen in accordance with the terms recommended by the CiA [3].

  • Page 15: Indicator States

    ’Special Indicator States’on page 17) Heartbeat or Nodeguard error occurred. 2 flashes The LED automatically turns off, if Nodeguard/Heartbeat-messages are received again. Table 7: Indicator states of the red CAN Error-LED CAN-CBX-REL4 Page 15 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 16: Operation Of The Canopen-Status Led

    - internal watchdog has triggered - indicator state is continued until the module resets or an error occurs at the outputs. Table 9: Indicator state of the Error-LED Page 16 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 17: Operation Of The Module Status Led

    3.2.8 Assignment of LED Labelling to Name in Schematic Diagram Labelling on Name of the LED in Schematic CAN-CBX-AI420 Diagram* LED200A LED200B LED200C LED200D The Schematic Diagram is not part of this manual. CAN-CBX-REL4 Page 17 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 18: Coding Switch

    Setting the address range of the coding switches to values higher than 7F causes error messages, the red CAN-Error LED is on. If the coding switches are set to 00 , the CAN-CBX-module changes into Bootloader mode. Page 18 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 19: Setting The Baud Rate

    3.3.3 Assignment of Coding-Switch Labelling to Name in Schematic Diagram Labelling on the Name in the Schematic CAN-CBX-AI420 Diagram * Baud SW501 SW500 High SW502 The Schematic Diagram is not part of this manual. CAN-CBX-REL4 Page 19 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...
  • Page 20 Swivel the CAN-CBX module onto the mounting rail in pressing the module downwards according to the arrow as shown in figure 6. The housing is mechanically guided by the DIN rail bus connector. Page 20 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 21: Connecting Power Supply And Can-Signals To Cbx-Inrailbus

    Plug the terminal plug into the socket on the right of the mounting-rail bus connector of the InRailBus, as described in Fig. 8. Then connect the CAN interface and the power supply voltage via the terminal plug. CAN-CBX-REL4 Page 21 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 22: Connection Of The Power Supply Voltage

    Please note, that the impedance of the connection has to be kept low. The functional earth contact of the module does not ensure electrical safety. Page 22 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 23: Connection Of Can

    Now the module is detached from the bottom edge of the mounting rail and can be removed. Note: It is possible to remove individual devices from the CBX station without interrupting the InRailBus connection, because the contact chain will not be disrupted. CAN-CBX-REL4 Page 23 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 24: Connector Assignments

    Note: The pins 1 and 4 are connected internally. The pins 2 and 3 are connected internally. Signal Description: P24... power supply voltage +24 V M24... reference potential Page 24 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 25: Can

    The CAN interface can be connected via the CAN connector or optionally via the InRailBus. Use the mounting-rail bus connector of the CBX-InRailBus (CAN-CBX-TBUS), see order information (page 98). CAN-CBX-REL4 Page 25 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 26: Can Connector

    Recommendation of an adapter cable from 5-pin Phoenix Contact connector (here line connector FK-MCP1,5/5-STF-3,81 with spring-cage-connection) to 9-pin DSUB: The 9-pin DSUB connector is assigned according to CiA 102 Page 26 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 27: Can And Power Supply Voltage Via Inrailbus Connector

    CAN signals CAN_GND ... reference potential of the local CAN-Physical layers P24... power supply voltage +24 V M24... reference potential FE... functional earth contact (EMC)(connected to mounting rail potential) CAN-CBX-REL4 Page 27 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 28: Relay Outputs

    Relay 1 Relay 2 Relay 3 Relay 4 Signal description: NO... Normally-opened contact, also: Make COM... Change-over contact, also: Break - Make (B-M), NC ... Normally-closed contact, also: Break Page 28 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 29: Conductor Connection/Conductor Cross Sections

    2 conductors with same cross section, stranded, 1 mm² n.a. 0,5 mm² TWIN ferrules with plastic sleeve, max. Minimum AWG according to UL/CUL Maximum AWG according to UL/CUL n.a..not allowed CAN-CBX-REL4 Page 29 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 30: Correct Wiring Of Electrically Isolated Can Networks

    5.1.1 General Rules Note: esd grants the EU Conformity of the product, if the CAN wiring is carried out with at least single shielded single twisted pair cables that match the requirements of ISO 118982-2. Single shielded double twisted pair cable wiring as described in chapter 5.2 ensures the EU Conformity as well.

  • Page 31: Cabling

    If the used CAN interface is not equipped with an integrated CAN termination and it is at an end of the bus, use external termination plugs. 9-pin DSUB-termination connectors with male and female contacts and earth terminal are available as accessories CAN-CBX-REL4 Page 31 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 32: Heavy Industrial Environment (Double Twisted Pair Cable)

    Select a working combination of bit rate and cable length. Keep away cables from disturbing sources. If this cannot be avoided, double shielded wires are recommended. Fig. 14: CAN wiring for heavy industrial environment Page 32 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 33: Device Cabling

    DSUB9-connector from ERNI (ERBIC CAN BUS MAX, order no.:154039). The usage of esd’s T-connector type C.1311.03 is not recommended for single shielded double twisted pair cables because the shield potential of the conductive DSUB housing is not looped through this T-connector type.

  • Page 34: Electrical Grounding

    Optical couplers are delaying the CAN signals. By using fast digital isolators and testing each board at 1 Mbit/s, esd modules typically reach a wire length of 37 m at 1 Mbit/s within a closed net without impedance disturbances like e.g. longer stub.

  • Page 35: Examples For Can Cables

    Part No.: 93 022 026 (UL appr.) 74535 Mainhardt Germany BUS-Schleppflex-PUR-C (2x 2x 0.25 mm²) Part No.: 94 025 026 (UL appr.) www.concab.de Note: Completely configured CAN cables can be ordered from esd. CAN-CBX-REL4 Page 35 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 36: Can-Bus Troubleshooting Guide

    - there are no open circuits in CAN_H or CAN_L wiring - your bus system has two terminating resistors (one at each end) and that they are 120 each. Page 36 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 37: Ground

    3. Measure the DC voltage between CAN_H and GND (see figure above). 4. Measure the DC voltage between CAN_L and GND (see figure above). Normally the voltage should be between 2.0 V and 4.0 V. CAN-CBX-REL4 Page 37 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 38: Can Transceiver Resistance Test

    Another sign for a faulty transceiver is a very high deviation between the two measured input resistance (>> 200%). Ω Ω Figure 18: Simplified diagram of a CAN node Page 38 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 39: Canopen Firmware

    SDOs are used to transmit module internal configuration- and parameter data. In opposition to the PDOs SDO-messages are confirmed. A write or read request on a data object is always answered by a response telegram with an error index. CAN-CBX-REL4 Page 39 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 40: Nmt-Boot-Up

    1000 ... 1FFF Communication Profile Area 2000 ... 5FFF Manufacturer Specific Profile Area 6000 ... 9FFF Standardized Device Profile Area A000 ... FFFF reserved Page 40 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 41: Communication Parameters Of The Pdos

    Frequently required combinations are, for instance: = 64 : Read Request, i.e. a parameter is to be read = 35 : Write Request with 32-bit data, i.e. a parameter is to be set CAN-CBX-REL4 Page 41 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...
  • Page 42 The least significant byte is always in ‘Data 1’. With 16-bit values the most significant byte (bits 8...15) is always in ‘Data 2’, and with 32-bit values the MSB (bits 24...31) is always in ‘Data 4’. Page 42 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...
  • Page 43 08000022 device state 08000024 access to flash failed CAN-CBX-REL4 Page 43 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 44: Overview Of Used Canopen-Identifiers

    Sync to all, (configurable via object 1005 Emergency Message + NodeID configurable via object 1014 RPDO1 + NodeID PDO1 to CAN-CBX-REL4 (Rx) (object 1400 RPDO2 + NodeID PDO2 to CAN-CBX-REL4 (Rx) (object 1401 RPDO3 + NodeID PDO3 to CAN-CBX-REL4 (Rx) (object 1402...

  • Page 45: Default Pdo-Assignment

    RPDO3 + Node-ID 1 byte objects mapped in default (Receive-PDO3) setting. to CAN-CBX-REL4 RPDO4 + Node-ID 1 byte (Receive-PDO4) RPDO1 (-> CAN-CBX-REL4) CAN Identifier: 200 + Node-ID Byte Write_ Output_ Parameter 8-Bit Parameter description: Parameter Description Data type see page...

  • Page 46: Setting The Relays

    CANopen-Firmware 7.7 Setting the Relays The relays will be energized, as soon as an output setting object is received by the CAN-CBX-REL4 (e.g. object 6200 via RPDO). 7.7.1 Supported Transmission Types Based on CiA 301 Transmission type Synchronous means that the CANopen device shall update the received data with the reception of the next SYNC.

  • Page 47: Communication Profile Area

    This parameter can be read or written. Value range value range of the parameter Default value default setting of the parameter Name/Description name and short description of the parameter CAN-CBX-REL4 Page 47 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 48: Implemented Canopen-Objects

    1003 Pre-Defined-Error-Field unsigned32 1005 COB-ID-Sync unsigned32 1006 Communication Cycle Period unsigned 32 1008 Manufacturer Device Name visible string “CAN-CBX-REL4” x.yy 1009 Manufacturer Hardware Version visible string (depending on version) x.yy 100A Manufacturer Software Version visible string (depending on version) 100C...
  • Page 49 Description Data type index mode properties 1F80 NMT startup unsigned 32 default: 2 (autostart disabled) Self starting nodes timing 1F91 unsigned 16 default: 64 (= 100 ms) parameters CAN-CBX-REL4 Page 49 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 50: Device Type (1000 )

    The value of the device type of this CAN-CBX module is printed in chapter 7.9.1 (page 48) The data field is always structured following the rule ‘LSB first, MSB last‘ (see page 42, data field). Page 50 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 51: Error Register (1001 )

    For a list of the error bits supported by this CAN-CBX module see chapter 7.9.1 (page 48). Bits which are not supported are always returned as ‘0’. If an error is active, the according bit is set to ‘1’. CAN-CBX-REL4 Page 51 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 52: Pre-Defined Error Field (1003 )

    - in order to delete the error list this variable has to be set to ‘0’ - if no_of_errors_in_list 0, the error register (Object 1001 ) is set Page 52 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...
  • Page 53 Implemented CANopen Objects error-code x The 32-bit long error code consists of the CANopen-emergency error code described in [1] and the error code defined by esd (manufacturer-specific error field). Bit: 31 ..16 15 ..0 manufacturer-specific emergency-error-code...

  • Page 54: Cob-Id Of Sync-Message (1005 )

    1: Device generates SYNC message always 0 (11-bit ID) 28...11 always 0 (29-bit IDs are not supported) 10...0 (LSB) Bit 0...10 of the SYNC-COB-ID The identifier can take values between 0...7FF Page 54 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 55: Communication Cycle Period (1006 )

    Communication Cylcle Period Data type unsigned 32 Access mode Default value Value range of the parameter: Value Meaning No transmission of SYNC messages 1...FFFFFFFF Cycle time in microseconds CAN-CBX-REL4 Page 55 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 56: Manufacturer Device Name (1008 )

    INDEX 1008 Name manufacturer device name Data type visible string Default value see chapter 7.9.1 (page 48) For detailed description of the SDO Uploads, please refer to [1]. Page 56 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 57: Manufacturer Hardware Version (1009 )

    Reading the software version is similar to reading the manufacturer’s device name via the domain upload protocol. Please refer to [1] for a detailed description of the upload. CAN-CBX-REL4 Page 57 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 58: Guard Time (100C ) Und Life Time Factor

    Default value 0 [ms] Minimum value Maximum value FFFF (65.535 s) INDEX 100D Name life time factor Data type unsigned 8 Access mode Default value Minimum value Maximum value Page 58 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 59: Node Guarding Identifier

    Meaning 31 (MSB) reserved 29...11 always 0, because 29-bit-IDs are not supported 10...0 (LSB) bit 0...10 of the node guarding identifier The identifier can take values between 1...7FF CAN-CBX-REL4 Page 59 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 60: Store Parameters (1010 )

    (rw) right of access (here e.g. 6xxx save_manufacturer_parameter saves all manufacturer parameters of those objects (objects 2000 ... 5FFF , if available), which have a read/write (rw) right of access (here e.g. 2xxx Page 60 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...
  • Page 61 CAN-CBX module does not save the parameters on command CAN-CBX module saves the parameters on command Autonomous saving means that the CAN-CBX module stores the storable parameters non-volatile and without a user request. CAN-CBX-REL4 Page 61 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 62: Restore Default Parameters (1011 )

    (objekts 6000 ... 9FFF , if available, here e.g. 6xxx restore_manufacturer_parameter loads all manufacturer default parameters of those objects (objects 2000 ... 5FFF , if available, here e.g. 2xxx Page 62 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...
  • Page 63 On read access to the appropriate sub-index, the CANopen device provides information about its default parameter restoring capability with the following format: Bit: Content: reserved Value Description the CAN-CBX-module does not restore default parameters the CAN-CBX-module restores the default parameters CAN-CBX-REL4 Page 63 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 64: Cob_Id Emergency Message (1014 )

    (always 0) always 0 (11-bit ID) 28...11 always 0 (29-bit IDs are not supported) 10...0 (LSB) bits 0...10 of COB-ID The identifier can take values between 0...7FF Page 64 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 65: Inhibit Time Emcy (1015 )

    Value range 0...FFFF Default value The Inhibit Time for the EMCY message can be defined with this entry. The time is determined as a multiple of 100 s. CAN-CBX-REL4 Page 65 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 66: Consumer Heartbeat Time (1016 )

    CAN net. Sub- Access Index Description Value range Default Data type index mode number_of_entries unsigned 8 1016 consumer_heartbeat_time 0...007FFFFF unsigned 32 Page 66 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...
  • Page 67 Example: consumer-heartbeat_time = 0031 03E8 => Node-ID = 31 = 49 => heartbeat time = 3E8 = 1000 => 1 s CAN-CBX-REL4 Page 67 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 68: Producer Heartbeat Time (1017 )

    Cycle time [ms] of heartbeat producer to transmit the heartbeat on the node-guarding ID (see object 100E The consumer-heartbeat time of the monitoring module must always be higher than the producer-heartbeat time of the heartbeat-transmitting module. Page 68 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 69: Identity Object (1018 )

    0...FFFFFFFF unsigned 32 Description of the variables: vendor_id This variable contains the esd-vendor-ID. This is always 0000 0017 product_code Here the esd-article number of the product is stored. The nibbles of the long words have the following meaning: product_code = 1...
  • Page 70 If the value ‘C1C2 0105 ’ is being read, this corresponds to the hardware-serial number code ‘AB 0105’. This value has to correspond to the serial number of the module. Page 70 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 71: Synchronous Counter Overflow Value (1019 )

    The SYNC message shall be transmitted as a CAN message of data length ‘0’. reserved The SYNC message shall be transmitted as a CAN message of data length ‘1’. The 2...240 first data byte contains the counter. 241...255 reserved CAN-CBX-REL4 Page 71 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 72: Verify Configuration (1020 )

    Date of the last configuration of the module. The value is defined in number of days since the 01.01.1984. configuration_time Time in ms since midnight at the day of the last configuration. Page 72 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 73: Error Behaviour Object (1029 )

    Bus off The module can enter the following states if an error occurs. Variable Module state pre-operational (only if the current state is operational) no state change stopped CAN-CBX-REL4 Page 73 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 74: Nmt Startup

    The value range of the object is described in the following table: Value Meaning Auto startup disabled 0000 0002 (default) 0000 0008 Auto startup enabled all other values reserved Page 74 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 75: Self Starting Nodes Timing Parameters (1F91 )

    Sub-index 1 of this object contains the timeout in [ms] between the change from “preoperational” > “operational”. In default it is 100 ms. The sub-indices 2 and 3 of this object are not supported. CAN-CBX-REL4 Page 75 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 76: Receive Pdo Communication Parameter

    8 0000 0001 COB_ID used by RPDO4 unsigned 32 8000 07FF Node-ID 1403 transmission type 0...FF unsigned 8 inhibit time 0...FFFF unsigned16 All transmission types are supported. Page 76 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...
  • Page 77 0019 00 30 6220 02 01 0006 00 10 001A 00 38 6220 03 01 0007 00 20 001B 00 40 6220 04 01 0016 00 18 6200 01 08 CAN-CBX-REL4 Page 77 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 78: Receive Pdo Communication Parameter

    7.9.25.1 Synchronous Setting of the Relays of 8 CAN-CBX-REL4-Modules: In general there is the possibility to access several CAN-CBX modules synchronously. The CAN-CBX- REL4 modules can be configured so, that up to 8 CAN-CBX-REL4 modules can be addressed (object 6200 ) with a single CAN frame simultaneously.
  • Page 79 3: Index Sub-index Description Value no_of_mapped_application_ objects_in_PDO _application_object 0005 0008 1600 _application_object 0005 0008 _application_object 6200 0108 Figure 19: Example for the RPDO mapping with three CAN-CBX-REL4 modules CAN-CBX-REL4 Page 79 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 80: Switching The Four Relays Of A Module With Mapping Of Bit-Objects

    Via the objects 1600 to 1603 the four relays of the CAN-CBX-REL4 can be switched by mapping of bit-objects with one PDO. In the example below, the relays are switched with the bits 4 - 7 of the first data byte of the RPDO.

  • Page 81: Switching The Four Relays Of A Module With Different Pdos

    With the objects from 1600 to 1603 the four relays of the CAN-CBX-REL4 can be independently switched by individual PDOs. In the example below the relays are switched by bit 0 of the first data byte of the corresponding RPDOs.

  • Page 82: Device Profile Area

    Fig. 22: Relationship between the output objects for an 8-bit access The objects 6200 to 6208 are used for 8-bit access. For single output line information the objects must be replaced by the objects 6220 to 6270 correspondingly. Page 82 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 83: Write Output 8-Bit (6200 )

    , Sub-index: 1 Bit: Relay: Rel_4 Rel_3 Rel_2 Rel_1 Bit value Rel_x Meaning Relay coil x is de-energized Rely coil x is energized (x = 1 ... 4) CAN-CBX-REL4 Page 83 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 84: Change Polarity Output 8-Bit (6202 )

    ‘1’ Digital output of rely x is inverted. Relay coil x is energized by setting the output bit of object 6200 to ‘0’ (x = 1 ... 4) Page 84 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 85: Error Mode Output 8-Bit (6206 )

    Bit value Rel_x Meaning Relay state is set to the value predefined in object 6207 (default). Relay state shall be kept if an error occurs. (x = 1 ... 4) CAN-CBX-REL4 Page 85 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 86: Error Value Output 8-Bit (6207 )

    If object 6206 is enabled, relay x will be energized in case of fault. (x = 1 ... 4) Page 86 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 87: Filter Mask Output 8-Bit (6208 )

    Bit value Relx Meaning Relay x is set to the received output value (default). Relay x is not set to the new output value. The current value is kept. (x=1...4) CAN-CBX-REL4 Page 87 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 88: Write Output Bit 1 To 4 (6220 )

    Boolean write_output_Rel4 Boolean Assignment of the variable write_output_Relx (x=1...4) write_output_Relx Value Meaning false Output of relay x is not switched true Output of relay x is switched (x=1...4) Page 88 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 89: Change Polarity Bit 1 To 4 (6240 )

    Assignment of the variable change_polarity_Relx (x=1...4) change_polarity_Relx Value Meaning false The relay coil control voltage of relay x is not inverted true The relay coil control voltage of relay x is inverted (x=1...4) CAN-CBX-REL4 Page 89 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 90: Error Mode Output Bit 1 To 4 (6250 )

    Set the output of relay x to the error value predefined in object 6260 in case of an error (default) false The current state of relay x is kept if an internal device error occurs. (x=1...4) Page 90 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 91: Error Value Output Bit 1 To 4 (6260 )

    If object 6250 is enabled, relay x is energized in case of error. false If object 6250 is enabled, relay x is de-energized in case of an error. (x=1...4) CAN-CBX-REL4 Page 91 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 92: Filter Mask Output Bit 1 To 4 (6270 )

    Set the output of relay x to the received output value. false The output of relay x is not set to the received output value. The current value is kept. (x=1...4) Page 92 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 93: Manufacturer Specific Profile Area

    Manufacturer Specific Profile Area 7.11 Manufacturer Specific Profile Area Attention: The objects of the Manufacturer Specific Profile Area must not be changed by the user! CAN-CBX-REL4 Page 93 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 94: Firmware Update Via Ds-302-Objects 1F50

    Faulty program update can result in deleting of the memory and loss of the firmware. The module then can not be operated further! Note: esd offers the program CANfirmdown for a firmware update. Please, contact our support for this. In normal CiA 301 mode the object 1F50 can not be accessed.

  • Page 95: Download Control Via Object

    Date of the generation of the firmware used, specified in number of days since 1. January 1984 Application_Software_Time Time of the generation of the firmware used, specified in milliseconds since midnight. CAN-CBX-REL4 Page 95 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 96: References

    [8] Phoenix Contact GmbH & Co. KG, Blomberg., Technical data is taken from the Phoenix Contact website: https://www.phoenixcontact.com/online/portal/de; PCB plug connector - MC 1,5/10-ST-5,08 - 1836150, downloaded 2014-10-14 Page 96 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4...

  • Page 97: Eu Declaration Of Conformity

    9. EU Declaration of Conformity CAN-CBX-REL4 Page 97 of 99 Manual • Doc.-No.: C.3012.21 / Rev. 1.1...

  • Page 98: Order Information

    PDF Manuals Manuals are available in English and usually in German as well. For availability of English manuals see the following table. Please download the manuals as PDF documents from our esd website www.esd.eu for free. Page 98 of 99 Manual •...
  • Page 99 Order Information Manuals Order No. Manual in English C.3012.21 CAN-CBX-REL4-ME CAN-CBX-REL4-MD Manual in German C.3012.20 Table 15: Available manuals Printed Manuals If you need a printout of the manual additionally, please contact our sales team: sales@esd.eu for a quotation. Printed manuals may be ordered for a fee.

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