Festo CMGA-E1-CO Manual de usuario

Description

Installation manual

CANopen extension

module

761724

1201NH

Extension module

CMGA-E1-CO

2 Festo – GDCP-CMGA-E1-CO-EN – 1201NH

Translation of the original instructions

GDCP-CMGA-E1-CO-EN

CANopen

is a registered trademark of its respective trademark holder in certain countries.

Status: TD-37350-810-03-04E-EN

Identification marking of dangers and instructions on how to avoid them:

Warning

Dangers which can lead to death or serious injuries.

Caution

Dangers which can lead to slight injuries or to serious material damage.

Other symbols:

Note

Material damage or loss of function.

Recommendation, tip, reference to other documentation

Necessary or useful accessories

Information on environmentally friendly use

Text designation:

• Activities which can be carried out in any sequence.

1. Activities which should be carried out in the specified sequence.

– General lists

CMGA-E1-CO

Festo – GDCP-CMGA-E1-CO-EN – 1201NH 3

Table of contents – CMGA-E1-CO

1 Important notes 4..........................................................

2 Safety regulations 4........................................................

2.1 Operation and service 4......................................................

2.2 Modification of an installation 5...............................................

3 Parametrisation of the backplane communication 5...............................

4 Parametrisation of the CANopen communication 5................................

5 Device-specific OD entries 7..................................................

6TPDOs 9..................................................................

7SDO 9....................................................................

8 Heartbeat producer 9.......................................................

9 Connection 10..............................................................

10 DiagData 10................................................................

11 LEDs 11...................................................................

12 Can bus termination 12.......................................................

13 Definition of the terms 12.....................................................

14 Modifications / procedures with changes to the modules or the installation 13..........

15 Maintenance 13.............................................................

15.1 Replacement of a CMGA module 13.............................................

CMGA-E1-CO

4 Festo – GDCP-CMGA-E1-CO-EN – 1201NH

1 Important notes

Target group of this operating manual:

Service, maintenance and changing of units, company electricians, users

Definitions

The designation CMGA is used as a generic term for all derivatives of the CMGA product range.

Wherever this description refers to a certain derivative, the complete designation is used.

The term “safe” used in the subsequent text refers in each case to the classification as a safe function

on the basis of EN ISO 13849-1 or EN 61508 in the corresponding categories or levels.

2 Safety regulations

2.1 Operation and service

– The module must always be de-energized before installation and removal, or before disconnecting

signal lines or supply lines.

– When installing or removing the module, appropriate measures must be taken to prevent electro-

static discharge to the externally arranged terminal and plug connections.

– The manufacturer's warranty is invalidated if there is any manipulation or modification of the unit.

– The CMGA can only be operated within a temperature range between 0° and 50 °C. Make sure that

this temperature range is observed:

1Coding switch for Bus

termination

23 LEDs show the operating

status

3CAN connection

4Rotary switch for selection

of address and baud rate

Fig. 1 Front page CMGA-E1-CO

CMGA-E1-CO

Festo – GDCP-CMGA-E1-CO-EN – 1201NH 5

Scope of delivery

The scope of delivery contains:

– Extension module CMGA-E1-CO

The EDS file with CMGA icon and the installation handbooks can be found on the CD ROM

GSPF-CMGA-BS... or under www.festo.com.

2.2 Modification of an installation

A CMGA installation can only be put into operation or modified by qualified personnel! Speak to the

company which issued the inspection report. If the configuration of the module is modified, there is a

threat of loss of safety.

3 Parametrisation of the backplane communication

The CMGA equipment used must be configured with the CAN-IDs unique to the network.

The CAN-IDs must be entered via SDO in the OD, index 0x6200 and the corresponding sub-index for the

device.

Index Sub-index Meaning

0x6200 1CAN-ID of the 1st mapped device or 0, if not used

0x6200 2CAN-ID of the 2nd mapped device or 0, if not used

0x6200 3CAN-ID of the 3rd mapped device or 0, if not used

0x6200 4CAN-ID of the 4th mapped device or 0, if not used

0x6200 5CAN-ID of the 5th mapped device or 0, if not used

0x6200 6CAN-ID of the 6th mapped device or 0, if not used

0x6200 7CAN-ID of the 7th mapped device or 0, if not used

0x6200 8CAN-ID of the 8th mapped device or 0, if not used

Ta b. 1 C A N- I Ds

Example: if you want TPD05 to include the DiagData of the CMGA basic module with CAN-ID 0x107,

then you must write the value 0x107 in the OD index 0x6200, sub-index 5.

4 Parametrisation of the CANopen communication

Each CANopen subscriber has its own unique node ID.

ThenodeIDofaCMGA-E1-COisconfiguredwiththerotaryDIPswitchatthefront.

Each of the rotary switches has 16 possible positions.

You can understand the two rotary switches as high and low nibble of a byte.

They are marked with the lettering “HIGH” and “LOW” on the front.

CMGA-E1-CO

6 Festo – GDCP-CMGA-E1-CO-EN – 1201NH

The value of the rotary switches can be calculated as follows:

RDS value = 16 x (value of the “HIGH” rotary switch) + (value of the “LOW” rotary switch)

Please note that if you are using more than one CMGA-E1-CO in the same CANopen net-

work, the addresses of these must differ by at least 2.

Since a CANopen subscriber can have only one address in the range 1 to 127, the most significant bit is

used for the selection of the baud rate.

The CMGA-E1-CO supports 500 kBaud and 1 MBaud. If the most significant bit is a RDS value 0, the

device uses 500 kBaud, if it is 1, the device uses 1 MBaud.

Due to the number of TPDOs generated, there is a further restriction for the highest configurable ad-

dress. Therefore for the address range 1 to 126 (if you configure the address as 127, the device sees

this as 126).

If you want to generate heartbeat messages with the CMGA-E1-CO, you can configure the “Producer

Heartbeat Time” as described below under “Heartbeat Producer”.

Example: the “HIGH” rotary switch has the value 10, the “LOW” rotary switch the value 3:

– RDS value = 10 * 16 + 3 = 163 = 0xA3

– The most significant bit is set, and the CMGA-E1-CO CANopen interface is thereby configured with

1 MBaud.

– The node ID is constituted from the 7 lower significant bits, and it can therefore be calculated as

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

As described below under “TPDOs”, the COB-IDs can be calculated on the basis of the node ID.

TDPO 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

Tab. 2 Calculation of COB-IDs

If you would like, you can change the COB-IDs of the TPDOs by altering the desired values in the corres-

ponding positions of the OD.

CMGA-E1-CO

Festo – GDCP-CMGA-E1-CO-EN – 1201NH 7

5 Device-specific OD entries

Index Sub-index Type Meaning

0x6000 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6000 0x01 UINT8 1st byte DiagData of the 1st mapped device

0x6000 0x02 UINT8 2nd byte DiagData of the 1st mapped device

0x6000 0x03 UINT8 3rd byte DiagData of the 1st mapped device

0x6000 0x04 UINT8 4th byte DiagData of the 1st mapped device

0x6000 0x05 UINT8 5th byte DiagData of the 1st mapped device

0x6000 0x06 UINT8 6th byte DiagData of the 1st mapped device

0x6000 0x07 UINT8 7th byte DiagData of the 1st mapped device

0x6000 0x08 UINT8 8th byte DiagData of the 1st mapped device

0x6001 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6001 0x01 UINT8 1st byte DiagData of the 2nd mapped device

0x6001 0x02 UINT8 2nd byte DiagData of the 2nd mapped device

0x6001 0x03 UINT8 3rd byte DiagData of the 2nd mapped device

0x6001 0x04 UINT8 4th byte DiagData of the 2nd mapped device

0x6001 0x05 UINT8 5th byte DiagData of the 2nd mapped device

0x6001 0x06 UINT8 6th byte DiagData of the 2nd mapped device

0x6001 0x07 UINT8 7th byte DiagData of the 2nd mapped device

0x6001 0x08 UINT8 8th byte DiagData of the 2nd mapped device

0x6002 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6002 0x01 UINT8 1st byte DiagData of the 3rd mapped device

0x6002 0x02 UINT8 2nd byte DiagData of the 3rd mapped device

0x6002 0x03 UINT8 3rd byte DiagData of the 3rd mapped device

0x6002 0x04 UINT8 4th byte DiagData of the 3rd mapped device

0x6002 0x05 UINT8 5th byte DiagData of the 3rd mapped device

0x6002 0x06 UINT8 6th byte DiagData of the 3rd mapped device

0x6002 0x07 UINT8 7th byte DiagData of the 3rd mapped device

0x6002 0x08 UINT8 8th byte DiagData of the 3rd mapped device

0x6003 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6003 0x01 UINT8 1st byte DiagData of the 4th mapped device

0x6003 0x02 UINT8 2nd byte DiagData of the 4th mapped device

0x6003 0x03 UINT8 3rd byte DiagData of the 4th mapped device

0x6003 0x04 UINT8 4th byte DiagData of the 4th mapped device

0x6003 0x05 UINT8 5th byte DiagData of the 4th mapped device

0x6003 0x06 UINT8 6th byte DiagData of the 4th mapped device

0x6003 0x07 UINT8 7th byte DiagData of the 4th mapped device

0x6003 0x08 UINT8 8th byte DiagData of the 4th mapped device

0x6004 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6004 0x01 UINT8 1st byte DiagData of the 5th mapped device

0x6004 0x02 UINT8 2nd byte DiagData of the 5th mapped device

0x6004 0x03 UINT8 3rd byte DiagData of the 5th mapped device

CMGA-E1-CO

8 Festo – GDCP-CMGA-E1-CO-EN – 1201NH

Index MeaningTypeSub-index

0x6004 0x04 UINT8 4th byte DiagData of the 5th mapped device

0x6004 0x05 UINT8 5th byte DiagData of the 5th mapped device

0x6004 0x06 UINT8 6th byte DiagData of the 5th mapped device

0x6004 0x07 UINT8 7th byte DiagData of the 5th mapped device

0x6004 0x08 UINT8 8th byte DiagData of the 5th mapped device

0x6005 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6005 0x01 UINT8 1st byte DiagData of the 6th mapped device

0x6005 0x02 UINT8 2nd byte DiagData of the 6th mapped device

0x6005 0x03 UINT8 3rd byte DiagData of the 6th mapped device

0x6005 0x04 UINT8 4th byte DiagData of the 6th mapped device

0x6005 0x05 UINT8 5th byte DiagData of the 6th mapped device

0x6005 0x06 UINT8 6th byte DiagData of the 6th mapped device

0x6005 0x07 UINT8 7th byte DiagData of the 6th mapped device

0x6005 0x08 UINT8 8th byte DiagData of the 6th mapped device

0x6006 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6006 0x01 UINT8 1st byte DiagData of the 7th mapped device

0x6006 0x02 UINT8 2nd byte DiagData of the 7th mapped device

0x6006 0x03 UINT8 3rd byte DiagData of the 7th mapped device

0x6006 0x04 UINT8 4th byte DiagData of the 7th mapped device

0x6006 0x05 UINT8 5th byte DiagData of the 7th mapped device

0x6006 0x06 UINT8 6th byte DiagData of the 7th mapped device

0x6006 0x07 UINT8 7th byte DiagData of the 7th mapped device

0x6006 0x08 UINT8 8th byte DiagData of the 7th mapped device

0x6007 0x00 UINT8 Number of the sub-indices used (const. 8)

0x6007 0x01 UINT8 1st byte DiagData of the 8th mapped device

0x6007 0x02 UINT8 2nd byte DiagData of the 8th mapped device

0x6007 0x03 UINT8 3rd byte DiagData of the 8th mapped device

0x6007 0x04 UINT8 4th byte DiagData of the 8th mapped device

0x6007 0x05 UINT8 5th byte DiagData of the 8th mapped device

0x6007 0x06 UINT8 6th byte DiagData of the 8th mapped device

0x6007 0x07 UINT8 7th byte DiagData of the 8th mapped device

0x6007 0x08 UINT8 8th byte DiagData of the 8th mapped device

0x6200 0x00 UINT32 Number of the sub-indices used (const. 8)

0x6200 0x01 UINT32 CAN-ID of the 1st mapped device or 0, if not used

0x6200 0x02 UINT32 CAN-ID of the 2nd mapped device or 0, if not used

0x6200 0x03 UINT32 CAN-ID of the 3rd mapped device or 0, if not used

0x6200 0x04 UINT32 CAN-ID of the 4th mapped device or 0, if not used

0x6200 0x05 UINT32 CAN-ID of the 5th mapped device or 0, if not used

0x6200 0x06 UINT32 CAN-ID of the 6th mapped device or 0, if not used

0x6200 0x07 UINT32 CAN-ID of the 7th mapped device or 0, if not used

0x6200 0x08 UINT32 CAN-ID of the 8th mapped device or 0, if not used

Tab. 3 Device-specific OD entries

CMGA-E1-CO

Festo – GDCP-CMGA-E1-CO-EN – 1201NH 9

6 TPDOs

The following COB-IDs are used for the TPDOs during the initialization of the CMGA-E1-CO. They can be

be changed on the standard position within the OD (index 0x1800 to 0x1807, sub-index 1).

TDPO COB-ID Assigned device

TPDO1 0x180 + node ID Device 1

TPDO2 0x280 + node ID Device 2

TPDO3 0x380 + node ID Device 3

TPDO4 0x480 + node ID Device 4

TPDO5 0x180 + node ID + 1 Device 5

TPDO6 0x280 + node ID + 1 Device 6

TPDO7 0x380 + node ID + 1 Device 7

TPDO8 0x480 + node ID + 1 Device 8

Tab. 4 COB-IDs used for the TPDOs

The mapping of the TPDOs can not be altered, but it can be read from the OD, index 0x1A00 to 0x1A07.

A TPDO telegram is always generated if there is a change in the received DiagData of the assigned

device.

Example: if there is a change in at least one byte of the DiagData received from the CMGA-E1-CO on the

backplane bus of device 3, then a TPDO3 is generated.

7SDO

The data communication with SDO uses the standard COB-IDs 0x580 + node ID for sending and 0x600 +

node ID for receiving.

8 Heartbeat producer

The CMGA-E1-CO is a heartbeat producer conforming to the CANopen standard.

The “producer heartbeat time” is adjustable and can be changed in the OD index 0x1017.

The standard value is 0, i.e. the production of heartbeat messages is switched off.

Valid values lie in the range from 0 to 60000. The unit is 1 ms.

CMGA-E1-CO

10 Festo – GDCP-CMGA-E1-CO-EN – 1201NH

9 Connection

CANopen interface

CMGA-E1-CO CMGA-B1-M...

CAN backplane bus

CMGA-B1-M...

max 8 devices

Fig. 2 Connection principle

10 DiagData

Configuration of the internal data frame, see installation handbook for

GDSP-CMGA-E1-G2 CAN messages.

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