Aventics CANopen 580 Series User manual

580 Series
CANopenTM
Technical Manual
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580 CANopenTM Technical Manual
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Conditions for use of this product
(1) AVENTICS Manifold ("the PRODUCT") shall be used in conditions;
i) Where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious
accident.
ii) Where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for
the case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
ASCO L.P. shall have no responsibility or liability including but not limited to any and all responsibility or liability based on
contract, warranty, tort, product liability for any injury or death to persons, loss or damage to property caused by the
product that are operated or used in application not intended or excluded by instructions, precautions or warnings contained
in AVENTICS Technical, User, Instruction, Safety manuals or bulletins.
Safety precautions
Before using this product, please read this manual and the relevant manuals carefully and pay attention to safety and
product application. The following symbols are used in the manual to identify important safety, installation and application
information.
Caution symbol indicates a possible hazard which may cause injury or equipment damage.
Note symbol indicates important information regarding equipment installation and setup.
NOTE!
CAUTION
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Electrical installation and operational guidelines
 To be connected to Class 2 power source only.
 All AVENTICS communication nodes should be grounded during the installation process. These grounding guidelines
can be found in National Electrical code IEC 60204-1 or EN 60204-1.
 All AVENTICS G3 Electronics Products to be installed or wired in accordance with AVENTICS’ published instructions
and applicable electrical codes.
 MULTIPLE CLASS 2 POWER SOURCES: When interconnects, class 2 sources shall be Listed and rated suitable for
parallel interconnection.
 Sources shall be Listed and rated suitable for parallel interconnection.
 CLASS 2 WIRING: All field wiring shall be suitable for Class 1, Electric Light and Power, or Class 2, 3 wirings are
routed separately and secured to maintain separation between 1) Class 2 wiring and all other class wiring, and 2)
Limited energy circuit conductors from unlimited energy circuit conductors.
 Class 2 Device Wiring Only – Do Not Reclassify and Install as Class 1, 3 or Power and Lighting Wiring.
 When using molded connector power cables, Do Not rely on wire colors for Pin-Out. Always use pin number
references.
 Wire connections shall be rated suitable for the wire size (lead and building wiring) employed.
 MULTIPLE CLASS 2 POWER SOURCES: When interconnects, class 2 sources shall be Listed and rated suitable for
parallel interconnection.
 Sources shall be Listed and rated suitable for parallel interconnection.
CAUTION
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Table of Contents
PAGE
1. About CANopenTM ......................................................................................................................................... 1-5
1.1 Overview .......................................................................................................................................... 1-5
1.2 580 CANopenTM Features..................................................................................................................... 1-5
1.3 Cabling and Drop Line Lengths (as defined by CANopenTM specification) .................................................... 1-5
2. 580 Introduction .......................................................................................................................................... 2-6
2.1 Pneumatic Valve Manifold – 501 Series shown ....................................................................................... 2-7
2.2 Manifold Connectors ............................................................................................................................ 2-8
2.3 Z-BoardTM Connectors .......................................................................................................................... 2-9
3. Communication Node ................................................................................................................................. 3-10
3.1 CANopenTM Node ............................................................................................................................... 3-10
3.2 CANopenTM Node Description .............................................................................................................. 3-11
3.3 Connector Pin-Outs ........................................................................................................................... 3-12
3.4 Electrical Connections ........................................................................................................................ 3-13
3.5 Chassis Ground .............................................................................................................................. 3-145
3.6 Power Consumption .......................................................................................................................... 3-16
3.7 Recommended External Fuses ............................................................................................................ 3-17
3.8 Diagnostics – 580 CANopenTM Node LED Functions .............................................................................. 3-188
3.9 Output / Short Circuit Protection Diagnostic Status Bits ......................................................................... 3-19
4. CANopenTM Node Graphic Display............................................................................................................... 4-20
4.1 Network Address Sub-Menu ............................................................................................................... 4-21
4.2 I/O Size ........................................................................................................................................... 4-22
4.3 Baud Rate Sub-Menu ....................................................................................................................... 4-233
4.4 Model Number ................................................................................................................................ 4-244
4.5 Advanced Settings - Fault Action ........................................................................................................ 4-25
4.6 Advanced Settings – Flip Display ...................................................................................................... 4-266
4.7 Advanced Settings – Parameters....................................................................................................... 4-277
4.8 Factory Defaults ............................................................................................................................. 4-288
4.9 Diagnostics .................................................................................................................................... 4-288
4.10 Diagnostics - Self Test Mode ............................................................................................................ 4-299
4.11 Error Messages ................................................................................................................................. 4-30
5. CANopenTM Configuration .......................................................................................................................... 5-311
5.1 EDS File ......................................................................................................................................... 5-311
5.2 User Configurable Device Parameters ................................................................................................ 5-311
5.3 Communication Fault Mode Parameter (Sec 4.4) ................................................................................. 5-322
6. CANopenTM Mapping .................................................................................................................................. 6-333
6.1 I/O Sizes - Rx/Tx ............................................................................................................................ 6-333
6.2 PDOs ............................................................................................................................................. 6-333
6.3 Bit Mapping Rules ........................................................................................................................... 6-344
6.4 Mapping Example #1 ...................................................................................................................... 6-355
6.5 Mapping Example #2 ...................................................................................................................... 6-366
6.6 Diagnostic Word ............................................................................................................................. 6-377
7. Appendix .................................................................................................................................................. 7-388
7.1 System Specifications ...................................................................................................................... 7-388
7.2 Factory Default Settings .................................................................................................................. 7-388
7.3 Troubleshooting .............................................................................................................................. 7-399
7.4 Glossary of Terms ............................................................................................................................. 7-40
7.5 Technical Support ........................................................................................................................... 7-411
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580 CANopenTM Technical Manual
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1. About CANopenTM
1.1 Overview
CANopenTM is an open protocol based on the CAN (Controller Area Network) protocol. It was designed for motion
orientated machine control but has migrated to various industrial applications. CAN in Automation (CIA) is the
international users’ and manufacturers’ organization that develops and supports CAN-based protocols.
AVENTICS 580 nodes for CANopenTM have an integrated graphic display and are capable of addressing up to 32 coil
outputs.
More information about CANopenTM and CIA can be found at: www.can-cia.org
1.2 580 CANopenTM Features
Features Description
CANopen
TM
Spec. Supported Designed to CANopen
TM
specification 301 v4.0.2
Bus Topology Straight with restricted drops; trunkline-dropline configuration
Baud Rates Supported 125 Kbps, 250 Kbps and 500 Kbps and 1Mbps
Duplicate address detection If duplicate address detected on power up, duplicates will not progress
to run mode
Error Correction Yes, if error detected, sender is requested to repeat the message
Address Setting Via graphic display or software
PDO’s supported 1 transmit and 1 receive PDO
SDO’s supported 1 system diagnostic SDO
Termination Resistor
(external) A 120Ω, 1%, 0.25W resistor is required at each end of the trunk line
1.3 Cabling and Drop Line Lengths (as defined by CANopenTM specification)
Cable Lengths
Baud Rate Maximum Bus Length Maximum Drop Length Cumulative Drop Length
125 Kbps 500 m (1640 ft) 22 m (72 ft) 110 m (360 ft)
250 Kbps 250 m (820 ft) 11 m (36 ft) 55 m (180 ft)
500 Kbps 100 m (328 ft) 5.5 m (18 ft) 27.5 m (90 ft)
1 Mbps 25 m (82 ft) 1.5 m (5 ft) 7.5 m (24 ft)
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2. 580 Introduction
The 580 CANopenTM Node is an electronic interface that features an integrated graphic display for simple
commissioning and displaying of diagnostic information. The 580 CANopenTM Node mates to a variety of valve
series including, the 501, 502, and 503. The 580 CANopenTM Node is capable of addressing a total of (32) coil
outputs, with diagnostic functionality built in. With proper assembly and termination the 580 CANopenTM Node has
an IP65 rating.
This manual details specific information for configuring and commissioning the AVENTICS 580 CANopenTM Node.
For more information relating to pneumatic valving and valve manifold assemblies, please refer to the AVENTICS
500 Series Catalogs at www.ASCO.com.
580 CANopen Node
Valve Side
Drives up to 32 coils
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2.1 Pneumatic Valve Manifold – 501 Series shown
The pneumatic valve manifold with internal circuit board technology is modular. The valve solenoid coil
connections are automatically made using Z-Board™ technology (plug together PC boards, which allow internal
connections from solenoid coils to output drivers without the use of wires). This allows easy assembly and field
changes.
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2.2 Manifold Connectors
Solenoid Coil Connections using Z-BoardTM Technology for 501/502/503 valve series
Z-Board™ plug together technology connects all valve solenoids to the valve coil output drivers, located in the
580 Node. There is a maximum of 32 coil outputs available on the complete manifold assemblies. The 32
available outputs are accessed on the 501 series valves utilizing 4 station manifolds and on the 502 and 503
series utilizing 2 station manifolds.
Common,
Pin No. 4
12 Solenoid,
Pin No. 2
Not Used,
Pin No. 3
14 Solenoid,
Pin No. 1
A single solenoid valve’s coil is always on the “14” end.
NOTE!
Pinout of integral plug is the same for 501, 502,
and 503 Series valves manifolds
Manifold Z-Boards
TM
580 Node Connection to Z-Boards
TM
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2.3 Z-Board™ Connectors
The 501/502/503 valve series utilize 2 different Z-Board™ designs to achieve the single and double solenoid
output functions. This yields the possible 32 single, 16 double, or various combinations of valve coil output
capabilities. The 501 Z-Board™ is minimum (3) or (4) station, the 502 and 503 Z-Board™ is minimum (2)
stations.
501 Series 502 Series
503 Series
Each series Z-Board
TM
can be selected in either SINGLE or DOUBLE output (coil) versions.
The SINGLE and DOUBLE output function cannot be mixed on the Z-BoardsTM
NOTE!
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3. Communication Node
3.1 CANopenTM Node
This module is the Communication Node to the manifold. It contains communication electronics and internal short
circuit protection for power. It can be configured via the graphic display or via software.
Communication Node Part Number
580 CANopenTM Node P580AECO1010A00
580 CANopenTM Node w/DIN Rail Clips P580AECO1010DRM
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3.2 CANopenTM Node Description
Detail No. Description
1 5 Pin M12 Male Communication Connector
2 Mounting Hole
3 4 Pin M12 Male Power Connector
4 ERROR LED
5 RUN LED
6 SET Button – used to navigate through user menus and to set parameters
7 Graphic Display – used to display parameter information
8 NEXT Button – used to navigate through user menus and to set parameters
1
2
3
8
7
6
5
4
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3.3 Connector Pin-Outs
Industry standard M12 connectors are used for communication and power.
The CANopenTM communication connector is a single keyway 5 pin male connector.
The Power connector is a single keyway 4 pin male connector.
CANopenTM Communication Connector Pin-Out
Pin No. Function Description
1 Shield Cable shield
2 V+ Bus Power 11-25VDC
3 V- Bus Power Common (0 VDC)
4 CAN_H Controller Area Network High Communication Line
5 CAN_L Controller Area Network Low Communication Line
Power Connector Pin-Out
Pin No. Function Description
1 +24 VDC (Node) Voltage used to power node electronics UNSW
2 +24 VDC (Valves) Voltage used to power outputs (valve coils) SW
3 0 VDC Common (Node) 0 VDC (-V) Voltage used to power node electronics UNSW
4 0 VDC Common (Valves) 0 VDC Voltage used to power outputs (valve coils) SW
!
Power common (0 VDC) pins 3 and 4 are isolated from each other to allow separate
(isolated) power supply connection if required. However, they can be tied together if a single
common, non-isolated, application is preferred.
The draw of the +24VDC Valves and +24VDC Node pins cannot exceed 4 Amps, at any given
moment in time.
The Node pins supplies power to the node electronics. These pins must be powered at all
times for communication node to be functional.
To be connected to Class 2 power source only
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3.4 Electrical Connections
Standard Power Connector Wiring Diagram Examples
Single Power Supply Example (Non-isolated commons)
Separate Power Supply Example (Non-isolated commons)
Male connector view
Male connector view
CANopen
CANopen
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Separate Power Supply Example (Isolated commons)
Please see page 3-17 for external fuse sizing guide.
When using molded connector power cables, Do Not rely on wire colors for
Pin-Out. Always use pin number references.
To be connected to a Class 2 power source only!
Class 2 Device Wiring Only – Do Not Reclassify and Install as Class 1, 3 or
Power and Lighting Wiring.
Wire connections shall be rated suitable for the wire size (lead and building
wiring) employed.
CLASS 2 WIRING: All filed wiring shall be suitable for class 1, Electric Light
and Power, or Class 2, Class 3 wirings are routed separately and secured to
maintain separation between 1) Class 2 wiring and all other class wiring, and
2) limited energy circuit conductors from unlimited energy circuit
conductors.
MULTIPLE CLASS 2 POWER SOURCES: When interconnects, Class 2 sources
shall be listed and rated suitable for parallel interconnection.
!
Male connector view
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3.5 Chassis Ground
All AVENTICS manifolds should be grounded for safety. Grounding guidelines can be found in National Electrical
code IEC 60204-1 or EN 60204-1.
CHASSIS GROUND CONNECTION POINT,
501 VALVES
CHASSIS GROUND CONNECTION
POINT, 502 & 503 VALVES
When grounding to a machine frame, please ensure that the machine frame itself is
already properly grounded.
Better grounding can be achieved when larger diameter (lower gauge) wire is used.
CAUTION
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3.6 Power Consumption
Power Connection
Pin No. Function Description
1 +24 VDC (Node) Voltage used to power node electronics UNSW
2 +24 VDC (Valve) Voltage used to power outputs (valve) SW
3 0 VDC Common (Node) 0 VDC (-V) Voltage used to power node electronics UNSW
4 0 VDC Common (Valve) 0 VDC (-V) Voltage used to power outputs (valve) SW
Power Rating
 The maximum system current capability is 4 Amps. Care should be taken not to exceed 4 Amp draw
through the M12 Power connector pins.
Component Voltage Tolerance
+24VDC
(Valve)
Pins 2 & 4
+24VDC
(Node)
Pins 1 & 3
Current
Per Coil
Power
Per Coil Current Power
Solenoid Valve Coil 501 (Each) 24 VDC +10%/-15% 0.03 Amps 0.8 Watts NA NA
Solenoid Valve Coil 502 (Each) 24 VDC +10%/-15% 0.06 Amps 1.3 Watts NA NA
Solenoid Valve Coil 503 (Each) 24 VDC +10%/-15% 0.07 Amps 1.7 Watts NA NA
580 CANopen
TM
Node 24 VDC +/- 10% NA NA 0.05 Amps 1.2 Watts
CANopenTM Connector
Pin No. Function Description
1 Shield Cable shield
2 V+ Bus Power 11-25VDC
3 V- Bus Power Common (0 VDC)
4 CAN_H Controller Area Network High Communication Line
5 CAN_L Controller Area Network Low Communication Line
Component Voltage Tolerance
+24VDC
(Network)
Pins 2 & 3
Current Power
580 CANopen
TM
Node 24 VDC 11-25 VDC 0.05 Amps 1.2 Watts
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3.7 Recommended External Fuses
External fuses should be chosen based upon the physical manifold configuration. Please refer to table below
for the external fuse sizing chart.
External Fuse Sizing Chart
Power Consumption - Power Connector Pin for VALVES
Description Current
Number of Solenoid Valve Coils Energized Simultaneously
___ X 0.03 A (501 Series) = __________Amps
___ X 0.06 A (502 Series) = __________Amps
___ X 0.07 A (503 Series) = __________Amps
Total: __________Amps
Surge Compensation: X 1.25
Suggested External +24 VDC (Valves) Fuse Value: __________Amps
Power Consumption – Power Connector Pin for NODE
Description Current
Communication Node Power Consumption = 0.050 Amps
Surge Compensation: X 1.25
Suggested External Pin +24 VDC (Node) Fuse Value: = 0.060 Amps

The Node Power pins supply power to the node electronics. These pins must be powered at
all times for the communication node to be functional. See page 3-12 for reference.
Reverse polarity protection is provided.
NOTE!
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3.8 Diagnostics – 580 CANopenTM Node LED Functions
Upon power up, the RUN and ERROR LEDs indicate the state of the unit. There are two LEDs on the 580
CANopenTM Interface. The LEDs functions are described in the table below.
LED Name Color Status Description
RUN Green
OFF Device is not currently powered.
SINGLE
FLASH
Normal operation.
Device is on-line and has established a
connection.
BLINKING
Device is on-line but has no established
connections.
ON Operational – The Device is in the
operational state.
ERROR
Red
OFF No Error – Device is in working condition
SINGLE
FLASH
Warning limit reached – at least one of the
error counters of the CAN controllers has
reached or exceeded the warning level (too
many error frames)
DOUBLE
FLASH
Error Control Event – A guard event (NMT-
slave or NMT-master) or a heartbeat event
(Heartbeat consumer) has occurred
TRIPLE
FLASH
Sync Error – The sync message has not been
received within the configured
communication cycle period time out (see
Object Dictionary Entry 0x1006)
ON Bus Off – The CAN controller is Bus Off
Green Red FLASHING Module is in self-test mode. Cycle power to
end self-test mode.
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3.9 Output / Short Circuit Protection Diagnostic Status Bits
Diagnostic Status Bit Action
Output Type Output
State Fault Condition Status Bit
Valve Solenoid Coil Driver ON No Fault 0
Fault - Short Circuit, Over Temp/Over Current 1
Valve Solenoid Coil Driver OFF No Fault 0
Fault - Open Load 1
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4. CANopenTM Node Graphic Display
The 580 CANopenTM Node has an integrated graphic display that may be used to configure the parameters of
the Node as well as showing diagnostic information.
The following graphic displays represent the main menu selections of the 580 CANopenTM node. Use the NEXT
button to scroll through the Main menu headings shown below. At this level pressing the SET button allows access
to the Sub-Menus. Please see the appropriate pages referenced below for further details and descriptions of the
Sub-Menus. Note that many of these settings can also be adjusted via software with EDS file parameters. NOTE:
WHEN A NETWORK I/O CONNECTION IS ESTABLISHED MANUAL CHANGES TO NODE PARAMETERS ARE NOT
ALLOWED!
See page 4-222
for Sub
-
Menu
See page 4-21
for Sub
-
Menu
See page 4-28
for Sub-Menu
See page 4-24
for Sub
-
Menu
See page 4-23
for Sub
-
Menu
See page 4-25
for Sub-Menu
Home Screen
ADDRESS
63
I/O SIZE
RX=6 TX=4
DIAGNOSTICS
FACTORY
DEFAULTS
ADVANCE
SETTINGS
MODEL NUMBER
P580AECO1010
BAUD RATE
125K
See page 4-28
for Sub-Menu
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