Kübler BMC1 User manual

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User manual

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R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 1 von 65
Version: 01A
Safety-M Communication Modules
BMxx
R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 2 von 65
Version: 01A
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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Version: 01A
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
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Version: 01A
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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Version: 01A
Connection and installation
The BMxx modules must be connected via backplane connector with a Safety-M
basic module.
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Version: 01A
Start-Up BM11
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Version: 01A
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
R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 8 von 65
Version: 01A
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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Version: 01A
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Version: 01A
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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Version: 01A
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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Version: 01A
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.
R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 13 von 65
Version: 01A
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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Version: 01A
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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Version: 01A
Start-Up BM21
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Version: 01A
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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Version: 01A
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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Version: 01A
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.
R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 19 von 65
Version: 01A
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)
R61363.7000 | Safety-M Kommunikationsmodule (English) 27.09.2013 Seite 20 von 65
Version: 01A
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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Kübler BMC1 User manual

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