Kübler BM Series User manual

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Safety-M Communication Modules

BMxx

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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

Settings “cycle time”:

Zyklisch

X * Zykluszeit (X: 1 ... 255)

Nicht zyklisch

alle 500ms, oder bei Datenänderung

CAN ID message 1

CAN ID message 2

Cycle time CAN

messages

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Settings CAN message 1

Settings CAN message 2

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

Bit 24…47: Actual SLP Teach In Position

Bit 48…63: Alarm and Operation Notification

User data selection

Moving the selected data

bit position

View of all added logic

data

Size of selected data

Choise of process data

View of used bits

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CAN Messages

Message 1

Byte

Bit

„Run“ mode (2, 3, 4)

“Alarm” mode (A, F)

Byte 0

0...3

Safety-M Staus 1, 2, 3, 4, 5, 6 = FatalError, 7 = Alarm

4

0x1 (define)

5..7

Alive counter (3 Bit)

Byte 1

0...7

diagnostic data (Bit: 48..55)

Byte 2

0...7

diagnostic data (Bit: 40..47)

Byte 3

0...7

diagnostic data (Bit: 32..39)

Byte 4

0...7

diagnostic data (Bit: 8..15)

Byte 5

0...7

diagnostic data (Bit: 0...7)

Byte 6

0..6

diagnostic data (Bit 24.. 30)

error code high Byte

7

„0“

„1“

Byte 7

0..7

diagnostic data (Bit: 16..23)

error code low Byte

Message 2

Selectable process data (extended diagnostic data)

Byte

Data

BYTE 0

Process data (Bit 56..63)

BYTE 1

Process data (Bit 48..55)

BYTE 2

Process data (Bit 40..47)

BYTE 3

Process data (Bit 32..39)

BYTE 4

Process data (Bit 24..31)

BYTE 5

Process data (Bit 16..23)

BYTE 6

Process data (Bit 8..15)

BYTE 7

Process data (Bit 0..7)

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Connection and installation

The BMxx modules must be connected via backplane connector with a Safety-M

basic module.

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Start-Up BM11

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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:

 Communication module BM11 – DeviceNet

 EDS file (on CD-ROM)

Unit Design

The BM11 module has three LEDs.

These functions of the LED shows the following table:

LED

colour

mode

description

RUN

green

„flashing“

Status OK

DP

green

„permanently“

DeviceNet connection aktiv

green

„flashing “

DeviceNet at IDLE mode

red

„flashing “

Error in device (contact manufacturer)

red

„flashing “

connection timeout

24V bus supply voltage is missing

Incorrect setting the bus address or baud

rate

red/green

„alternating“

self-test mode

XB

green

„permanently“

processing OK

green

„flicker“

missing CAN-Telegramm

green

„flashing “

processing auto-baud

red

„permanently“

Error in device (contact manufacturer)

red

„flashing “

Resettable error message

red/green

„alternating“

self-test mode

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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. Then the

data of the BM11 can be displayed and validated.

Integration of EDS file

The integration of the EDS file is done via the menu Tools> EDS Wizard.

In this window EDS files

 integrated, (Register an EDS file(s))

 removed, (Unregister a device)

 Icons assigned (Change a device’s graphic image)

 Newly created (Create an EDS file)

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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".

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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:

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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.

When all settings are made, the network must be saved.

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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.

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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".

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Start-Up BM21

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Device settings

Version1:

Rotary dip switches for

selecting address and

baudrate

CAN Interface

3

LEDs show

operating mode

Dip switches for bus

termination

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Version2:

Rotary dip switch for selecting

addres

s and baudrate

(

LOW

)

CAN Interface

3

LEDs show

operating mode

Dip switches for bus

termination

TS

)

(

Rotary dip switch for selecting

address and baudrate

(

HIGH

)

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LEDs

There are 3 LEDs on the front side of the BM21:

LED name

state

meaning

solution

RUN

Constant red or

green

Internal error

BM21 damaged

green blinking

BM21 is working

-

ST

Constant red

The CANopen controller is bus off

Check connection

Red single flash

Warning limit

At least one of the error counters of

the CAN controller has reached or

exceeded the warning level (too many

error frames)

Red double flash

Error control event

A guard event (NMT-slave or

NMTmaster) or a heartbeat event

(heartbeat consumer) has occurred

Green blinking

CANopen state PREOPERATIONAL

The device is in state

PREOPERATIONAL

Green single flash

CANopen state STOPPED

The device is in state STOPPED

Constant green

CANopen is operating

XB

Constant red

No device mapping has been configured.

Write the mapping into the OD index

0x6200, subindex 1 to 8

Orange blinking

At least one device is mapped. For at

least 1 second no diagdata was received

from at least one mapped device

Is the OD index 0x6200 configured

with the right values?

They has to match with the CAN ID of

the mapped Safety-M.

Is the the Safety-M up and working?

Green flashing

Within the last second diagdata was

received from all mapped devices.

-

RUN

ST

XB

off

red

off

Invalid NodeID

Select a NodeID with the rotary

dipswich within the range from 1 to

126.

Note: if both LEDs (green/red) are switched on at the same time, the color of the

LED is orange

CAN bus termination

For CAN to work properly it is necessary to terminate both ends of the wires with a

resistor with 120 ohm.

Is the BM21 at an end of the wire and the terminator resistor is not integrated in the

jack, it can be patched in with the dipswitch XB.

dipswitchindex XB

Assigned bus

1

CANopen Interface

2

Back plane bus

In the ON position, the 120 ohm resistor for termination is active.

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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

0x6200

1

CAN ID of the 1. mapped device or 0, if not used

0x6200

2

CAN ID of the 2. mapped device or 0, if not used

0x6200

3

CAN ID of the 3. mapped device or 0, if not used

0x6200

4

CAN ID of the 4. mapped device or 0, if not used

0x6200

5

CAN ID of the 5. mapped device or 0, if not used

0x6200

6

CAN ID of the 6. mapped device or 0, if not used

0x6200

7

CAN ID of the 7. mapped device or 0, if not used

0x6200

8

CAN ID of the 8. mapped device or 0, if not used

An example: If you want the TPDO5 contain the diagdata of the BM21 with the CAN

ID 0x107, then you have to write the value 0x107 into the OD index 0x6200,

subindex 5.

Parameterising the CANopen

communication

Every CANopen participant has to have an unique NodeID.

The NodeID of a BM21 is configured with the rotary dipswitches on the front side.

Each of the rotary dipswitches has 16 possible positions. You can understand the

two rotary dipswitches as high and low nibble of a byte. They are labeled „HIGH“ and

„LOW“ on the front side. So the value of the rotary dipswitches can be calculated as

follows:

RDSvalue = 16 x (value of the „HIGH“ rotary dipswitch) + (value of the „LOW“ rotary

dipswitch).

Please take into account, that if you use more than one BM21 in the same CANopen

network, their adresses has to differ by 2 at least! As for the fact a CANopen

participant can have only an address within the range from 1 to 127, the most

significant bit is used for selecting the baurate. The BM21 supports 500 kBaud and 1

MBaud. If the most significant bit of RDSvalue is 0, the device uses 500 kBaud, if it is

1, the device uses 1 MBaud. Because of the number of generated TPDOs as further

restriction a limitation for the highest configurable address applies. So the range for

the address is 1 to 126.

(If you configure the address as 127, the device sees it as 126)

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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.

The NodeID is represented from the lower significant 7 bit, so it can be calculated

with: (0xA3 & 0x7F) = 0x23 = 35.

As described in „TPDOs“ below, knowing the NodeID, the COB-IDs can be

calculated:

TPDO

COB-ID

TPDO1

0x180 + 0x23 = 0x1A3

TPDO2

0x280 + 0x23 = 0x2A3

TPDO3

0x380 + 0x23 = 0x3A3

TPDO4

0x480 + 0x23 = 0x4A3

TPDO5

0x180 + 0x23 +1 = 0x1A4

TPDO6

0x280 + 0x23 +1 = 0x2A4

TPDO7

0x380 + 0x23 +1 = 0x3A4

TPDO8

0x480 + 0x23 +1 = 0x4A4

If you want to, you can change the COB-IDs of the TPDOs by writing the desired

values into the appropriate positions into the OD.

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