Beckhoff FC5101 Manuel d'utilisateur

Beckhoff PC Fieldbuscard PCI CANopen FC5101 and FC5102 Last change: 31.10.2002 CANopen PCI Card FC5101, FC5102

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 10 Topology CAN is based on a linear topology. The number of devices p

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 11 Beckhoff FC510x Hardware Description CAN Terminating Resistor On the

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 12 The pins not mentioned here are not connected. Note: An auxiliary

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 13 3. Fitting and wiring Installation Fieldbus PCI cards may only be fi

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 14 Wiring the Bus System Section summary: CAN topology Bus length Drop

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 15 couplers, CAN controllers) are almost constant, the line length must

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 16 CAN cable Screened twisted-pair cables (2x2) with a characteristic

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 17 · corresponds to the DeviceNet "Thin Cable" specification

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 18 BK51x0: 5- pin open style connector The BK51x0 Bus Couplers have

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 19 Fieldbus Box: M 12 CAN socket The IPxxxx-B510, IL230x-B510 and IL230

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 20 4. Parameterisation and Commissioning TwinCAT System Manager The T

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 21 Context menu Append Box... <Insert> Adds CANopen slaves (boxes

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 22 "FC510x" tab PCI Slot/Irq: Shows in which logical PCI s

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 23 Slave In slave synchronization mode the card receives its time bas

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 24 Master In master synchronization mode the card generates its time

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 25 Task Cycle Time = 2000µs, Sync Cycle Multiplier = 5, Sync Tx-PDO Del

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 26 ”Box States” tab Displays an overview of all current box statuses.

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 27 ActualCycleTime: Shows the current cycle time in 4/25 µs. This variab

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 28 BK51x0/LC5100/IPxxxx-B510 (CANopen) The BK51x0 Bus Coupler and the

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 29 Firmware Update: Enables the updating of the coupler firmware via the

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 3 Contents CANopen PCI Card FC5101, FC5102 1. Foreword 5 Notes on the

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 30 CANopen Device CANopen devices which are not recognised by the Twin

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 31 vidually for each node). Emcy COB Id. and Guard COB Id. are the iden

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 32 ”PDO” tab COB Id: The CAN identifier of this PDO. For every two se

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 33 the sequence in which the system manager displays the PDOs. For inst

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 34 CANopen eds Files The configuration options for a CANopen device ar

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 35 5. CANopen Communication NMT Simple Boot-Up CANopen allows the distri

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 36 State Transitions The network management messages have a very simpl

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 37 Format of the Boot-up message 11 bit identifier 1 byte of user data

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 38 Guard time and life time factor If the master requests the guard me

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 39 Start-up Behaviour of the FC510x CANopen PCI Card Introduction The fi

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 4 Trouble Shooting 73 7. Bus Trace Function 76 FC510x as a CANopen

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 40 its heartbeat telegram with the smallest configured guard time (the

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 41 Identifier for TxPDO2 is 0x281 4.2223 581 8 60 01 18 01 00 00 0

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 42 Process Data Objects (PDO) Introduction In many fieldbus systems th

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 43 Default identifier assignment: Master/Slave

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 44 . Event driven The ”event” is the alteration of an input value, t

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 45 PDO transmission types: Parameterisation The PDO transmission type

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 46 switches, for example, its outputs into the fault state. The FC510x

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 47 In the case of receive PDOs, the timer is used to set a watchdog int

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 48 Variable mapping As a rule, the default mapping of the process data

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 49 PDO Parameterisation Even though the majority of CANopen networks ope

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 5 1. Foreword Notes on the Manual This description is only intended for

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 50 the transmit PDOs can be set using progress timers: the telegram is

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 51 Service Data Objects (SDO) The parameters listed in the object direct

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 52 Client -> Server, Upload Response 11 bit identifier 8 byte of u

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 53 Abortion of Parameter Communication Parameter communication is interr

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 54 0x05 04 00 40 General routing error 0x06 06 00 21 Error accessin

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 55 FC5101: SDO Communication CANopen SDO (Service Data Object) communica

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 56 ADSREAD / ADSWRITE Parameters Description NETID The NetID is a st

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 57 IF SDO_READ.ReadDataAvailable THEN ReadStart := FALSE;

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 58 1: ADSRead(READ:= FALSE); IF ADSRead.err THEN

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 59 CASE state OF 0: IF StartWriting THEN Write

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 6 Safety Instructions Safety Rules The responsible staff must ensure t

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 60 Baud rate + Bit Timing The following baud rates and entries in the

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 61 Identifier Allocation Default identifier CANopen provides default ide

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 62 6. Error Handling and Diagnosis Beckhoff FC510x LED Description L

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 63 FC510x: Bus Node Diagnostics The CANopen fieldbus card FC510x has a c

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 64 match at StartUp and/or additional info do not agree with object 0

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 65 6: Toggling missed several times and guarding activated Bits 5

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 66 FC510x Diagnostics The FC510x CANopen fieldbus card makes extensive

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 67 General Diag The minimum and maximum bus loading are also displayed

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 68 FC510x: Emergency Messages The CANopen FC510x fieldbus card stores

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 69 FC510x: ADS Error Codes The ADS error codes have the following meanin

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 7 Version of the Documentation Version Changes 0.9 (Pre-Release) Preli

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 70 0x1201 AddCdl: CDL no. is too large 0x1202 DeleteCdl only possi

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 71 0x1702 AddDeviceNotification: Length of device diagnostic data to l

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 72 0x201C AddBox: BootUp Id is already defined 0x201D AddBox: BoxN

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 73 Trouble Shooting Error Frames One sign of errors in the CAN wiring, t

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 74 Test 3: Determine the resistance between CAN high and CAN low - at

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 75 Protocol problems can be avoided if devices that have not been confor

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 76 7. Bus Trace Function Beckhoff FC510x as a CANopen Monitor As from

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 77 The only purpose of this linking is to make it possible for the real

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 78 "FCxxxx Monitor" tab PCI Slot/Irq: Indicates in which lo

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 79 Device-ID: The ID that the system manager has assigned to the FC510x

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 8 2. Product Overview Beckhoff FC510x: Technical Documentation The FC

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 80 fier 0x210 equal to 1 has been found. The following entries are to

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 81 6 2.7440 Id: 701 Len: 1 Data: 00 7 4.0802 Id: 632 Len: 8 Data: 40

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 82 NET-ID: PC AMS net ID. PORT: 300 IDXGRP: IndexGroup is 0x5000 + Id

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 83 8. Appendix Identifier Full List Identifiers marked with * are given

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 84 166 A6 EMCY Nd.38 914 392 TxPDO3*, Nd.18 1469 5BD SDO Tx N

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 85 405 195 TxPDO1, DI, Nd.21 961 3C1 TxPDO8*, Nd.1 1516 5EC TxP

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 86 452 1C4 TxPDO6*, Nd.4 1007 3EF TxPDO8*, Nd.47 1563 61B SDO

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 87 498 1F2 TxPDO6*, Nd.50 1054 41E RxPDO3*, Nd.30 1610 64A RxPD

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 88 545 221 RxPDO1, DO, Nd.33 1101 44D RxPDO8*, Nd.13 1656 678

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 89 592 250 RxPDO6*, Nd.16 1147 47B RxPDO8*, Nd.59 1703 6A7 TxPD

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 9 CANopen Introduction CANopen is a widely used CAN application layer, d

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 90 799 31F RxPDO2, AO, Nd.31 1355 54B RxPDO9*, Nd.11 1910 776

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 91 846 34E RxPDO7*, Nd.14 1401 579 RxPDO9*, Nd.57 1957 7A5 RxPD

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 92 License under construction

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 93 List of Literature German Books · Holger Zeltwander (Hrsg.): CANopen

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 94 List of Abbreviations CAN Controller Area Network. A serial bus sy

Eiserstraße 5 / D-33415 Verl / Telefon 05246/963-0 / Telefax 05246/963-149 95 Support and Service Beckhoff and their partners around the world offe