CMZ RP064IO/CAN User Manual

Canopen peripheral for digital and analog ios

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RP064IO/CAN

CANopen peripheral for digital and analog IOs

Ed. 2.1 - English

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Page 1 RP064IO/CAN CANopen peripheral for digital and analog IOs Ed. 2.1 - English...
Page 3 User Guide RP064IO/CAN CANopen peripheral for digital and analog IOs Doc. TR062311 Ed. 2.1 - English - 01 Mar 2023...
Page 4 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it IMPORTANT CMZ SISTEMI ELETTRONICI S.r.l. reserves the right to make changes to the products de- scribed in this document at any time without notice. This document has been prepared by CMZ SISTEMI ELETTRONICI S.r.l. sole- ly for use by its customers, guaranteeing that at the date of issue it is the most up-to-date doc- umentation on the products.
Page 5: Table Of Contents
Table of Contents 1. General information ................1 1.1. Purpose ........................1 1.2. Recipients ....................... 1 1.3. Responsability ....................... 2 1.4. Abbreviations and definitions ................2 1.5. Symbols ........................3 1.6. Revisions ......................... 4 2. RP064IO device information and precautions ....... 5 2.1.
Page 6 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it 6. Encoders and counters management ..........27 6.1. Incremental single ended encoder management ........27 6.2. Single channel counters management ............29 7. System diagnostic ................31 7.1. Faults and warnings classification ..............32 7.1.1.
Page 7: General Information
Chapter 1 General information 1.1. Purpose This manual is a complete guide for the installation, commissioning, operation and use of the RP064IO: It is a CANopen peripheral and it provides 32 digital inputs, 32 digital outputs, 2 ana- log inputs, 2 outputs analog. The board also manages 2 incremental encoders and 2 single-chan- nel counters.
Page 8: Responsability
CMZ SISTEMI ELETTRONICI S.r.l. can modify the described products in this document in any time and without any notice. This manual was written by CMZ SISTEMI ELETTRONICI S.r.l. only for their customers use providing the most updated version of the products, in relation of the issue data.
Page 9: Symbols
General information Abbreviations / Meaning Definitions Controller Area Network, fieldbus Specification that defines the communication protocols and the objects for the management of CiA-301 the CANopen network (Communication Profile DS301). Communité Européenne COB-ID Communication object identifier Electromagnetic compatibility EMCY Emergency: object of the CANopen protocol for reporting errors Hardware Identifier Controller...
Page 10: Revisions
RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it Caution It shows a potentially dangerous situation that, in case of failure to comply with safe- ty rules, can lead to a minor or moderate accident or a damage to the equipment.
Page 11: Rp064Io Device Information And Precautions
• Cable side connectors For any accessories, please contact the CMZ sales office. Before beginning to work with the RP064IO, verify that there are not visible damages. Be sure that the peripheral in the package is the correct model for the application, that it corresponds...
Page 12: Identifier Label
RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it to what has been ordered. Be sure that it can been provided a voltage supply as prescribed for the peripheral. 2.2. Identiﬁer label Figure 2.2. Product label example. Reference Meaning Product name Identifier code Serial number...
Page 13: Safety Precautions And Use Limits
RP064IO device information and precautions The RP064IO is intended for installation in an industrial environment. Its use in domestic en- vironments could result in the need for additional emission measures and the adoption of ade- quate precautions. The RP064IO must be installed by trained personnel only that must have an in-depth knowledge about the safety requirements and the electromagnetic compatibility (EMC).
Page 14: Installation And Wiring Precautions
2.4.4. Modality of waste disposal at life end of product The device must be disposed as electric and electronic waste. For the recycling or the disposal of the product, CMZ invites to respect the local regulation in force and the most suitable pro- cedures.
Page 15: Rp064Io Technical Data
Weight 340 g Maximum altitude 2000m [a.s.l.] Protection class IP20 Breaking a fuse also causes damage to part of the electronics: in this case, contact CMZ SISTEMI ELETTRONICI S.r.l.. Table 3.1. RP064IO features. DIGITAL INPUTS Quantity Value Digital inputs number 32 (16 for each group)
Page 16 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it DIGITAL OUTPUTS Quantity Value Digital ouputs power supply 24 Vdc ±20% Polarity inversion, overcurrent, short-circuit with 15A delay Digital outputs power supply protection NOT replaceable fuse (one fuse for each group of 16 outputs)
Page 17: Dimensions And Sizes
RP064IO technical data 3.1. Dimensions and sizes Figure 3.1. RP064IO dimensions [mm]. 3.2. RP064IO Mechanical installation The RP064IO is designed to be installed on the DIN rail using two special snap hooks. Doc. TR062311 - Ed. 2.1 - 01 Mar 2023...
Page 18 RP064IO/CAN CANopen peripheral for digital and analog Doc. TR062311 - Ed. 2.1 - 01 Mar 2023...
Page 19: Electrical Connections, Leds And Dip-Switches
Chapter 4 Electrical connections, LEDs and dip-switches 4.1. Electrical connections 4.1.1. RP064IO connectors Figure 4.1. Connectors arrangement. Screw for earth connection PE M3 screw (maximum thread length = 12 mm), to be connected to the system earth (PE). X1 Control supply Connector for control supply and grounding, Terminal block, pitch 3,5 mm, 3 poles. Doc.
Page 20 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it 1 2 3 Signal Description Earth protection Reference for control section power supply +24V Positive for control section power supply Cable side connector Terminal block, female, removable, Push-in with lateral screw Connector type...
Page 21 Electrical connections, LEDs and dip-switches Cable side connector Terminal block, female, removable, Push-in with lateral screw Connector type Female (removable) Poles number Section of the stranded copper wire from 0,2 to 1,5 mm X3A-X3B Connection for each group of 16 digital outputs Connector for a group of 16 digital outputs, terminal block, pitch 3,5 mm, 18 poles.
Page 22 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it Connector Signal Description OUT26 Digital output 26 OUT25 Digital output 25 OUT24 Digital output 24 OUT23 Digital output 23 OUT22 Digital output 22 OUT21 Digital output 21 OUT20 Digital output 20 OUT19...
Page 23 Electrical connections, LEDs and dip-switches Important: digital input ground reference For the use of the respective digital inputs, the X4A-X4B connectors can be connect- ed to two different power supplies since the ground references (ie pin 1 respective- ly of X4A-X4B) are galvanically isolated from each other. Connector Signal Description...
Page 24 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it Cable side connector X4A-X4B Terminal block, female, removable, Push-in with lateral screw Connector type Female (removable) Poles number Section of the stranded copper wire from 0,2 to 1,5 mm X5-X6 Main bus (CAN) Connectrors CAN IN e CAN OUT for CANopen fieldbus , RJ45 female, shielded.
Page 25: Leds
Electrical connections, LEDs and dip-switches 4.2. LEDs Figure 4.2. Leds and dip-switches arrangement. Note: LED on CAN connectors LEDs that part X5-X6 connec- tors (CAN IN and CAN OUT), if present, are not used. The RP064IO is equipped with 64 digital inputs and outputs status LEDs (32 for inputs and 32 for outputs) + 3 diagnostic LEDs and 2 dip switches.
Page 26: Dip Switches
RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it • 4 FL (4 ash): LED (200 ms ON, 200 msOFF x 3) + 200 ms ON, 1 s OFF; • 5 FL (5 ash): LED (200 ms ON, 200 ms OFF x 4) + (200 ms ON, 1 s OFF);...
Page 27 Electrical connections, LEDs and dip-switches • NODE ID: ID CANopen addressing (switch 1 - switch 7) Switch7 Switch6 Switch5 Switch4 Switch3 Switch2 Switch1 Node address Not permited Node 1 (factory default) Node 2 Node 3 Node 125 Node 126 Node 127 •...
Page 28 RP064IO/CAN CANopen peripheral for digital and analog Doc. TR062311 - Ed. 2.1 - 01 Mar 2023...
Page 29: Communication Protocol
Chapter 5 Communication protocol Bibliography The list of official CiA documents to refer to regarding the implementation of the CANopen protocol is shown. • For objects relating to the communication part: document CiA CANopen Application layer and communication profile - DS 301 v4.2.0 •...
Page 30: Saving And Restoring Retentive Parameters
RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it • 2 Counters (single channel high frequency counters) 5.1. Saving and restoring retentive parameters The RP064IO has the possibility of saving some parameters retentively. The retentive parameters are divided into two groups: Communication parameters These are the parameters that configure the 8 PDOs of the card.
Page 31 Communication protocol The "save commands" save the current configuration for the selected group of parameters into retentive memory . The "restore-to-default" commands perform two distinct operations: • setting of the default configuration for the selected parameter group • saving the new configuration in retentive memory Value to CANopen parameter Description...
Page 32 RP064IO/CAN CANopen peripheral for digital and analog Doc. TR062311 - Ed. 2.1 - 01 Mar 2023...
Page 33: Encoders And Counters Management
Chapter 6 Encoders and counters management 6.1. Incremental single ended encoder management The RP064IO is designed to acquire 2 incremental encoders (single ended) with 24 Volt signals. An incremental encoder is a linear or rotary displacement measurement device that has two digi- tal output signals, phase A and phase B, that are 90 degrees out of phase with each other.
Page 34 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it Encoder.Channel1.Polarity With this parameter you set the counting direction of the encoder input, with the value 0 you get positive increments with rst the positive front A and then the positive front B. If you set 1, positive increments are obtained with the positive edge B rst and then the positive edge A.
Page 35: Single Channel Counters Management
Encoders and counters management 6.2. Single channel counters management The RP064IO is designed to acquire 2 high-frequency hardware counters (24 V single-channel counters). Il primo contatore (Channel 1) utilizza il segnale dell'ingresso digitale IN2 del connet- tore X4A. Il secondo contatore (Channel 2) utilizza il segnale dell'ingresso digitale IN18 del connettore X4B.
Page 36 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it Counter.Channel1.ControlWord Writing this parameter it is possible to perform some operations on the value of the parameter Counter.Channel1.Value. Sets counter with 0 value Sets counter with Preset value The correct execution of the command can be verified by reading the parameter Counter.Chan-...
Page 37: System Diagnostic
Chapter 7 System diagnostic The RP064IO peripheral includes in its vocabulary some parameters that display diagnostic in- formation on the state of the system. The complete list of vocabulary objects is described in the “RP064IO_ParameterReference_en.pdf” le. The most significant parameters are listed below: System.Info.Version It is the rmware version running.
Page 38: Faults And Warnings Classification
RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it CanPort.TxErrorCounter Tx error counter of the CAN It is used to evaluate the reliability of communication on the CAN network. System.Info.CpuTemp CPU temperature in 0.1°C. 7.1. Faults and warnings classiﬁcation The RP064IO includes in its vocabulary some parameters that display the faults and warnings status.
Page 39 System diagnostic For example: bit 2 of Alarm.DynamicFault is active, this indicates that it is an alarm of the Field- bus communication group, the parameters that fall into this group are Alarm.Group.CANopen, the detail of the active fault will be read in these last parameters. Alarm.Group.Control This alarm group belongs to the Control...
Page 40 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it Alarm.Group.Overload Value Description Bit 9 Digital output 9 overload Bit 10 Digital output 10 overload Bit 11 Digital output 11 overload Bit 12 Digital output 12 overload Bit 13 Digital output 13 overload...
Page 41 System diagnostic Alarm.Group.CANopen Value Description Bit 29 Message overrun: EMCY Bit 30 Message overrun: SYNC Bit 31 Message overrun: NMT Alarm.Group.CANopen2 This alarm group belongs to the Fieldbus communication. The alarms connected to the man- agement of the CAN serial port and the alarms of the CANopen communication protocol are shown.
Page 42 RP064IO/CAN CANopen peripheral for digital and analog www.cmz.it Alarm.Group.Info Value Description Versioning error: hardware is not compatible with Bit 15 rmware of board Versioning error: bootloader is not compatible with Bit 18 rmware of board Versioning error: rmware of board is not compatible...
Page 43: Identifier Code (Rp064Io)
Chapter 8 Identiﬁer code (RP064IO) The elds that make up the identification code of the RP064IO device are as follows. RP064IO/CAN.10000 Identification Code example: Name Customization Number of digital IO Reserved Fieldbus Analog IO Figure 8.1. Position of the elds Filed Description...
Page 44 RP064IO/CAN CANopen peripheral for digital and analog Doc. TR062311 - Ed. 2.1 - 01 Mar 2023...

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