CMZ RP064IO/CAN User manual

RP064IO/CAN
CANopen peripheral for digital and analog IOs
Ed. 2.1 - English

User Guide
RP064IO/CAN
CANopen peripheral for digital and analog IOs
Doc. TR062311
Ed. 2.1 - English - 01 Mar 2023

RP064IO/CAN CANopen peripheral for digital and analog
IOs www.cmz.it
IMPORTANT
CMZ SISTEMI ELETTRONICI S.r.l. reserves the right to make changes to the products de-
scribed in this document at any time without notice.
This document has been prepared by CMZ SISTEMI ELETTRONICI S.r.l. sole-
ly for use by its customers, guaranteeing that at the date of issue it is the most up-to-date doc-
umentation on the products.
Users use the document under their own responsibility and certain functions de-
scribed in this document should be used with due caution to avoid danger for person-
nel and damage to the machines.
No other guarantee is therefore provided by CMZ SISTEMI ELETTRONICI S.r.l., in par-
ticular for any imperfections, incompleteness or operating difficulties.
This document contains confidential information that is propri-
etary to CMZ SISTEMI ELETTRONICI S.r.l.. Neither the document nor the informa-
tion contained therein should be disclosed or reproduced in whole or in part, without ex-
press written consent of CMZ SISTEMI ELETTRONICI S.r.l..

Table of Contents
1. General information .............................................................................. 1
1.1. Purpose .................................................................................................................... 1
1.2. Recipients ............................................................................................................... 1
1.3. Responsability ....................................................................................................... 2
1.4. Abbreviations and definitions .......................................................................... 2
1.5. Symbols ................................................................................................................... 3
1.6. Revisions ................................................................................................................. 4
2. RP064IO device information and precautions ............................... 5
2.1. Peripheral equipment ......................................................................................... 5
2.2. Identifier label ...................................................................................................... 6
2.3. Regulations for European market ................................................................... 6
2.4. Safety precautions and use limits ................................................................... 7
2.4.1. Precautions for the product handling .................................................. 7
2.4.2. Installation and wiring precautions ..................................................... 8
2.4.3. Maintenance and inspection .................................................................. 8
2.4.4. Modality of waste disposal at life end of product ........................... 8
3. RP064IO technical data ....................................................................... 9
3.1. Dimensions and sizes ........................................................................................ 11
3.2. RP064IO Mechanical installation .................................................................... 11
4. Electrical connections, LEDs and dip-switches ............................ 13
4.1. Electrical connections ....................................................................................... 13
4.1.1. RP064IO connectors ................................................................................. 13
4.2. LEDs ....................................................................................................................... 19
4.3. Dip switches ........................................................................................................ 20
5. Communication protocol ................................................................... 23
5.1. Saving and restoring retentive parameters ................................................ 24
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6. Encoders and counters management ............................................. 27
6.1. Incremental single ended encoder management ...................................... 27
6.2. Single channel counters management ........................................................ 29
7. System diagnostic ................................................................................ 31
7.1. Faults and warnings classification ................................................................. 32
7.1.1. Generic alarm signalling ......................................................................... 32
8. Identifier code (RP064IO) .................................................................. 37
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Chapter 1
General information
1.1.Purpose
This manual is a complete guide for the installation, commissioning, operation and use of the
RP064IO: It is a CANopen peripheral and it provides 32 digital inputs, 32 digital outputs, 2 ana-
log inputs, 2 outputs analog. The board also manages 2 incremental encoders and 2 single-chan-
nel counters. The manual contents are about general informations and peripheral features, in-
stallation notes, warnings for people and product safe; moreover, for the technicians, the manual
furnishes all the data and specifications for the connections and the commissioning.
ATTENTION: Product version
What is reported in this manual refers to the rmware version 1.0, unless otherwise specified.
Previous versions could not implement all the functionalities described in this manual.
Suggestion: CANopen notions.
For a better understanding of this document, it is recommended to have a basic knowl-
edge of CANopen fieldbus.
1.2.Recipients
Only specialized operators can wire and use the RP064IO. The specialized operators must read
this document and all the documentations relating to the product and they must understood its
content. The specialized sta also must have received adequate safety training, to recognize and
avoid possible risk. The technical training, acquired knowledge and experience of the specialized
operators must be such as to be able to foresee and recognize the dangers that may arise from
the use of the product, from changing the settings and operation of mechanical, electrical and
equipment electronics of the system as a whole. Specialists must be aware of all the current regu-
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lations, as well as the accident prevention provisions and standards that must be observed when
carrying out work on the product.
The following operations must be carried out by qualified personnel:
•Transport: only by personnel with knowledge of handling components sensitive to elec-
trostatic charges.
•Unpacking: By qualified electricians only.
•Installation: By qualified electricians only..
•Use: only by qualified personnel with specific knowledge of electrotechnics and fieldbus.
The specialized sta must know and respect the following regulations:
•EN ISO 12100, EN 60364 ed EN 60664;
•National accident regulations .
WARNING: safety instructions
During the product functioning, depending on the equipments connect-
ed to it, risk of death, serious injuries or material damage may happen. The security offi-
cer must check that the sta working with the drives read and understood this manual be-
fore using them.
1.3.Responsability
CMZ SISTEMI ELETTRONICI S.r.l. can modify the described products in this document in
any time and without any notice.
This manual was written by CMZ SISTEMI ELETTRONICI S.r.l. only for their customers use
providing the most updated version of the products, in relation of the issue data.
The responsibility to use this manual belongs to every user and the use of some functions de-
scribed in this document must be done under strict care to avoid any danger for the sta and the
equipment damage.
No other warranty is provided by CMZ SISTEMI ELETTRONICI S.r.l., in particular for pos-
sible imperfections, incompleteness, and/or any other difficulties.
1.4.Abbreviations and definitions
CANopen it is a registered mark of CAN in Automation E.V.
Abbreviations /
Definitions Meaning
0x hexadecimal number
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General information
Abbreviations /
Definitions Meaning
CAN Controller Area Network, fieldbus
CiA-301 Specification that defines the communication protocols and the objects for the management of
the CANopen network (Communication Profile DS301).
CE Communité Européenne
COB-ID Communication object identifier
EMC Electromagnetic compatibility
EMCY Emergency: object of the CANopen protocol for reporting errors
HW Hardware
ID Identifier
Controller
(Master)
Device which controls the communication bus and starts, as rst, the interaction with the other
connected nodes..
Node Hardware device (peripheral, sensors, actuators) connected to the communication bus, able to
communicate with the other devices.
NC Not connected
NMT Network management: object of CANopen protocol for network managing
PDO Process data object: object of the CANopen protocol for writing/reading cyclic data (parame-
ters mappable on PDO)
RMS Root Mean Square
SDO Service data object: object of the CANopen protocol for writing/reading peripheral parameters
Device (Slave) Node receiving data or data requests from the Controller
a.s.l. above sea level
SYNC Synchronization: object of the CANopen protocol to syncroniz the nodes on the network
SW Software
TBD To be defined
1.5.Symbols
Danger
It shows an imminent dangerous situation that, in case of failure to comply with safe-
ty rules, can lead to a serious or fatal accident or a damage to the equipment.
Warning
It shows a potentially dangerous situation that, in case of failure to comply with safe-
ty rules, can lead to a serious or fatal accident or a damage to the equipment.
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Caution
It shows a potentially dangerous situation that, in case of failure to comply with safe-
ty rules, can lead to a minor or moderate accident or a damage to the equipment.
Important
It shows some important information on the mentioned topic.
Note
It shows some information which has to emerge from the text, related to the mentioned topic.
Tip
It contains an useful particular advice related to the mentioned topic.
1.6.Revisions
Revision History
Revision 1.0 13/09/2022 Autore: CMZ SISTEMI
ELETTRONICI S.r.l.
•First version
Revision 2.0 09/02/2023 Autore: CMZ SISTEMI
ELETTRONICI S.r.l.
•Added chapters related to software management
Revision 2.1 01/03/2023 Autore: CMZ SISTEMI
ELETTRONICI S.r.l.
•Correct the description of X3A-X3B and X4A-X4B connectors
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Chapter 2
RP064IO device information
and precautions
The RP064IO is a CANopen device to manage 32 digital inputs and 32 digital outputs (consist-
ing respectively of 2 groups of 16 inputs and 2 groups of 16 outputs) and 2 analog inputs and 2
analog outputs. The board also manages 2 incremental encoders and 2 single-channel counters;
it's provides LEDs and dip-switches.
Figure2.1.The peripheral RP064IO.
2.1.Peripheral equipment
The package includes::
•The RP064IO
•Cable side connectors
For any accessories, please contact the CMZ sales office.
Before beginning to work with the RP064IO, verify that there are not visible damages. Be sure
that the peripheral in the package is the correct model for the application, that it corresponds
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to what has been ordered. Be sure that it can been provided a voltage supply as prescribed for
the peripheral.
2.2.Identifier label
Figure2.2.Product label example.
Reference Meaning
1 Product name
2 Identifier code
3 Serial number
4 Serial number bar code
5 Hardware revision
6 Date of production (AAMM)
7 QR Code:documentation link
Table2.1.Label elds
2.3.Regulations for European market
The RP064IO complies with the following directives:
•EN 61000-6-2:2005 relating to electromagnetic compatibility (EMC) - Part 6-2: Generic
standards - Immunity for the industrial environment;
•EN 61000-6-4:2007
EN 61000-6-4:2007/A1:2011 relating to electromagnetic compatibility (EMC) - Part
6-4: Generic standards - Emission for industrial environments;
•EN 63000:2018 relating to the technical documentation for the evaluation of electrical
and electronic products in relation to the restriction of the use of dangerous substances;
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RP064IO device information and precautions
The RP064IO is intended for installation in an industrial environment. Its use in domestic en-
vironments could result in the need for additional emission measures and the adoption of ade-
quate precautions.
The RP064IO must be installed by trained personnel only that must have an in-depth knowledge
about the safety requirements and the electromagnetic compatibility (EMC).
The system integrator has the responsibility to guarantee that the product or the final system
comply to the pertinent regulations that are in force in the country in which the product (or the
entire system) is used.
Important
The user of the machine who uses the peripheral must carry out a risk analy-
sis for the system and must implement appropriate measures to ensure that unexpect-
ed risks do not cause damage to people or to the system itself.
2.4.Safety precautions and use limits
The precautions described in this paragraph are designed to avoid dangerous situations for users
through correct use of the product.
2.4.1.Precautions for the product handling
CAUTION: Electrostatic charges
The content includes parts that are sensitive to the electrostatic charges, under dam-
age risk. Use suitable protections for the electrostatic charges before touching the prod-
uct and avoid the contact with the materials that can have electrostatic charge (e.g. insulat-
ing materials or exposed conductive parts).
CAUTION: Environmental conditions
Pay attention to the environmental conditions required for the transport/storage as tempera-
ture, humidity and shock limits (see Chapter3, RP064IO technical data).
Note: Safekeeping
Do not keep the product in the storage room without the original packaging. Open the pack-
aging only immediately before the installation.
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2.4.2.Installation and wiring precautions
DANGER: Risks of use
The drive must not be used in an explosive or corrosive environment, in the presence of in-
flammables, water or fuels. There can be risk of re, electrical shock or injuries.
WARNING: Grounding
The connection of the protective ground conductor must be realized so that to guaran-
tee its functionality of "grounding", even in case of a not appropriate use of the peripher-
al (for example a wrong electrical connection).
CAUTION: Secure installation
TheRP064IO is designed to be used exclusively in an adequate electrical panel.
Note: Installation responsibilities
The RP064IO peripheral must be installed by trained personnel on-
ly that must have an in-depth knowledge about the safety requirements and the electromag-
netic compatibility (EMC).
The system integrator has the responsibility to guarantee that the product or the final sys-
tem comply to the pertinent regulations that are in force in the country in which the prod-
uct (or the entire system) is used.
2.4.3.Maintenance and inspection
Note:Product tampering
Do not open or modify the product: for the internal inspections or repairs re-
fer to CMZ SISTEMI ELETTRONICI S.r.l.. In case of tampering the product the warran-
ty expires.
2.4.4.Modality of waste disposal at life end of product
The device must be disposed as electric and electronic waste. For the recycling or the disposal
of the product, CMZ invites to respect the local regulation in force and the most suitable pro-
cedures.
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Chapter 3
RP064IO technical data
GENERAL FEATURES
Quantity Value
Control section voltage +24 Vdc ± 20%
Typical absorbed current for the control sec-
tion @24 Vdc 75 mA
Working environment temperature from 0 to +40 °C
Storage environment temperature from -20 to +70 °C
Storage and working relative humidity (with-
out condensation) from 5 to 95 %
Control section protection short-circuit, with fusea2 A delay (NOT replaceable)
Weight 340 g
Maximum altitude 2000m [a.s.l.]
Protection class IP20
aBreaking a fuse also causes damage to part of the electronics: in this case, contact CMZ SISTEMI ELETTRONICI S.r.l..
Table3.1.RP064IO features.
DIGITAL INPUTS
Quantity Value
Digital inputs number 32 (16 for each group)
Input type PNP
Galvanic insulation YES, optoisolators
Input voltage
•Nominal: +24 Vdc
•LOW signal (physical status 0): from -30 to +3 Vdc
•HIGH signal (physical status 1): from +15 to +30 Vdc
Input current (typical) with Vin= 24 Vdc 4,3 mA for all inputs excluded IN0, IN1 , IN2 e IN16, IN17,
IN18 (fast inputs for encoder and counters) where it is 6,4 mA
Fast inputs max frequencyi 100 kHz Duty Cycle 40-60%
DIGITAL OUTPUTS
Quantity Value
Digital outputs numbers 32 (16 for each group)
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DIGITAL OUTPUTS
Quantity Value
Digital ouputs power supply 24 Vdc ±20%
Digital outputs power supply protection Polarity inversion, overcurrent, short-circuit with 15A delay
NOT replaceable fuse (one fuse for each group of 16 outputs)
Digital outputs protection overcurrent, short-circuit
Typical current consumption for 24 vdc digi-
tal outputs (for every group of 16 outputs) 35 mA
Maximum output current (for every output)
200 mA (32 uscite)
500 mA (for max 16 of 32 outputs, inde-
pendently from the digital outputs group)
Maximum current absorbed when loaded (for
each group of 16 digital outputs) (500 mA x 16) + 35 mA = 8,035 A
Maximum current absorbed when loaded (for
two groups of digital ouputs) (500 mA x 16) + (200 mA x 16) + (35 mA x 2) = 11,27 A
Table3.2.Digital inputs outputs features.
ANALOG INPUTS
Quantity Value
Number of analog inputs 2 (not isolated)
Maximum functioning differential voltage ±10 V
Inputs impedance 66 KΩ
ADC resolution 12 bits
ANALOG OUTPUTS
Quantity Value
Number of analog outputs 2 (galvanically isolated, not from each other)
Full scale voltage ±10 V
Max current ±10 mA
DAC resolution 12 bits
Table3.3.Analog inputs and outputs features.
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RP064IO technical data
3.1.Dimensions and sizes
Figure3.1. RP064IO dimensions [mm].
3.2. RP064IO Mechanical installation
The RP064IO is designed to be installed on the DIN rail using two special snap hooks.
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Chapter 4
Electrical connections, LEDs and
dip-switches
4.1.Electrical connections
4.1.1.RP064IO connectors
X4A
X4B
X5
X6
X1
PE
X3B
X2
X3A
Figure4.1.Connectors arrangement.
Screw for earth connection PE
M3 screw (maximum thread length = 12 mm), to be connected to the system earth (PE).
X1 Control supply
Connector for control supply and grounding, Terminal block, pitch 3,5 mm, 3 poles.
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1
23
PIN Signal Description
1 PE Earth protection
2 GND Reference for control section power supply
3 +24V Positive for control section power supply
Cable side connector X1
Terminal block, female, removable, Push-in with lateral screw
Connector type Female (removable)
Poles number 3
Section of the stranded copper wire from 0,2 to 1,5 mm2
X2 Analog inputs outputs
Connector for analog intputs outputs, terminal block, pitch 3,5 mm, 12 poles.
1
12
PIN Signal Description
1 PE Earth protection
2 GND_AI Reference for analog inputs
3 AI0+ Analog input 0 (+)
4 AI0- Analog input 0 (-)
5 AI1+ Analog input 1 (+)
6 AI1- Analog input 1 (-)
7 AO0 Analog output 0
8 GND_A0 Reference for analog outputs
9 PE Earth protection
10 AO1 Analog output 1
11 GND_A0 Reference for analog outputs
12 PE Earth protection
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