coval LEMCOM Series User manual

USER MANUAL
1155UM0068 Rev. A
09/2016
COVAL SAS
ZA Les Petits Champs
26120 Montélier –France
Tel: [phone]
www.coval.com

LEMCOM CANopen® –User manual Introduction and general information
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CANopen® and CiA® are registered trademarks of their respective owners in certain countries.
Important information
Please read this manual carefully before using the product.
Identifying hazards and useful comments on how to avoid them:
DANGER
Danger that may lead to death or serious injuries.
WARNING
Danger that may result in minor injuries, property damage or product failure.
Other pictograms:
INFORMATION
Recommendation, advice, cross-reference to other documents
ACCESSORIES
Required or useful accessories
List types:
Steps that can be performed in any order.
1. Steps that must be performed in the specified order.
- General lists

LEMCOM CANopen® –User manual Introduction and general information
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TABLE OF CONTENTS
1Introduction and general information.........................................................................4
2General overview of LEMCOM..................................................................................... 5
3Wiring instructions........................................................................................................ 10
3.1 CAN ports ......................................................................................................................... 10
3.2 COVAL bus port................................................................................................................ 11
3.3 Power port......................................................................................................................... 11
4Meaning of indicator lights......................................................................................... 12
4.1 Module Status (MS) indicator light..................................................................................... 13
4.2 CAN-RUN and CAN-ERR indicator lights.......................................................................... 13
4.3 Network Status (NS) indicator light.................................................................................... 14
5LEMCOM Manager configuration utility .................................................................... 15
6CANopen® configuration........................................................................................... 16
6.1 Setting the node address using an SDO command........................................................... 16
6.2 Setting the baud rate using an SDO command ................................................................. 17
6.3 Restoring factory settings.................................................................................................. 17
7Communication objects............................................................................................. 18
8Messaging.................................................................................................................... 19
8.1 Information available via SDO........................................................................................... 19
8.2 Information available via SDO and PDO ........................................................................... 19
8.3 Transfer type of TX PDOs................................................................................................. 19
8.4 PDO mapping ................................................................................................................... 19
9Emergency messages ................................................................................................ 20
10 Operating parameters............................................................................................. 21
11 List of LEMCOM-specific objects ............................................................................ 22
11.1 Process............................................................................................................................. 22
11.2 Diagnostics ....................................................................................................................... 22
11.3 Maintenance ..................................................................................................................... 22
11.4 Parameters ....................................................................................................................... 23
12 Detailed description of CANopen objects ............................................................ 24
12.1 2000h –Vacuum/Blowing commands ............................................................................... 24
12.2 2001h –“Part gripped” information.................................................................................... 25
12.3 2020h –Vacuum level process value................................................................................ 26
12.4 2002h –“Control (ASC)” information ................................................................................. 27
12.5 2003h –“Part lost” information .......................................................................................... 28

LEMCOM CANopen® –User manual Introduction and general information
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12.6 2004h –“Control fault (ASC)” information.......................................................................... 29
12.7 2010h –Blowing cycle counter.......................................................................................... 30
12.8 2011h –Internal vacuum cycle counter............................................................................. 30
12.9 2012h –External vacuum cycle counter............................................................................ 31
12.10 2013h –Gripping cycle counter ..................................................................................... 32
12.11 2014h –Part lost counter............................................................................................... 32
12.12 2015h –Control system activation counter.................................................................... 33
12.13 2016h –Control fault counter......................................................................................... 33
12.14 2017h –Communication fault counter (local bus) .......................................................... 34
12.15 2018h –Communication fault counter (client bus)......................................................... 34
12.16 2019h –Power supply fault counter............................................................................... 35
12.17 3011h –Island configuration.......................................................................................... 35
12.18 3020h –Software version.............................................................................................. 36
12.19 4000h –Supply voltage process value .......................................................................... 37
12.20 3000h –Module restart.................................................................................................. 37
12.21 3010h –Add/Remove a module .................................................................................... 37
12.22 3012h –Restore factory settings ................................................................................... 39
12.23 2100h –Set threshold L1............................................................................................... 40
12.24 2101h –Set hysteresis h1 ............................................................................................. 40
12.25 2102h –Set threshold L2............................................................................................... 41
12.26 2103h –Set hysteresis h2 ............................................................................................. 41
12.27 2104h –ASC (Air Saving Control) parameter ................................................................ 42
12.28 2105h –DIAG ECO parameter (ASC monitoring).......................................................... 42
12.29 2106h –Max. number of bounces (DIAG ECO)............................................................. 43
12.30 2107h –DIAG ECO assessment time............................................................................ 43
12.31 2108h –Automatic blowing............................................................................................ 44
12.32 2109h –Duration of automatic blowing.......................................................................... 44
12.33 210Ch –State of blue customizable LED....................................................................... 45
12.34 210Dh –Valve status if communication is lost............................................................... 46
12.35 3001h –Node ID ........................................................................................................... 47
12.36 3002h –Baud rate......................................................................................................... 47
12.37 3003h –Unlock CAN configuration................................................................................ 48
12.38 3100h –Vacuum level variation (retransmit TX PDO).................................................... 48
13 List of figures ............................................................................................................. 49
14 List of tables .............................................................................................................. 49

LEMCOM CANopen® –User manual Introduction and general information
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1INTRODUCTION AND GENERAL INFORMATION
The present documentation describes information essential for implementing a CANopen®-based
LEMCOM island. It provides all the information relating to the control, configuration, and diagnosis of
a CANopen® LEMCOM island.
Users
This manual is exclusively intended for users having prior experience with installing, commissioning,
configuring, and diagnosing automated systems.
Information on firmware versions
The present document pertains to the following firmware versions:
- LEMCOM CANopen® Master (LEMC..X…W2): v00.42
- LEMCOM COVAL Bus Secondary (LEMC..X…Z2): v00.40
User manual version history
Revision
Date
Firmware versions
LEMCOM CANopen Master | LEMCOM COVAL Secondary Bus
A
09/2016
v00.42 | v00.40

LEMCOM CANopen® –User manual General overview of LEMCOM
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2GENERAL OVERVIEW OF LEMCOM

LEMCOM CANopen® –User manual General overview of LEMCOM
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LEMCOM CANopen® –User manual General overview of LEMCOM
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LEMCOM CANopen® –User manual General overview of LEMCOM
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To meet manufacturers’ growing needs in terms of equipment running on field buses and Industrial
Ethernet, COVAL has developed and now offers LEMCOM, a “communicating” variant of the LEMAX
mini vacuum pump.
LEMCOM modules are generally mounted as an “island”, based on a set of devices consisting of
one master and several secondaries, but its flexible architecture (island or stand-alone module)
allows each Venturi pump to be placed right up close to the application.
Master-secondary island concepts
STAND-ALONE MASTER MODULE ISLAND OF SECONDARY MODULE STAND-ALONE SECONDARY MODULE
Figure 1 –Master-secondary island concept
-An island consists of 1 master module and 1 to 15 secondary modules.
-Communication between a LEMCOM master module and the CAN controller (PLC) is based
on the “producer/consumer” model.
-LEMCOM master LEMCOM secondary communication takes place over the “COVAL bus”
(CAN support –proprietary communication protocol).
-24 V DC power is supplied to all modules via the “rear” connector on the island’s last module.
-The master module is a fully fledged Venturi pump. It therefore is able to work on its own
without any adjoining secondary module.
NOTE
The secondary modules are identical regardless of the protocol used on the master
module (CANopen, EtherNet/IP, etc.).

LEMCOM CANopen® –User manual General overview of LEMCOM
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Recommendations
The Venturi pump parameters can be adjusted in order to perfectly meet the requirements of certain
applications. In this case, we recommend observing the following conditions:
- L2-h2 > L1 i.e. the control range must be higher than the “part gripped”
threshold
- h1 < L1 i.e. the hysteresis h1 must be lower than the part gripped
threshold
- h2 < L2 i.e. the hysteresis h2 must be lower than the control
threshold
- When handling porous materials, deactivate the ASC in order to reduce solenoid
and suction valve wear.
WARNING IF SETTINGS ARE WRONG
If the above conditions are not observed, the MS LED of the corresponding module
flashes red.

LEMCOM CANopen® –User manual Wiring instructions
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3WIRING INSTRUCTIONS
- Connector type: M8 male
Figure 2 –Wiring a LEMC--X---W2GB4 island
3.1 CAN ports
A CAN interface is integrated in the LEMCOM (model W2) and features two CAN ports on the front
of the module.
Figure 3 –Wiring instructions (M8 –CAN bus ports)
M8
1 (BR)
2 (WH)
3 (BU)
4 (BK)
NC
CAN_H
CAN_GND
CAN_L
NC = Not Connected
BR: brown / WH: white / BU: blue / BK: black
CAN ports
24 V DC
Power supply
+
M8 COVAl bus
terminator
COVAL bus
(com + 24 V DC)

LEMCOM CANopen® –User manual Wiring instructions
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3.2 COVAL bus port
Figure 4 –Wiring instructions (M8 –COVAL bus port)
3.3 Power port
To “close” the local COVAL bus, the M8 terminator supplied with all LEMCOM islands
is used. This specific cord must be inserted between the rear connector of the island’s
last secondary module and the 24 V power cable.
It guarantees reliable exchanges on the local CAN bus (integrated 120-ohm terminal
resistor) and separates local bus lines from the power supply.
The terminator is not required if a stand-alone CANopen master module is used.
Figure 5 –Wiring instructions (M8 –Power port)
M8
1 (BR)
2 (WH)
3 (BU)
4 (BK)
NC
GND
NC
24 V D
C
NC = Not Connected
BR: brown / WH: white / BU: blue / BK: black
M8
1 (BR)
2 (WH)
3 (BU)
4 (BK)
M8
1
2
3
4
24 V D
C
CAN_H
GND
CAN_L

LEMCOM CANopen® –User manual Meaning of indicator lights
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4MEANING OF INDICATOR LIGHTS
LEMCOM modules feature several indicator lights that describe their operating state.
Figure 6 –Front of LEMCOM master Figure 7 –Front of LEMCOM secondary
Colors: Ox (Orange) –Gx (Green) –Bx (Blue) –MS, NS (Red/Green)
Ref.
Relating to
Meaning
O1
Handling
ON: Blowing control active / Otherwise OFF
G1
Handling
ON: Internal vacuum control active / Otherwise OFF
Gv
Handling
Gv indicates the status of the vacuum valve:
If NC valve Gv = G1
If NO valve Gv OFF: vacuum generation / Otherwise ON
G2
Handling
ON: “Part gripped” (vacuum level > L1 threshold) / Otherwise OFF
G3
CANopen
CANopen® RUN indicator
R1
CANopen
CANopen® ERROR indicator
B1
Client LED
LED configurable by client (refer to section 12.33 for further details)
MS
Module Status
LED indicating overall module status (refer to section 4.1 for further details)
NS
Network Status
LED indicating the status of the communication on the local bus (refer to
section 4.3 for further details)
SET
Configuration
Master module: Reset CAN node ID (NODE-ID = 32)
Secondary module: Assign or reset address on local bus
Table 1 –Meaning of indicator lights
O1
G1
MS
B1
G2
NS
SET
Gv
G3
R1
O1
G1
MS
B1
G2
Gv
SET

LEMCOM CANopen® –User manual Meaning of indicator lights
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4.1 Module Status (MS) indicator light
Red LED
Green
LED
Meaning
OFF
OFF
No power: Check power supply connection.
OFF
Flashing
Standby: Module not configured (e.g. no address assigned to a secondary
module).
OFF
ON
Operational: The module is configured and working properly.
Flashing
OFF
Major recoverable fault: Incorrect vacuum parameters, supply voltage fault,
internal temperature of module too high
ON
OFF
Critical unrecoverable fault: Lost part, firmware fault
Flashing
Flashing
Self-test: Running module startup phase
Table 2 –Indicator lights for overall module status
4.2 CAN-RUN and CAN-ERR indicator lights
The RUN (G3) and ERR (R1) indicator lights operate according to the DR-303-3 recommendations
of the CiA. These LEDs are used to determine the status of the CANopen communication.
LED states and flashing periods:
LED state
Description
OFF
Always off
ON
Always on
Fast flashing
Frequency = 10 Hz: 50 ms ON –50 ms OFF
Slow flashing
Frequency = 2.5 Hz: 200 ms ON –200 ms OFF
1 flash
1 short flash of 200 ms every second
2 flashes
2 short flashes of 200 ms separated by 200 ms every second
3 flashes
3 short flashes of 200 ms separated by 200 ms every second
Table 3 –States of the CAN-RUN and CAN-ERR LEDs
The CAN-RUN LED indicates the status of the product in relation to the NMT startup graph.
Figure 8 –CANopen NMT state machine (source: CiA)

LEMCOM CANopen® –User manual Meaning of indicator lights
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LED state
Meaning
1 flash
Product is “STOPPED”.
Slow flashing
Product is “PRE-OPERATIONAL”.
ON
Product is “OPERATIONAL”.
Table 4 –CAN-RUN indicator light
The CAN-ERR LED indicates the status of the LEMCOM’s physical layer as well as errors due to
missing messages.
LED state
Meaning
OFF
No error, operation OK
1 flash
At least one error counter of the CAN controller has reached the warning threshold
(96).
2 flashes
A “Node Guarding” or “Heartbeat” monitoring fault has been detected.
ON
CAN controller is in “BUS OFF” state.
Table 5 –CAN-ERR indicator light
4.3 Network Status (NS) indicator light
The NS LED indicates the status of the communication on the local bus (master/secondary
communication).
Red LED
Green
LED
Meaning
OFF
OFF
No power / not assigned:
Module is switched off or no address has been assigned to it on the local bus.
OFF
ON
Connected:
Module has an address on the local bus and connection with the LEMCOM master
module has been established.
Flashing
OFF
Timeout:
Module has an address on the local bus, but connection with the LEMCOM master
module has failed (check the COVAL bus connection).
Flashing
Flashing
Self-test: Testing sequence at startup
Table 6 –Local bus indicator light (NS)

LEMCOM CANopen® –User manual LEMCOM Manager configuration utility
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5LEMCOM MANAGER CONFIGURATION UTILITY
LEMCOM Manager is a user-friendly tool that helps to quickly and easily configure, monitor and
troubleshoot LEMCOM units.
The network parameters of the CANopen LEMCOM master module as well as all the operating
parameters of the LEMCOM modules in an island can be modified using the LEMCOM Manager PC
software available for download from the COVAL web site.
All the diagnostic data such as cycle counters, instant vacuum level, grip signal, product reference,
firmware version, power supply and more can be monitored through one single screen.
IXXAT USB-to-CAN interface
POWER SUPPLY
24 V DC
COVAL BUS
terminator
For CAN based LEMCOM unit, an IXXAT USB
CAN interface is required to connect the
LEMCOM module to the PC on which LEMCOM
Manager is running.
IXXAT item no.: 1.01.0281.12001
More information on the LEMCOM Manager
features can be found in the dedicated user
manual: LEMCOM-Manager-xx-x-1155UM0069

LEMCOM CANopen® –User manual CANopen® configuration
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6CANOPEN® CONFIGURATION
Installing a LEMCOM island on a CANopen® network requires performing two preliminary
configuration steps. These steps only concern the LEMCOM master module connected to the field
network and can be carried out in LEMCOM Manager or by sending a CAN command.
The following steps must be performed:
1. Configure the CANopen® node address
2. Configure the baud rate
6.1 Setting the node address using an SDO command
Any equipment on the network must have a unique address between 1 and 127 (7Fh).
Default node ID and baud rate (factory setting):
Node ID: 20h = 32d
Baud rate: 125 kbit/s
Node ID object: 3001h –Subindex 00h
CAN Baudrate object: 3002h –Subindex 00h
RECOMMENDATION
In order to avoid collisions on the CANopen® network resulting from duplicate
addresses, perform the recommended steps below using a point-to-point connection
between the LEMCOM module and the CAN bus master (e.g. PC or PLC).
1. Connect one of the LEMCOM module’s CAN ports to the CANopen® network.
2. Set the baud rate of the CAN bus master to 125 kbit/s.
3. Switch on the LEMCOM module.
4. The CAN RUN LED will flash and the LEMCOM module will become PRE-OPERATIONAL.
5. Unlock access to the CAN configuration by writing the unlocking key 37h to object 3003h –
subindex 00h:
CAN-ID
(600h+ID)
620h
Command
(write)
2Fh
Object
Low
03h
Object
High
30h
Sub
index
00h
Byte 0
37h
Byte 1
00h
Byte 2
00h
Byte 3
00h
6. Send an SDO write command to object 3001h, subindex 00h, with the desired NODE-ID:
CAN-ID
(600h+ID)
620h
Command
(write)
2Fh
Object
Low
01h
Object
High
30h
Sub
index
00h
Byte 0
NODE-ID
Byte 1
00h
Byte 2
00h
Byte 3
00h
7. The new node ID will only be taken into account once the module has been restarted.

LEMCOM CANopen® –User manual CANopen® configuration
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6.2 Setting the baud rate using an SDO command
The baud rate can be configured using object 3002h, subindex 00h, on the basis of the LSS baud
rates defined in standard CiA 301:
Baud rate
Value
(CANBDR)
1000 kbit/s
0
800 kbit/s
1
500 kbit/s
2
250 kbit/s
3
125 kbit/s
(default value)
4
Reserved
Not available
50 kbit/s
6
20 kbit/s
7
10 kbit/s
8
Table 7 –Baud rates
To configure the baud rate, follow steps 1 to 5 on the previous page and then send an SDO write
command to object 3002h, subindex 00h, with the value corresponding to the desired baud rate
(CANBDR):
CAN-ID
(600h+ID)
Command
2Fh
Object L
02h
Object H
30h
Subindex
00h
Byte 0
CANBDR
Byte 1
00h
Byte 2
00h
Byte 3
00h
The baud rate change will only enter into effect once the module has been restarted.
6.3 Restoring factory settings
The LEMCOM module can be reset to restore it to its initial configuration:
Node ID: 20h = 32d
Baud rate: 125 kbit/s
1. Switch off the LEMCOM module.
2. Press and hold the “SET” button on the front.
3. Switch the module back on while pressing the button until the green LED (MS) starts flashing.
4. Release the “SET” button. The module will restart automatically.
5. The LEMCOM module will then be restored to its default configuration (for CANopen®
parameters only).

LEMCOM CANopen® –User manual Communication objects
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7COMMUNICATION OBJECTS
The communication objects implemented in the LEMCOM module are in line with the CiA 301
standard.
Index
Object type
Name
Data type
Acces
s
1000h
VAR
Device type
Unsigned32
ro
1001h
VAR
Error register
Unsigned8
ro
1002h
VAR
Manufacturer status register
Unsigned32
ro
1003h
ARRAY
Pre-defined error field
Unsigned32
ro
1008h
VAR
Device name
Visible-String
ro
1009h
VAR
Manufacturer hardware version
Visible-String
ro
100Ah
VAR
Manufacturer software version
Visible-String
ro
100Ch
VAR
Guard time
Unsigned16
rw
100Dh
VAR
Life time factor
Unsigned8
rw
1014h
VAR
COB-ID emergency
Unsigned32
rw
1016h
ARRAY
Consumer heartbeat time
Unsigned32
rw
1017h
VAR
Producer heartbeat time
Unsigned16
rw
1018h
RECORD
Identity object (Vendor ID, Product Code, etc.)
Identity
ro
SDO server parameters
1200h
RECORD
SDO server parameter 1
SDO param.
ro
RX PDO communication parameters
1400h
RECORD
RX PDO parameters 1
PDO com. param.
rw
RX PDO mapping parameters
1600h
RECORD
RX PDO mapping 1
PDO mapping param.
rw
TX PDO communication parameters
1800h
RECORD
TX PDO parameters 1
PDO com. param.
rw
1801h
RECORD
TX PDO parameters 2
PDO com. param.
rw
1802h
RECORD
TX PDO parameters 3
PDO com. param.
rw
TX PDO mapping parameters
1A00h
RECORD
TX PDO mapping 1
PDO mapping
rw
1A01h
RECORD
TX PDO mapping 2
PDO mapping
rw
1A02h
RECORD
TX PDO mapping 3
PDO mapping
rw
Table 8 –Communication objects

LEMCOM CANopen® –User manual Messaging
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8MESSAGING
8.1 Information available via SDO
Configuration or miscellaneous parameters are only accessible via SDO:
2001h, 2002h, 2003h, 2004h, 2010h, 2011h, 2012h, 2013h, 2014h, 2015h, 2016h, 2017h, 2018h,
2019h, 2100h, 2101h, 2102h, 2103h, 2104h, 2105h, 2106h, 2107h, 2108h, 2109h, 210Ah, 210Bh,
210Ch, 210Dh, 3000h, 3001h, 3002h, 3010h, 3011h, 3020h, 3100h, 4000h, 4001h.
8.2 Information available via SDO and PDO
Process data is available via PDO and SDO:
2000h, 2001h and 2020h.
8.3 Transfer type of TX PDOs
The transfer type of Tx PDOs is configured as “Manufacturer”.
For TX PDO 1 and TX PDO 2, it depends on the value configured in object 3100h, which is used as
a Triggering Delta (+/-) in relation to the previous vacuum value.
The TX PDO 3 is sent each time the “part gripped” signal state changes on at least one module on
the island (see object 2001h).
The 3 TX PDOs are sent once upon startup (START-NMT) and then according to the conditions
described above.
Note: LEMCOM does not support any remote transmit requests (RTR) for PDOs.
8.4 PDO mapping
Mapping of RX PDO:
1 object mapped: 2000h subindex 0 –size 32 bits. Vacuum/blowing control.
Mapping of TX PDOs 1 and 2:
8 objects mapped per PDO:
- PDO1: 2020h subindex 1 to 8
- Eight 8-bit objects containing the vacuum values of the modules at addresses #0 to #7
- PDO size: 64 bits
- PDO2: 2020h subindex 9 to 16
- Eight 8-bit objects containing the vacuum values of the modules at addresses #8 to #15
- PDO size: 64 bits
Mapping of TX PDO 3:
- PDO3: 2001h subindex 0
- One 16-bit object containing the statuses of the “part gripped” signals of all modules on the island
- PDO size: 16 bits