Emerson PACSystems RX3i User manual

Quick Start Guide
GFK-2837A
Sep 2019
PACSystemsTM RX3i
CANopen Master Module
(IC695CNM001)

Quick Start Guide Contents
GFK-2837A Sep 2019
Contents i
Contents
1. User Features ............................................................... ii
1.1. Overview..........................................................................1
1.2. Indicators .........................................................................2
2. Hardware Installation ..................................................4
2.1. Installation in Hazardous Areas .......................................... 5
2.2. Connecting CNM001 to CANopen Network ........................6
3. Configuration .............................................................. 8
4. Diagnostic Data .........................................................12
5. Additional Information ..............................................14
5.1. PACSystems RX3i User Manuals ......................................14
5.2. Information about CANopen...........................................14

ii
ii
Warning Notes as Used in this Publication
Warning notices are used in this publication to emphasize that hazardous
voltages, currents, temperatures, or other conditions that could cause
personal injury exist in this equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage
to equipment, a Warning notice is used.
Note: Notes merely call attention to information that is especially significant to
understanding and operating the equipment.
These instructions do not purport to cover all details or variations in equipment,
nor to provide for every possible contingency to be met during installation,
operation, and maintenance. The information is supplied for informational
purposes only, and Emerson makes no warranty as to the accuracy of the
information included herein. Changes, modifications, and/or improvements to
equipment and specifications are made periodically and these changes may or
may not be reflected herein. It is understood that Emerson may make changes,
modifications, or improvements to the equipment referenced herein or to the
document itself at any time. This document is intended for trained personnel
familiar with the Emerson products referenced herein.
Emerson may have patents or pending patent applications covering subject
matter in this document. The furnishing of this document does not provide any
license whatsoever to any of these patents.
Emerson provides the following document and the information included therein
as-is and without warranty of any kind, expressed or implied, including but not

Quick Start Guide Section 1
GFK-2837A Sep 2019
iii
limited to any implied statutory warranty of merchantability or fitness for
particular purpose.

Quick Start Guide Section 1
GFK-2837A Sep 2019
Overview 1
1. User Features
1.1. Overview
POWER
MOD STATUS
NET STATUS
CANOPEN MASTER
CAN_GND-3
CAN_H_7
CAN_L_2
CNM001
CANOPEN
STATION ADD
USB
USB –Mini Type B
CANopen Bus Connector
Indicators
Power
Module Status
Network Status
Male, 9-pin D Connector
Pin
1
2
3
4, 5, 6
7
8, 9
Assignment
Not connected
CAN-L
CAN_GND
Not connected
CAN-H
Not connected

Quick Start Guide Section 1
GFK-2837A Sep 2019
Overview 2
1.2. Indicators
Power
LED State
Module State
Green
The module has backplane power.
Off
There is no backplane power to the
module.
Module Status
LED State
Module State
Green
The module is operating normally.
Green/yellow,
blinking
Module is waiting for firmware
download.
Yellow
Firmware download in progress.
Off
Power supply for the device is
missing or hardware defect.

Quick Start Guide Section 1
GFK-2837A Sep 2019
Overview 3
Network Status
LED State
Module State
Off
Reset: The module is executing a reset.
Green, single
flash
Stopped: The device is in the stopped
state.
Green,
blinking
Preoperational: The module is in the
preoperational state.
Green
Operational: The device is in the
operational state.
Red, single
flash
Warning Limit reached: At least one of
the CANopen module’s error counters
has reached or exceeded the warning
level (too many error frames).
Red, double
flash
Error Control Event: A guard event (NMT
Slave or NMT-master) or a heartbeat
event (Heartbeat consumer) has
occurred.
Red, on
Bus Off: The CANopen module is not
active on the bus.

Quick Start Guide Section 2
GFK-2837A Sep 2019
Hardware Installation 4
2. Hardware Installation
A CNM001 module must be installed in the main RX3i rack in any slot except slot
0 or the expansion slot. A CNM001 module in an RX3i Universal Backplane can
be installed or removed while power is applied to the system (hot swapped).
This product is intended for use with the RX3i system. Its components are
considered open equipment [having live electrical parts that may be accessible
to users] and must be installed in an ultimate enclosure that is manufactured to
provide safety.As a minimum, the enclosure shall provide a degree of protection
against solid objects up to 12mm (e.g. fingers). This equates to a NEMA/UL Type
1 enclosure or an IP20 rating (IEC60529) providing at least a pollution degree 2
environment. For use in hazardous areas, see 2.1, ”Installation in Hazardous
Areas. “
WARNING
•Inserting or removing a module with power applied to the system
may cause an electrical arc. This can result in unexpected and
potentially dangerous action by field devices. Arcing is an
explosion risk in hazardous locations. Be sure that the area is non-
hazardous or remove system power before removing or inserting
a module.

Quick Start Guide Section 2
GFK-2837A Sep 2019
Hardware Installation 5
For details about installing RX3i rack systems, refer to GFK-2314.
2.1. Installation in Hazardous Areas
The system containing the CNM001 module must be mounted within
an ultimate enclosure that can be accessed only by the use of a tool.
The following information is for products bearing the UL marking for
Hazardous Locations or ATEX marking for explosive atmospheres:
•EQUIPMENT LABELED WITH REFERENCE TO CLASS I, GROUPS A, B,
C & D, DIV. 2 OR ZONE 2 HAZARDOUS AREAS IS SUITABLE FOR USE
IN CLASS I, DIVISION 2, GROUPS A, B, C, D, ZONE 2 OR NON-
HAZARDOUS AREAS ONLY.
WARNING
•EXPLOSION HAZARD –SUBSTITUTION OF COMPONENTS MAY
IMPAIR SUITABILITY FOR CLASS I, DIVISION 2 OR ZONE 2;
•EXPLOSION HAZARD –WHEN IN HAZARDOUS AREAS, TURN OFF
POWER BEFORE REPLACING OR WIRING MODULES; AND
•EXPLOSION HAZARD –DO NOT CONNECT OR DISCONNECT
EQUIPMENT UNLESS POWER HAS BEEN SWITCHED OFF OR THE
AREA IS KNOWN TO BE NONHAZARDOUS.

Quick Start Guide Section 2
GFK-2837A Sep 2019
Hardware Installation 6
2.2. Connecting CNM001 to CANopen Network
The CNM001 module provides a balanced (differential) two-wire
interface over shielded twisted pair cable to the CANopen network.
Maximum cable length is determined by the data rate used. The
CNM001 module does not support multiple masters.
RX3i CPU Node with
CANopen Master
Slave Devices
Bus
Termination
Bus
Termination
POWER
MODSTATUS
NETSTATUS
CANOPENMASTER
CAN_GND-3
CAN_H_7
CAN_L_2
CNM001
CANOPEN
STATIONADD
USB
Sample CANopen Network

Quick Start Guide Section 2
GFK-2837A Sep 2019
Hardware Installation 7
Shield to
connector
CAN GND (pin 3)
CAN_L (pin 2)
CAN_H (pin 7)
CANopen Cable
The cable shield should be connected to each device on the network.
Network Data Rates and Bus Lengths
The CNM001 module supports the estimated bus lengths and data
rates defined in CiA 303 version 1.8.0. For performance details, refer to
the PACSystems RX3i CANopen Master Module User’s Manual, GFK-2831.
Network Termination
A 120 ohm termination resistor is required at the
each end of the bus. Where termination is
required, you must use a bus terminal with built-
in selectable termination.

Quick Start Guide Section 3
GFK-2837A Sep 2019
Configuration 8
3. Configuration
You will need:
▪PACSystems CPU Firmware 7.70 or later.
▪SYCON.net configuration software, available from Hilscher.
Refer to their website: http://www.hilscher.com. Search for
“Communication Solutions DVD for cifX, comX and netJACK.”
▪Device driver for the CNM001 module USB connection. (Available
on the “Communication Solutions DVD for cifX, comX and
netJACK” DVD.)
▪Mini USB cable for connecting SYCON.net to the module.
▪PAC Machine Edition configuration and programming software
from Emerson, version 7.00 or later.
▪Serial or Ethernet cable for connecting the PAC Machine Edition
programmer to the RX3i CPU.
▪EDS files for the slave devices in your system, available from the
device manufacturers.

Quick Start Guide Section 3
GFK-2837A Sep 2019
Configuration 9
▪PACSystems RX3i CANopen Master Module User’s Manual,
GFK-2831, available from https://www.emerson.com/Industrial-
Automation-Controls/support.
Two steps are required to configure the IC695CNM001 module
as a master on a CANopen network:
1. Configure the CANopen network using SYCON.net and download
the configuration to the CNM001 module through the USB port.
The CNM001 master module must be configured as node 1. The
slave devices are configured as nodes under the master module.
Notes: If the Configuration command is unavailable when you right click
the node containing the CANopen Master, you must first select
Disconnect, and then select Configuration.
In the CANopen Master configuration screen, make sure the
netXDriver device driver is the only driver selected. Clear all other
driver selections.

Quick Start Guide Section 3
GFK-2837A Sep 2019
Configuration 10
2. Configure the CNM001 module in PAC Machine Edition as a third-
party module and download the configuration to the RX3i CPU.
▪Specify the reference data addresses and lengths for input
and output scan data, and
▪Select the status data that the RX3i CPU will scan from the
CNM001 module.
Note that “transmit” and “receive” are defined from the slave’s
point of view: TPDOs are mapped to the CPU as %AI input scan data
and RPDOs are mapped as %AQ output scan data.
For detailed configuration procedures and examples, refer to the
PACSystems RX3i CANopen Master Module User’s Manual, GFK-2831.

Quick Start Guide Section 3
GFK-2837A Sep 2019
Configuration 11
1. Note: A maximum of 272 bytes (136 words) of scanned data can be
configured for input data (%I, %AI and %R in) and for output data (%Q,
%AQ and %R out). If either quantity exceeds this limit, the configuration
will fail to store and faults will be logged in the Controller Fault Table.
2. Note: By default the module is configured to scan 4 bytes of module
status data and 16 bytes of slave device health data first. These bytes
must be counted when checking for the maximum of 272 bytes of input
scan data.

Quick Start Guide Section 4
GFK-2837A Sep 2019
Diagnostic Data 12
4. Diagnostic Data
Module Status Data (32 bits)
Bit
Number
Definition
0
Module OK
1 = Module is present and available
0 = CNM001 module is not powered up or not
available (not configured or faulted)
1
All slaves healthy
1 = All configured slaves are OK
0 = At least one slave is faulted
2
PDO Counters enabled
1 = PDO counters are enabled
0 = PDO counters are not enabled
3 –31
Reserved

Quick Start Guide Section 4
GFK-2837A Sep 2019
Diagnostic Data 13
Node Status Data (128 bits)
This data consists of one bit per slave device, with bit position
indicating the address. For example slave address 2 is indicated by bit 1
(first bit is bit 0).
Node Status
Bit =
Definition
0
▪The device is either not configured, or
configured and not exchanging data. Loss of
or inactive communication between the
master and the slave device.
▪Failed data path.
▪PDO Counter Timeout parameter has been
exceeded.
Note:If any slave node status bit is 0, the all
slaves healthy module status bit will also
be 0.
1
The slave is configured and is exchanging data.

Quick Start Guide Section 5
GFK-2837A Sep 2019
Additional Information 14
5. Additional Information
5.1. PACSystems RX3i User Manuals
PACSystems RX3i and RX7i CPU Reference Manual, GFK-2222
PACSystems RX3i System Manual, GFK-2314
PACSystems RX3i CANopen Master Module User’s Manual, GFK-2831
User manuals, product updates and other information sources are
available on the Support website,
https://www.emerson.com/Industrial-Automation-Controls/support
under Controllers and IO, RX3i Controllers.
5.2. Information about CANopen
For detailed information about CANopen, contact the CAN in
Automation e.V. (CiA) organization: http://www.can-cia.org/

Quick Start Guide
GFK-2837A
Sep 2019
Technical Support & Contact Information
Home link: http://www.Emerson.com/Industrial-Automation-Controls
Knowledge Base: https://www.emerson.com/Industrial-Automation-Controls/support
Note: If the product is purchased through an Authorized Channel Partner, please contact
the seller directly for any support.
Emerson reserves the right to modify or improve the designs or specifications of the
products mentioned in this manual at any time without notice. Emerson does not assume
responsibility for the selection, use or maintenance of any product. Responsibility for
proper selection, use and maintenance of any Emerson product remains solely with the
purchaser.
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