Slide 1/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Industrial Automation CANopen offer June 2003 Industrial

Industrial Automation - Customer View - Services - TrainingPhW - CANopen_offer_en 09/2003

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Industrial Automation Industrial Automation CANopen offerCANopen offer

June 2003June 2003

Part 1: IA global offer overview

Part 2: Product characteristics


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CANopen master PCMCIA card for Premium PLC: TSXCPP100

CANopen communication module for TEGO POWER/QUICKFIT

motor starters:

APP1CCO0 = 16I + 8O on bus

APP1CCO2 = 16I + 8O on bus + 16I + 16O locally

ProductsProducts


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Advantys FTB CANopen IP67 monobloc discrete I/O splitter blocks

4 versions = 4 catalogue numbers

FTB1CN 16E P0: 16I or 8I + 8 Diag

FTB1CN 12E04S P0: 12I + 4O or 4I + 4O + 8 Diag

FTB1CN 08E08S P0: 8I + 8O or 8I + 8 Diag

FTB1CN 16C P0: 16I/O or 8I/O + 8I/O Diag

Advantys STB CANopen communication module

STB NCO2212

ProductsProducts


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ProductsProducts

CANopen communication card for

ATV38/ATV58/ATV58F

variable speed drives

VW3A58308

Programmable card with CANopen embedded for

ATV38/ATV58/ATV58F variable speed drives

VW3A581131


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ATV31 variable speed drive with integral CANopen link:

ATV31Hxxxx: standard enclosure version

ATV31Cxxxx: dust and damp proof enclosure version

ATV31Kxxxx: kit version

Lexium MHDA servodrive with integral CANopen link

17D xxxx

17D HP xxxx

ProductsProducts


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Since June 2003, Schneider no longer provides cables or connectors for CANopen, but recommends suppliers.

A CANopen wiring offer will be available by the end of 2003.


AccessoriesAccessories

CANopen Sycon configuration software from HILSCHER:

LXLFBCM

Junction box for connecting the CANopen master card to 1 or 2 CANopen buses:

TSXCPPACC1


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Recommended suppliersRecommended suppliers

Cables

- U.I.LAPP GmbHSchultze-Delitsch-Str. 25D-70565 Stuttgart Germany

http://www.lappcable.com

Connectors- ERNI Elektroapparate GmbH

Seestrasse 9 D-73099 Adelberg Germany

- ERNI Connectique S.a.r.l, France27 bis, avenue des Sources / CP 638 F-69258 LYON Cedex 09,

http://connect.erni.com/


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Planned additions to the offerPlanned additions to the offer

Low-cost CANopen Premium master module: TSXCPP110Just one catalogue number comprising the PCMCIA card + cable + 9-pin SUBD

Estimated price = 500 euro instead of 1962 euro

Compatible with CANopen V4.01 (Heartbeat management, etc.)

1 physical port instead of 2

New version of configuration software: SYCSPULFUCD28MEstimated price = 890 euro instead of 1035 euro

Conforms to the new =S= policy for registering software

Single or multi-user licences (3,10, site)

Supports the Heartbeat function and the latest EDS files

Wiring accessoriesCables, taps, extension cables, etc.


July 2003

July 2003

End 2003


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Planned additions to the offerPlanned additions to the offer

Installation aid Terminal for testing the network wiring

Network analyser (for expert users only)

Tesys CANopen Model UUses the same hardware as the dedicated BECKHOFF module

Twido CANopen master module


End 2003

End 2003

2004


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Type III PCMCIA card inserted in the processor module communication port slot (only 1 CANopen master per PLC).

CANopen master card: TSXCPP100CANopen master card: TSXCPP100

2 indicator lights

Brackets for fixing on PLC CPU

Connecting cable, 0.6 m long, with 15-pin male SUBD at the end


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Compatibility:

Premium processors >= V5.0 except for TSX57103.

PL7 >= V4.0

Sycon configurator >= 2.630

The Sycon configurator is used to generate the ***.co configuration file which can be imported from PL7 or loaded directly into the card.

CANopen master card: TSXCPP100CANopen master card: TSXCPP100


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Functions supported:

Bus management

Implicit exchange of PDOs (8 bytes max.) using %MW words

Explicit exchange of SDOs by WRITE_VAR and READ_VAR functions

Sending any identifier by the SEND_REQ function

Fault identification, diagnostics and history by the SEND_REQ function

CANopen master card: TSXCPP100 CANopen master card: TSXCPP100


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CANopen master card: TSXCPP100 CANopen master card: TSXCPP100

Processor Max. size ofconfiguration file (1)

Max. size of I/O data (PDO)

Mast task Fast task

TSXP57-203 16 Kb 512 %MW(256 + 256)

64 %MW(32 + 32)

TSXP57-253 16 Kb 512 %MW(256 + 256)

64 %MW(32 + 32)

TSXP57-303 32 Kb 1024 %MW(512 + 512)

128 %MW(64 + 64)

TSXP57-353 32 Kb 1024 %MW(512 + 512)

128 %MW(64 + 64)

TSXP57-453 64 Kb 3584 %MW(1792 + 1792)

256 %MW(128 + 128)

(1) This maximum size can be exceeded if the configuration file is loaded directly into the card using the Sycon software. The maximum file size authorized by Sycon is 256 Kb.

For 10 ATV58: Configuration file size = 4.6 Kb I/O data = 2 X 20 words

For 20 ATV58: Configuration file size = 7.5 Kb I/O data = 2 X 40 words


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Communication module placed on the left side of the motor starters

Indicator lights

Bus connection terminal block

Switches for configuring the speed and address

Local I/O connection terminal blocks

(only on APP1CCO2 module)

24V power supply

CANopen communication module for TEGO POWER/QUICKFITCANopen communication module for TEGO POWER/QUICKFIT


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2 catalogue numbers:

APP1CCO016I + 8O on busControls 8 motor starter units

APP1CCO216I + 8O on bus + 16I + 16O locallyControls 24 motor starter units



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Main characteristics:

Supported speeds: 125, 250, 500 Kbps or 1 Mbps configured via switches

Supported addresses: 1 to 63configured via switches

CAN V2.A-compliant: Identifier on 11 bits

Allocation of identifiers: By address

Profiles: DS-301 “Communication profile”DS-401 “I/O module”.




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Process Data Objects = PDO

CANopen APP1CO00 and APP1CO02 modules can control a maximum of:5 transmit PDOs5 receive PDOs

Only the first predefined transmit PDO (1800) and the first predefined receive PDO (1400) are used with TEGO motor starters.

Supported transmission modes: Transmit: Synchronous and asynchronous, acyclic

Receive: Synchronous and asynchronous




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Description of predefined PDOs on APP1CCO0:

1 receive PDO: 1400 (control) containing 1 byte:

Control of 8 TEGO base contactors

1 transmit PDO: 1800 (monitoring) containing 2 bytes:

Status of 8 auxiliary contacts on contactors

Status of 8 auxiliary contacts on circuit-breakers




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Description of predefined PDOs on APP1CCO2:

1 receive PDO: 1400 (control) containing 4 bytes: Control of 8 TEGO sub-base contactors Control of 16 external outputs on sub-base 4th byte not used

1 transmit PDO: 1800 (monitoring) containing 4 bytes: Status of 8 auxiliary contacts on contactors Status of 8 auxiliary contacts on circuit-breakers Status of 16 external inputs on sub-base




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Service Data Object = SDO

1 transmit SDO, 1 receive SDO

Allowing access to any dictionary object by message exchange.

The various objects that can be accessed are not documented.




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Special Function Objects: SFO

NMT services: CANopen minimum boot-up(no dynamic allocation of identifiers)

SYNC object: Controls the transmission and reception ofPDOs in synchronous mode

EMCY object: Sent in the event of a fault on the motor starter

Node guarding object: Supported. Sent on polling of motor starter status and detection of absence of polling

Heartbeat object: Not supported




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Connection of sensors/actuator to 8 M12 sockets with status or diagnostic LEDs for each channel

LEDs for bus and power supply diagnostics

24 VDC power supply for module

Thumbwheels for configuring the module speed and address

Connection of module to bus

IP67 monobloc I/O splitter block on CANopen bus: FTB 1CN••••••P0IP67 monobloc I/O splitter block on CANopen bus: FTB 1CN••••••P0



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16I modules: FTB1CN 16E P0 Connection of 16 single sensors or 8 sensors with integral diagnostic function

12I/4O modules: FTB1CN 12E04S P0 Connection of 12 single sensors and 4 single actuators or 4 sensors and 4 actuators with integral diagnostic function

8I/8O modules: FTB1CN 08E08S P0 Connection of 8 single sensors and 8 single actuatorsor 8 actuators with integral diagnostic function

Configurable 16I or 16O modules: FTB1CN 16C P0 Connection of 16 sensors, or 15 sensors and 1 actuator, or 14 sensors and 2 actuators, etc.

4 versions:


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Supported speeds: 10, 20, 50, 125, 250, 500, 800 Kbps or 1 Mbpsconfigured by thumbwheel with automatic recognition capability

Address: 1 to 99configured by 2 thumbwheels


Allocation of identifiers: By address for PDOs 1400 and 1800Manually for PDOs 1405 and 1805

Profiles: DS-301 “Communication profile”DS-401 “I/O module”




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CANopen IP67 monobloc I/O splitter blocks can control:2 predefined transmit PDOs

2 predefined receive PDOs

(with the exception of module FTB1CN 16E P0 16 inputs: only 1 PDO)

Supported transmission modes: Transmit: Synchronous and asynchronous, cyclic and acyclic, on Remote frame





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Description of predefined PDOs

Choice of 2 transmit PDOs (inputs)

PDO 1800 = 1 word: Input/Diag

PDO 1805 = 3 or 4 words: Input/Diag + Module-channel diagnostics

Choice of 2 receive PDOs (outputs):

PDO 1400 = 1 word: Outputs (except for module FTB1CN 16EP0)

PDO 1405 = 1 word: Outputs+ Configuration channels 1. Input or Diag.


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Service Data Object = SDO



For example, can be used to set parameters for:

Input logic: NO - NC contact

Output logic: NO - NC status

Fallback position for outputs: Maintain/fallback to 0/fallback to 1

in the event of communication problems

Operation of channel 1 (pin 2): Input or sensor with integral diagnostics

These parameters can be set when the network is initialised (Object Configuration window) or by application.




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SYNC object: Controls the transmission and reception of PDOs in synchronous mode

EMCY object: Sent in the event of a fault on the splitter block

Node guarding object: Supported. Sent on polling of splitter block status and detection of absence of polling



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Communication module placed on the left side of the first cell (primary cell).

Bus status indicator lights

Bus connection socket

2 thumbwheels for configuring the speed and address on the bus (2 stages)

Optional SIM memory card for backing up the cell bus configuration

HE13 8-pin male connector for connecting the PC to the STB (configuration change, debugging)

24VDC power supply for module

CANopen communication module for STB: STBNCO2212CANopen communication module for STB: STBNCO2212



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Supported speeds: 10, 20, 50, 125, 250, 500 Kbps or 1 Mbpsconfigured by thumbwheel

Address: 1 to 99configured by thumbwheel


Allocation of identifiers: By address for first 4 PDOsManually for the others

Profiles: DS-301 “Communication profile”

DS-401 “I/O module”

CANopen communication module for STBCANopen communication module for STB



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Supported Process Data Objects: PDO

The CANopen module can control a maximum of 32 receive PDOs and 32 transmit PDOs. Each PDO contains a maximum of 8 bytes of data.

- The standard EDS file supplied with the CANopen module can be used to control a maximum of 4 receive PDOs and 4 transmit PDOs.

- The Advantys configurator is used to configure the cell bus and to generate an EDS file specific to each bus configuration. The generated file can be used to control up to 32 receive PDOs and 32 transmit PDOs.

- Customised PDOs can be defined in order to transport specific objects (diagnostics).




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Supported PDOs in the standard EDS file

4 receive PDOs (outputs):

PDO 1 : Discrete outputs (managed by 8-bit block)

PDO 2 to 4 : Analogue outputs (managed by 16-bit block)

4 transmit PDOs (inputs):

PDO 1 : Discrete inputs (managed by 8-bit block)

PDO 2 to 4 : Analogue inputs (managed by 16-bit block)

Transmission modes supported by the PDOs:Transmit: Synchronous and asynchronous, cyclic and acyclic





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Supported Service Data Objects: SDO






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Manufacturer-Specific Objects

These objects can be accessed via the PDO or SDO services.

- Global Bits (Index: 4000H - Sub-index: 0)

Indicates the type of error on the cell bus.

- Communication Diagnostics (Index: 4001H - Sub-index: 0)

Low-order 4001: Status of cell bus; High-order 4001: Bus diagnostics.

- Node Configured (Index: 4002H - Sub-index: 0 to 8)

Each bit represents a module on the cell bus. When the module is configured, the corresponding bit is set to 1.




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Manufacturer-Specific Objects (continued)

- Node Operational (Index: 4003H - Sub-index: 0 to 8)

Each bit represents a module on the cell bus. When the module is operational, the corresponding bit is set to 1.

- Node Error (Index: 4004H - Sub-index: 0 to 8)

Each bit represents a module on the cell bus. When a fault occurs on the module, the corresponding bit is set to 1.

- Node Assembly Fault (Index: 4005H - Sub-index: 0 to 8)

Each bit represents a module on the cell bus. When a configuration fault occurs on the module, the corresponding bit is set to 1.




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Manufacturer-Specific Objects (continued)

- NIM Status (Index: 4006H - Sub-index: 0)

Indicates the status of the communication module (NIM).




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SYNC object: Controls the transmission and reception of PDOs in synchronous mode

EMCY object: Sent in the event of a fault on the cell

Node guarding object: Supported. Sent on polling of the cell status anddetection of absence of polling

Heartbeat object: Supported. Periodic sending of cell status.



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L-shaped electronic card connected to the drive control card.

CANopen communication card for ATV58: VW3A58308CANopen communication card for ATV58: VW3A58308

Switches for configuring the speed and the address

Indicatorlights

Bus connection terminal block

End of lineswitch

Supplied with floppy disk containing the .eds description file for the device.

Compatible with all ATV58 and ATV58F control cards.


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Supported speeds: 125, 250, 500 Kbps or 1 Mbpsconfigured by switches

Address: 1 to 63configured by switches




DS402 V1.1: “Drives & motion control-Velocity Mode”

DriveCom


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The CANopen communication card for ATV58 can control:1 predefined transmit PDO

1 predefined receive PDO

Supported transmission modes: Transmit: Asynchronous, cyclic and acyclic, on Remote frame

Receive: Asynchronous


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Supported PDO services (control):

1 receive PDO: 1400 (control) = 2 words:

CMDD: DRIVECOM control register

LFRD: DRIVECOM speed reference in rpm

1 transmit PDO: 1800 (monitoring) = 2 words:

ETAD: DRIVECOM status word

RFRD: DRIVECOM motor speed in rpm

* Time intervals between the PDOs sent by the drive: minimum 50 ms, maximum 1 second.




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SYNC object: Not supported

EMCY object: Sent in the event of a fault on the drive

Node guarding object: Supported. Sent on polling of the splitter block status and detection of absence of polling



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Programmable card with CANopen link for ATV38/58: VW3A581131Programmable card with CANopen link for ATV38/58: VW3A581131


L-shaped electronic card connected to the drive control card

The CANopen link can operate in master or slave mode.

Switches for configuring the speed and address

Indicator lights

9-pin SUBD connector for connection to

CANopen bus

End of line resistor jumper

Compatibility with control cards:ATV38: all versions - ATV58 >=4.2 ATV58F >=3.1IE27.

Removable terminal block

8 configurable I/Owith external 24V power supply

RJ45 connector forconnection to PC


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Main characteristics in master mode:

Supported speeds: 125, 250, 500 Kbps or 1 Mbpsif configured by switches

10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbpsif configured by software

Address: 1 to 32 nodes 9 PDOs maximum per slave


Profiles: DSP 301 V4.01 and DSP 306

All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by integrated libraries in the PLC application.


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Main characteristics in slave mode:

Supported speeds: 125, 250, 500 Kbps or 1 Mbps

if configured by switches

10, 20, 50, 100, 125, 250, 500, 800 Kbps or 1Mbps

if configured by software

Address: 1 to 63configured by switches or by software



Profiles: DS 405 Programmable Devices IEC1131

All CANopen network functions: (network starting, periodic exchanges, monitoring, diagnostics) are managed by

integrated libraries in the PLC application.


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The CANopen programmable card for ATV58 can control: 1 8-byte user-definable transmit PDO 1 8-byte user-definable receive PDO

Supported transmission modes: Transmit: Synchronous: acyclic, cyclic

Asynchronous device profile and manufacturer specific

Receive: Synchronous acyclic, cyclic

Asynchronous device profile and manufacturer specific

Capacity for using one PDO for direct slave-to-slave transmission (PDO linking)

Content of PDOs assigned by application program.


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For accessing card inputs/outputs.

The drive parameters can be written or read with an application program, by reserving two words from the PDOs using a PKW-type indexed addressing system.


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SYNC object: Supported

EMCY object: Controlled from a function blockThe user has to enter the code in the function block


Heartbeat object: Not supported.


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The Altivar 31 is fitted with a female RJ45 connector which supports both Modbus and CANopen protocols.

Both protocols can be used simultaneously.

The transmission speed and the address are configured via the integral HMI.

ATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen linkATV31 variable speed drive with integral CANopen link



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Supported speeds: 10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured via integral HMI

Address: 1 to 127configured via integral HMI


Allocation of identifiers: By address for the first PDO (PDO1)Manually for PDO5

Profiles: DS-301 V4 “Communication profile”

DS402 “Drives & motion control-Velocity Mode”

DriveCom



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The ATV31 can control:2 predefined transmit PDOs 2 predefined receive PDOs

Supported transmission modes: Transmit:

PDO1: Asynchronous, acyclic

PDO5: Synchronous, asynchronous, and acyclic, on Remote frame

Receive:

PDO1: Asynchronous

PDO5: Synchronous, asynchronous



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Receive PDO1: 1400 (control) = 1 word


Receive PDO5: 1405 (control) = 2 wordsCMDD: DRIVECOM control registerLFRD: DRIVECOM speed reference in rpm

with the possibility of adding 2 extra words from the object dictionary.

Transmit PDO1: 1800 (monitoring) = 1 word


Transmit PDO5: 1805 (monitoring) = 2 words

ETAD: DRIVECOM status wordRFRD: DRIVECOM motor speed in rpm

with the possibility of adding 2 extra words from the object dictionary.




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Supported Service Data Object: SDO






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SYNC object: Supported



Heartbeat object: Supported



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LEXIUM servodrive with integral CANopen linkLEXIUM servodrive with integral CANopen link

Address configurationarrows

9-pin SUBD CANopen communication port

on top panel of module


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Supported speeds: 10, 20, 50, 125, 250, 500 Kbps or 1 Mbps configured by switches or Unilink software

Address: 1 to 99configured by switches or Unilink software




DS402 “Drives & motion control-Velocity Mode”

DriveCom


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The LEXIUM can control:2 predefined transmit PDOs 2 predefined receive PDOs

Supported transmission modes: Transmit:

Asynchronous, acyclic

Receive:

Asynchronous


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Receive PDO1: 1400 (control) = 1 word


Receive PDO2: 1401 (control) = 4 wordsASCII channel

Transmit PDO1: 1800 (monitoring) = 1 word


Transmit PDO2: 1805 (monitoring) = 4 words

ASCII channel


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The communication channelsare configured by the

SyCon tool

LEXIUM addressingon CANopen is configured

by the SyCon tool

The communication channelsare configured by

the PL7 applicationvia WRITE VAR accordingto the type of PDO required

Exchange by %MWaccording to PL7 configuration

8 bytes per channel

Supported PDO services (implicit exchange):


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Supported SDO services (configuration, adjustment, etc.):

1 receive SDO: handling of write or read request

1 transmit SDO: handling of write or read request The length depends on the SDO (Index/Sub-index) and varies from 1 to 4 bytes.


Gestion applicative des requêtes

READ_VAR et WRITE_VAR

LEXIUM addressingon CANopen is configured

by the SyCon tool

Application management of READ_VAR and WRITE_VAR

requests


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SYNC object: Not supported





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Used to generate a configuration file for the CANopen master PCMCIA card.

This configuration can be imported from PL7 PRO/PL7 Junior or loaded directly from Sycon software.

CANopen Sycon master configuration software from HILSCHERCANopen Sycon master configuration software from HILSCHERCANopen Sycon master configuration software from HILSCHERCANopen Sycon master configuration software from HILSCHER


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Activity indicators

channels A and B

Junction box for connecting the master cardJunction box for connecting the master cardJunction box for connecting the master cardJunction box for connecting the master card

9-pin SUBD connector for connecting the slaves on channel B

9-pin SUBD sub-base for connecting the slaves on channel A

15-pin SUBD sub-base for connecting the master PCMCIA card

Documents

Slide 1/64 Industrial Automation - Customer View - Services - Training PhW - CANopen_offer_en 09/2003 Industrial Automation CANopen offer June 2003 Industrial