Section 5 - Slide 1 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Section 2...

P&T - GPS - TrainingPhW - CANopen_FTB_soft_setup_en 01/2004

Section 5 - Slide 1 / 59

Section 2 : Setup stages

Section 3 : Diagnostic indicator lights

Section 1 : Implemented CANopen functions

Software set up of IP67 monobloc I/O splitter boxes

on CANopen

Section 4 : Interfacing variables for PLC application

Advantys-Advantys-FTBFTB 1CN 1CNP0P0

Section 5 : PDOs description in details



Process Data Objects = PDOProcess Data Objects = PDOProcess Data Objects = PDOProcess Data Objects = PDO

CANopen IP67 I/O monobloc splitter boxes can control:

2 predefined receive PDOs

(except for module FTB1CN16EP0 16 inputs: only 1 PDO)

2 predefined transmit PDOs

The predefined mapping can be modified to meet a specific user requirement.

Supported transmission modes: Receive: Synchronous cyclic and acyclic and asynchronous

Transmit: Synchronous cyclic and acyclic, asynchronous, and on Remote frame

Section 1: Implemented CANopen functions - 2



Predefined PDOs descriptionPredefined PDOs descriptionPredefined PDOs descriptionPredefined PDOs description

2 predefined transmit PDOs (inputs) :

PDO 1800 = 1 to 2 bytes : Inputs states / DESINA Diagnostic

PDO 1805 = 2 to 6 bytes : Diagnostic module-channel

2 predefined receive PDOs (outputs) :

PDO 1400 = 1 to 2 bytes Outputs command

PDO 1405 = 1 to 3 bytes Channels 1. configuration : input or DESINA diag.

Channels 1. and 0. configuration : input or output (FTB1CN 16C P0 module only)




Chapitre 1 : Fonctionnalités CANopen implémentées - 4

Predefined Transmit PDOs 1800Predefined Transmit PDOs 1800Predefined Transmit PDOs 1800Predefined Transmit PDOs 1800

6000/2 : Inputs/Diag 10 to 17 6000/1 : Inputs 00 to 07


6000/1 : Inputs 10 to 17Reserved


Bit 0Bit 15

16I

12I/4O

8I/8O

16C

Inputs states or DESINA diagnostic if configured.




Predefined Transmit PDOs 1805Predefined Transmit PDOs 1805Predefined Transmit PDOs 1805Predefined Transmit PDOs 1805

Bit 0Bit 15

16I

12I/4O

8I/8O

16C

Diagnostic module-channels

3000/2 : Sensor short circuit connectors 0 to 7 3000/1 : Common diagnostic


3000/5 : Actuator warning chan. 00 to 07 3000/3 : Actuator overload chan. 00 to 07


3000/5 : Actuator warning chan. 00 to 07 3000/3 : Actuator overload chan. 00 to 07


3000/4 : Actuator overload chan. 10 to 17 3000/3 : Actuator overload chan. 00 to 07

3000/6 : Actuator warning chan. 10 to 17 3000/5 : Actuator warning chan. 00 to 07




Predefined Receive PDOs 1400Predefined Receive PDOs 1400Predefined Receive PDOs 1400Predefined Receive PDOs 1400

Bit 0Bit 15

16I

12I/4O

8I/8O

16C

Reserved 6200/1 : Outputs 04 to 07

Reserved 6200/1 : Outputs 00 to 07

6200/2 : Outputs 10 to 17 6200/1 : Outputs 00 to 07

PDO 1400 is not implemented on the 16 inputs module

Outputs commands




Predefined Receive PDOs 1405Predefined Receive PDOs 1405Predefined Receive PDOs 1405Predefined Receive PDOs 1405

Bit 0Bit 15

16I

12I/4O

8I/8O

16C

Channels 1. configuration : input or DESINA diagnostic.Channels 1. and 0. configuration : input or output (FTB1CN 16C P0 only)

Reserved 2000/1 : Input or Diag config. channels 10 to 17



2001/1 : Input or output config. channels 00 to 07 2000/1 : Input or Diag config. channels 10 to 17

Reserved 2001/2 : Input or output config. channels 10 to 17



1 transmit SDO, 1 receive SDO

Allowing access to any dictionary object by message exchange.

Can be used for example 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 programming in the application.

Service Data Object = SDOService Data Object = SDOService Data Object = SDOService Data Object = SDO




List of parameter-setting objects List of parameter-setting objects List of parameter-setting objects List of parameter-setting objects

Index Parameter-setting object Default value 16

I

12I/

4O

12I/

4O

16C

2000H

Sub-index 1: byte Parameter settings for channels 10 to 17 in input or diagnostic mode 0 = input, 1 = diagnostic

FFH Y Y Y Y

Sub-index 1: byte Parameter settings for channels 00 to 07 in input or output mode 0 = input, 1 = output?

00H N N N Y

2001H Sub-index 2: byte Parameter settings for channels 10 to 17 in input or output mode 0 = input, 1 = output?

00H N N N Y




List of parameter-setting objectsList of parameter-setting objectsList of parameter-setting objectsList of parameter-setting objects


I

12I/

4O

12I/

4O

16C

6102H

Sub-index 1: word Low order: Polarity selection for inputs 00 to 07 (pin 4)? High order: Polarity selection for inputs 10 to 17 (pin 2)? 0 = no inversion, 1 = inversion

0000H Y Y Y Y

6103H

Sub-index 1: word Low order: Filtering of inputs 00 to 07 (pin 4)? High order: Filtering of inputs 10 to 17 (pin 2)? 0 = input filtered, 1 = input not filtered

0000H Y Y Y Y




List of parameter-setting objectsList of parameter-setting objectsList of parameter-setting objectsList of parameter-setting objects


I

12I/

4O

12I/

4O

16C

6302H

Sub-index 1: word Low order: Polarity selection for outputs 00 to 07 (pin 4)? High order: Polarity selection for outputs 10 to 17 (pin 2)? 0 = no inversion, 1 = inversion

0000H N Y Y Y

6306H

Sub-index 1: word Low order: Watchdog enable outputs 00 to 07 (pin 4)? High order: Watchdog enable outputs 10 to 17 (pin 2)? 0 = disabled, 1 = enabled

FFFFH N Y Y Y

6307H

Sub-index 1: word Low order: Fallback position for outputs 00 to 07 (pin 4)? High order: Fallback position for outputs 10 to 17 (pin 2)? 0 = fallback to 0, 1 = fallback to 1

0000H N Y Y Y

6308H

Sub-index 1: word Low order: Filtering of outputs 00 to 07 (pin 4)? High order: Filtering of outputs 10 to 17 (pin 2)? 0 = output filtered, 1 = output not filtered

FFFFH N Y Y Y




(* Address of exchange manager : ADR#0.1.SYSAddress of variable to be written : %MD3200Address of CANopen slave : 40Value of variable to be written : %MW3202:1Report of exchange : %MW3250:4 *)

(* Write command AND Service inactive *)IF %M103 AND NOT %MW3250:X0 THEN

%MW3253:=2; (* 200ms Time-out *)WRITE_VAR(ADR#0.1.SYS,'SDO',%MD3200,40,%MW3202:1,%MW3250:4);RESET %M103; (* Reset write command *)

END_IF;

Example of writing SDO Example of writing SDO Example of writing SDO Example of writing SDO

(* Change polarity of discrete inputs for channels 10-17 so that channels 10, 11 and 14 become NC inputs *)

%MD3200:= 16#00016102; (* <index> = 6102H ; <sub-index> = 1 *)%MW3202:= 16#1300; (* Value to be written = 2#0001001100000000 *)




(* Request to read one word *)

(* Address of exchange manager : ADR#0.1.SYSAddress of variable to be read : %MD3220Address of CANopen slave : 40Value of variable read : %MW3222:1Report of exchange : %MW3260:4 *)

(* Read command AND Service inactive *)IF %M104 AND NOT %MW3260:X0 THEN

%MW3263:=2; (* 200ms Time-out *)READ_VAR(ADR#0.1.SYS,'SDO',%MD3220,40,%MW3222:1,%MW3260:4);RESET %M104; (* Reset read command *)

END_IF;

(* Example: Reread filtering of discrete inputs for channels 10-17. Channels 11, 12 and 13 described as having been inhibited *)

%MD3220:= 16#00016103; (* <index> = 6103H ; <sub-index> = 1 *)(* %MW3222 = ? *) (* Value read = 2#0000111000000000 *)

Example of reading SDO Example of reading SDO Example of reading SDO Example of reading SDO




Special Function Objects: SFOSpecial Function Objects: SFOSpecial Function Objects: SFOSpecial Function Objects: SFO

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

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

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

Node guarding object: Supported.

Sent on polling of splitter box status and detection of absence of polling

Heartbeat object: Supported




Software setupSoftware setup

Section 2: Software setup stages - 15

Declare the master card in the PLC

Configure the master and slaves with the Sycon tool

Load the configuration using the Sycon tool

Select the configuration file in PL7 and save it

Transfer the application to the PLC

Check implicit exchanges

Sycon mode

PL7 mode

Configure the function ofthe processor/master card

Click the individual stages

for a detailed description



Declaring the master card in the PLCDeclaring the master card in the PLC

The CANopen master PCMCIA cardis inserted in the designated slot for communication modulesin the processor module.

The CANopen master card iscompatible with all processor modules >= V5.0 except TSX57103

Screencam 1 Back




Configuring the function of the processor/master card Configuring the function of the processor/master card

Synchronise updating of memory

zones associated with I/O

Define %MW memory zone to which the inputs are copied

Define fallback mode for outputs and for %MW memory zone where outputs are

read

Launch Sycon configuration

software

Select Sycon configuration file and choose loading mode

Behaviour of bus on start up*

Enable watchdog

1

2

3

4

5

Screencam 2 Back* If “Semi-automatic” or “By program” is selected here, the bus start up is controlled by the command word %QWy.1.0.(y = processor slot number)




Configuring the master and slaves with the Sycon toolConfiguring the master and slaves with the Sycon toolConfiguring the master and slaves with the Sycon toolConfiguring the master and slaves with the Sycon tool

As preferred

Selecting the network and inserting the master

Declaring the slaves

Setting the bus parameters

Setting slave parameters using predefined PDOs

Defining the settings for the Sycon tool

Setting slave parameters with predefined mapping modification

View global configuration and save

Importing the EDS files (if not supported by Sycon)


OR



Selecting the network and inserting the CANopen masterSelecting the network and inserting the CANopen masterSelecting the network and inserting the CANopen masterSelecting the network and inserting the CANopen master

Screencam 3 Back

File - New1 Select CANopen - OK2

Insert - Master3 Add TSX CPP 100 - OK4




Defining the settings for the Sycon toolDefining the settings for the Sycon toolDefining the settings for the Sycon toolDefining the settings for the Sycon tool

Settings - Global Settings1 Enable Process Data Auto Addressing if required

Enable COB-ID Automatic Allocation if required

OK

2

When Process Data Auto Addressing is enabled, Syconautomatically calculates the process data offset. Data is organised according to the sequence of PDOs and nodes.

Manual COB-ID allocation is used for PDO numbers >= 5 or for direct data exchange from slave to slave: PDO linking.

Back




Setting the bus parametersSetting the bus parametersSetting the bus parametersSetting the bus parameters

Back

Select address of master2

Select SYNC object COB-ID Default value = 128

Communication profile DS301

+ select communication cycle period

3

4

Screencam 4

5

Settings - Bus parameter1Select data rate

Behaviour of master module in the event of a Node Guard or Heartbeat error:

Disabled:Does not affect the other stations.

Enabled: The master stops communication with all other stations.

6 Enable Heartbeat function(supported by TSXCPP110 card)

Enable automatic switch to operating mode (PDOs activated) if required.

7

Not in use




Importing new EDS filesImporting new EDS filesImporting new EDS filesImporting new EDS files

File - Copy EDS1

Select the directory in which the new EDS file(s) is/are located

together with the associated .dib images

2

Click Open to import the files

3

BackScreencam 5a




Declaring the slavesDeclaring the slavesDeclaring the slavesDeclaring the slaves

BackScreencam 5

Insert - Node1

Add FTB 1CN12E04SP0to address 2

2

Edit the “Description” field if necessary and click “OK” to confirm

3




Window for setting slave parametersWindow for setting slave parametersWindow for setting slave parametersWindow for setting slave parameters

The values for Device Profile and Device

Type must be consistent with the values contained in object 1000H Device

Type

Enable defaultCOB-ID allocation

List of predefined PDOs

Access to Node Guarding and Heartbeat functions

Disable if you wish to retain process data when

the station is not connected

Access to boot-up sequence for each node

Access to supported objects and to

parameters written during boot-up sequence

Access to transmission parameters for each

PDO

Access to mapping for each PDO

Define new receive PDO

Define new transmit PDO

To activate predefined PDOs

Double click the relevant slave to open the window




Select monitoring mode: Node Guarding or Heartbeat

Polling time for master

Define monitoring time on slave side:

Guard time x Life time factor

Time for which slave is monitored by master

Time for which heartbeat is transmitted by slave

List of values assigned to the Heartbeat parameters for the

various nodes

Setting slave parameters with predefined PDOsSetting slave parameters with predefined PDOsSetting slave parameters with predefined PDOsSetting slave parameters with predefined PDOs

Click “Configuration Error Control Protocol”

to access the Node Guarding or Heartbeat

settings

1

2

3

3’




Setting slave parameters with predefined receive PDOsSetting slave parameters with predefined receive PDOsSetting slave parameters with predefined receive PDOsSetting slave parameters with predefined receive PDOs

Click the predefined PDO you wish to activate 1

Select the PDO transmission mode

(slave side)

Click Add to configured PDOs2

3

Confirm5

Select the PDO triggering mode

(master side)

4




Setting slave parameters with predefined transmit PDOsSetting slave parameters with predefined transmit PDOsSetting slave parameters with predefined transmit PDOsSetting slave parameters with predefined transmit PDOs

Click the predefined PDO you wish to activate1


(slave side)

3

Confirm5



(master side)

4




Point to point broadcast objects

Object Function Code Bin COB-ID Hex COB-ID Dec Emergency 0001 0x081 to 0x0FF 129 to 255

Transmit PDO 1 0011 0x181 to 0x1FF 385 to 511

Receive PDO 1 0100 0x201 to 0x27F 513 to 639







SDO server 1011 0x581 to 0x5FF 1409 to 1535

SDO client 1100 0x601 to 0x67F 1537 to 1663

NODE GUARD 1110 0x701 to 0x77F 1793 to 1919

Manual allocation of identifiersManual allocation of identifiers

Default allocation of identifiers can only be used for the first 4 PDOs.

For devices supporting PDO numbers greater than 4 (transfer of non-standardobjects, etc.) the identifier value has to be assigned manually.

In this case the user should use a value for an identifier that is not in use: value assigned to an undefined or free PDO between 1 and 4.

Ma

xim

um

10

24

id

en

tifi

er s

re

se

rve

d f

or

PD

Os




Predefined PDOs > 0x1404/0x1804Predefined PDOs > 0x1404/0x1804Predefined PDOs > 0x1404/0x1804Predefined PDOs > 0x1404/0x1804

This message appears if you

enable a PDO number higher

than 4.Deactivate the COB-ID

allocation function.

1

Assign an identifier value

that is not in use

e.g. use identifier for

PDO2

2




Example of process memory organisation viewExample of process memory organisation viewExample of process memory organisation viewExample of process memory organisation view

Receive PDOs correspond to

output variables

Transmit PDOs correspond to

input variables

Address expressed

in number of words

Length expressed in

number of bytes




View of mapping of configured PDOsView of mapping of configured PDOsView of mapping of configured PDOsView of mapping of configured PDOs

1 Click PDO Contents Mapping2Click the configured PDO you wish to view

List of objects transferred to

the PDO with their address:

Index and Sub-index




Modifying a parameter settingModifying a parameter settingModifying a parameter settingModifying a parameter setting

Screencam 6 Back

1 Click the “Object

Configuration” button

2 Select the parameter you wish to

modify then click “Add to

Configured Object”

3 Modify the parameter value in the

list of objects that are configured

automatically on start up, then click

OK to confirm




Setting slave parameters with mapping modification: receive PDO Setting slave parameters with mapping modification: receive PDO Setting slave parameters with mapping modification: receive PDO Setting slave parameters with mapping modification: receive PDO



(slave side)


4

Confirm6


(master side)

5

Select mapping method

V4

1

For DS401 discrete I/O slaves, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analogue I/O are mapped from PDO2 onwards.




Double click on the configured PDO1

Add or delete mappable objects by

clicking “Append Object” or

“Delete mapped object”

2

Example with addition of

object 2000/1.

Allows channels 10 to 17

to be set to input or

diagnostic mode.

Setting slave parameters with mapping modification: receive PDOSetting slave parameters with mapping modification: receive PDOSetting slave parameters with mapping modification: receive PDOSetting slave parameters with mapping modification: receive PDO





Select the PDO transmission mode (slave

side)


3

Confirm5


(master side)

4

Setting slave parameters with mapping modification: transmit PDOSetting slave parameters with mapping modification: transmit PDOSetting slave parameters with mapping modification: transmit PDOSetting slave parameters with mapping modification: transmit PDO




Double click on the configured PDO1

Add or delete mappable objects by

clicking “Append Object” or

“Delete mapped object”

2

Screencam 7 Back

Setting slave parameters with mapping modification: transmit PDO Setting slave parameters with mapping modification: transmit PDO Setting slave parameters with mapping modification: transmit PDO Setting slave parameters with mapping modification: transmit PDO

Example with addition of

object 3000 sub-index

1, 2, 3 and 5

Allows diagnostics at the

module and channel level




Saving the Sycon configurationSaving the Sycon configurationSaving the Sycon configurationSaving the Sycon configuration

Back

File - Save As1

Screencam 8Enter the name and click Save 2




Selecting the configuration file in PL7 and saving itSelecting the configuration file in PL7 and saving itSelecting the configuration file in PL7 and saving itSelecting the configuration file in PL7 and saving it

BackScreencam 9

Click Select Database

1

Select the configuration file

****.co in the

Hilscher/Sycon/Project directory

2

Click Open3

If the number of input and output words

is inconsistent with the Sycon

configuration, an error message is

generated




Verifying exchanges in the Debug screenVerifying exchanges in the Debug screenVerifying exchanges in the Debug screenVerifying exchanges in the Debug screen

Test PDO-type exchanges

Test SDO-type exchanges




Diagnostic indicator lights relating to communicationDiagnostic indicator lights relating to communicationDiagnostic indicator lights relating to communicationDiagnostic indicator lights relating to communication

MS

LED on

LED off

Flashes at2.5 Hz

Flashesat 10 Hz

One short flash every second

Status = Operational

Status =Pre-Operational

Status = Stopped

Module switched off

Automatic detection of data rate

NS

LED off

LED on

2 short flashes every

1.6 seconds

Flashes at 10 Hz

1 short flash every

1.2 seconds

Operation OK

Guarding error(slave or master)

An internal error counter has reached

its limit threshold

CAN controller status = Bus OFF

Automatic detection of data rate

3 short flashes every

2 seconds

SYNC signal not received within SYNC

interval

The MS light corresponds to the Run

CANopen LED as defined in DRP 303-3

The NS light corresponds to the Error

CANopen LED as defined in DRP 303-3

Section 3: Diagnostic indicator lights - 40



Interfacing with the applicationInterfacing with the applicationInterfacing with the applicationInterfacing with the application

Implicit objects:%MW:PDO input/output variables(for ATV58 2 status words: ETAD and RFRD, and 2 command words: CMDD and LFRD)

%Iy.MOD.ERR and %Iy.1.ERR: 2 input bits for module error and channel error

%IWy.1.0 at %IWy.1.23: 24 input words providing diagnostic information about the status of the channel, slaves, latest error codes, etc.

%QWy.1.0: 1 output word for activating the configuration and PDO exchanges and for reinitialising error tables.

Section 4: Interfacing variables for PLC application - 41




Explicit object:

READ_STS %Chy.1

%Mwy.1.2:Input variable providing diagnostic information about the status of the master card.





Communication functions available for use:

WRITE_VAR and READ_VAR(ADR#y.1.SYS, ’SDO’,index:subindex, NodeID,%MWi:L,%MWk:4)For accessing SDO variables

SEND_REQ(ADR#y.1.SYS, 16#9F, %MWi:L, %MWj:L, %MWk:4)For accessing link layer PDOs

SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %MWk:4)For accessing the identification and status of the master card

SEND_REQ(ADR#y.1.SYS, 16#31, %MWi:L, %MWj:L, %MWk:4)For running diagnostics on a slave or checking the version and status of the CANopen master card, or reading the message exchange error log




Accessing configuration and adjustment variablesAccessing configuration and adjustment variablesAccessing configuration and adjustment variablesAccessing configuration and adjustment variables

(* Request to write one word *)

(* Address ADR#0.1.SYSAddress of variable to be written: %MD3200Value of variable to be written: %MW3202Report of exchange: %MW3250:4 *)

IF %M103 AND NOT %MW3250:X0 THEN%MW3253:=2; WRITE_VAR(ADR#0.1.SYS,'SDO',%MD3200,20,%MW3202:1,%MW3250:4);RESET %M103;

END_IF;




Accessing configuration and adjustment variables Accessing configuration and adjustment variables Accessing configuration and adjustment variables Accessing configuration and adjustment variables

(* Request to read one word *)(* Address ADR#0.1.SYS

Address of variable to be read: %MD3220Value of variable read: %MW3222Report of exchange: %MW3260:4 *)

IF %M104 AND NOT %MW3260:X0 THENREAD_VAR(ADR#0.1.SYS,'SDO',%MD3220,20,%MW3222:1,%MW3260:4);RESET %M104;

END_IF;




Accessing diagnostic variables Accessing diagnostic variables Accessing diagnostic variables Accessing diagnostic variables

(* Updating of variable %MW0.1.2 *)IF %MW200=1 THEN READ_STS %CH0.1;END_IF;!(* Reading of DIAGNOSTIC explicit exchange words *)(*Address ADR#0.1.SYS Type of diagnostic object : %MW3301

1 to 127 = slave diagnostics 128 = master card diagnostics130 = message exchange error log

Start address in diagnostic table: %MW3302 Length of diagnostic to be read : %MW3303 Reception table : %MW3310:20 Report of exchange : %MW3350:4 *)

IF %MW3300=1 AND NOT %MW3350:X0 THEN %MW3300:=0;%MW3353:=6;SEND_REQ(ADR#0.1.SYS,16#0031,%MW3301:3,%MW3310:20,%MW3350:4);END_IF;




FTB 1CNFTB 1CN16E16EP0: Receive PDO P0: Receive PDO FTB 1CNFTB 1CN16E16EP0: Receive PDO P0: Receive PDO

PDO 1405: Configuration of channels 10 to 17: pin 2 on M12 connectors

Reserved 2000/1: Input/diag parameter settings

2000/1: Parameter settings for channels 10 to 17 in input or diagnostic mode

Bit 0 = channel 10 (pin 2) M12 connector N° 0to Bit 7 = channel 17 (pin 2) M12 connector N° 7

If = 1 Diagnostic of channel 0.If = 0 Input

Section 5 : PDOs description in details - 47



FTB 1CNFTB 1CN16E16EP0: Transmit PDO P0: Transmit PDO FTB 1CNFTB 1CN16E16EP0: Transmit PDO P0: Transmit PDO

PDO 1800: Inputs

PDO 1805: Diagnostics

6000/2: Inputs/diag. channels 10 to 17 6000/1: Inputs, channels 00 to 07%MW0:

6000/1: Inputs, channels 00 to 07

Bit 0 = chan. 00 (pin 4) M12 connector N° 0to Bit 7 = chan. 07 (pin 4) M12 connector N° 7

If = 1 Input = 1If = 0 Input = 0

6000/2: Inputs or diag. channels 10 to 17


If = 1 Input = 1 or Diag NOKIf = 0 Input = 0 or Diag OK

3000/1: General diagnostics Bit Meaning0 Low voltage in sensor power supply1 No sensor power supply2 Low voltage in actuator power supply3 No actuator power supply4 Short-circuit on sensor5 Short-circuit on actuator6 Actuator warning 7 DESINA diagnostic

3000/2: Sensor short-circuit, sockets 0 to 7

Bit 0 = S.C. on sensor power sup. M12 N° 0to Bit 7 = S.C. on sensor power sup. M12 N° 7

If = 1 Short circuitIf = 0 No short circuit

3000/2: Sensor short-circuit, sockets 0 to 7 3000/1: General diagnostics %MW0:

Channels 00 to 07 = Pin 4Channels 10 to 17 = Pin 2

Section 1: PDOs description in details - 48



FTB 1CNFTB 1CN12E04S12E04SP0: Receive PDO P0: Receive PDO FTB 1CNFTB 1CN12E04S12E04SP0: Receive PDO P0: Receive PDO

PDO 1400: Outputs 04 to 07

Reserved 6200/1: Outputs, channels 04 to 07

PDO 1405: Configuration of channels 10 to 17: Pin 2 on M12 connectors

Reserved 2000/1: Input/diag parameter settings




6200/1: Outputs, channels 04 to 07 Bit 4 = chan. 04 (pin 4) M12 connector N° 4to Bit 7 = chan. 07 (pin 4) M12 connector N° 7

Si = 0 No commandSi = 1 Command





FTB 1CNFTB 1CN12E04S12E04SP0: Transmit PDO P0: Transmit PDO FTB 1CNFTB 1CN12E04S12E04SP0: Transmit PDO P0: Transmit PDO

PDO 1800: Inputs6000/2: Discrete inputs, channel 1. 6000/1: Inputs, channels 00 to 03%MW0:

6000/1: Inputs, channels 00 to 03



6000/2: Discrete inputs or diag, channels 10 to 17








FTB 1CNFTB 1CN12E04S12E04SP0: Transmit PDO P0: Transmit PDO FTB 1CNFTB 1CN12E04S12E04SP0: Transmit PDO P0: Transmit PDO




3000/3: Actuator overload chan. 04 to 07

Bit 4 = Actuator overload pin 4 M12 connector N° 4à Bit 7 = Actuator overload pin 4 M12 connector N° 7

If = 1 Actuator overloadIf = 0 No actuator overload

3000/5: Actuator warning chan. 04 to 07

Bit 4 = Actuator warning pin 4 M12 connector N° 4to Bit 7 = Actuator warning pin 4 M12 connector N °7

If = 1 WarningIf = 0 No warning

3000/2: Sensor short-circuit 3000/1: General diagnostics

3000/5: Actuator warning chan. 00 to 07 3000/3: Actuator overload chan. 00 to 07

%MW0:

%MW1:






FTB 1CNFTB 1CN08E08S08E08SP0: Receive PDO P0: Receive PDO FTB 1CNFTB 1CN08E08S08E08SP0: Receive PDO P0: Receive PDO PDO 1400: Outputs 00 to 07

Reserved 6200/1: Outputs channels 00 to 07

PDO 1405: Configuration of channels 10 to 17: Pin 2 on M12 connectors

Reserved 2000/1: Input/diag. parameter settings




6200/1: Outputs channels 00 to 07







FTB 1CNFTB 1CN08E0808E08SP0: Transmit PDO SP0: Transmit PDO FTB 1CNFTB 1CN08E0808E08SP0: Transmit PDO SP0: Transmit PDO

PDO 1800: Inputs

6000/1: Inputs channels 10 to 17%MW0:

6000/1: Inputs channels 10 to 17




Reserved




FTB 1CNFTB 1CN08E08S08E08SP0: Transmit PDO P0: Transmit PDO FTB 1CNFTB 1CN08E08S08E08SP0: Transmit PDO P0: Transmit PDO PDO 1805: Diagnostics


3000/5: Actuator warning chan. 00 to 07 3000/3: Actuator overload chan. 00 to 07

%MW0:

%MW1:















FTB 1CNFTB 1CN16C16CP0: Receive PDO P0: Receive PDO FTB 1CNFTB 1CN16C16CP0: Receive PDO P0: Receive PDO

PDO 1400: Outputs 00 to 07 and 10 to 17

6200/2: Outputs channels 10 to 17 6200/1: Outputs channels 00 to 07











FTB 1CNFTB 1CN16C16CP0: Receive PDO P0: Receive PDO FTB 1CNFTB 1CN16C16CP0: Receive PDO P0: Receive PDO

PDO 1405: Configuration of channels

2001/1: I/O param. settings, channels 00 to 07 2000/1: Input/diag. param., channels 10 to 17




Reserved 2001/2: I/O param. settings, channels 10 to 17

%MW0:

%MW1:


2001/1: I/O param. settings, channels 00 to 07


If = 0 InputIf = 1 Output

2001/2: I/O param. settings, channels 10 to 17


If = 0 InputIf = 1 Output




FTB 1CNFTB 1CN16C16CP0: Transmit PDO P0: Transmit PDO FTB 1CNFTB 1CN16C16CP0: Transmit PDO P0: Transmit PDO

PDO 1800: Inputs

6000/2: Inputs/diag, channels 10 to 17 6000/1: Inputs channels 00 to 07%MW0:

6000/1: Inputs channels 00 to 07



6000/2: Discrete inputs or diag, channels 10 to 17









3000/4: Actuator overload, channels 10 to 17 3000/3: Actuator overload, channels 00 to 07

%MW0:

%MW1:


3000/6: Actuator alarm, channels 10 to 17 3000/5: Actuator alarm, channels 00 to 07%MW2:













3000/4: Actuator overload, channels 10 to 17






3000/6: Actuator alarm, channels 10 to 17






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Section 5 - Slide 1 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Section 2...

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