ESD CAN-CBX-REL4 User manual

CAN-CBX-REL4 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 Page 1 of 99
esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: [phone] • Fax: [phone]
CAN-CBX-REL4
CANopen Module with 4 Relay Outputs
with InRailBus
Manual
to Product C.3012.02

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 2 of 99
N O T E
The information in this document has been carefully checked and is believed to be entirely reliable.
esd makes no warranty of any kind with regard to the material in this document, and assumes no
responsibility for any errors that may appear in this document. In particular descriptions and technical
data specified in this document may not be constituted to be guaranteed product features in any legal
sense.
esd reserves the right to make changes without notice to this, or any of its products, to improve
reliability, performance or design.
All rights to this documentation are reserved by esd. Distribution to third parties and reproduction of
this document in any form, whole or in part, are subject to esd’s written approval.
© 2014 esd electronics system design gmbh, Hannover
esd electronic system design gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Phone: [phone]
Fax: [phone]
E-mail: [email protected]
Internet: www.esd.eu
Trademark Notices
CiA® and CANopen® are registered community trademarks of CAN in Automation e.V.
All other trademarks, product names, companynamesor company logos used in this manual are reserved by their respective
owners.

CAN-CBX-REL4 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 Page 3 of 99
Document-
File:
I:\Texte\Doku\MANUALS\CAN\CBX\REL4\English\CAN-CBX-REL4_Manual_en_11.wpd
Date of print: 2014-11-20
PCB version: from CAN-CBX-REL4 Rev. 1.2
Firmware version: from Rev.2.03
Changes in the chapters
The changes in the document listed below affect changes in the hardware and firmware as well as
changes in the description of facts only.
Version Chapter Changes versus previous version
1.1
- Note to Safety Instructions , conformity etc. and Typographical Conventions inserted
1.1 Block circuit diagram (connector name InRailBus) updated
2. Technical data revised
3.1 Note to Conductor Connection /Conductor Cross Section inserted
3.2 Description of the LEDs updated
3.3 Figure updated, description of the coding switches and baud rates revised
4. Former chaper “Description of the Units”moved to sub-section of chapter “Connector Assignment”. Connector Assignments revised, note to “Conductor Connection
/Conductor Cross Section” inserted
5. Chapter moved and updated
6. Chapter moved and updated
7. Chapter “Software” renamed to “CANopen-Firmware”, general part (chapter 7.1 - 7.4)
updated and restructured
7.8 Chapter to “Definition of Terms” inserted
7.9.1 Product-specific Properties CAN-CBX-REL4 inserted in table, new objects 1005
h
,, 1019
h
,
1F80
h
, 1F91
h
7.9.2-
7.9.21
Chapter revised, description of the product-specific properties only contained in the table
in “Overview of Communication Profile Objects with Product-Specific Values ” (chapter
7.9.1)
7.9.22 New chapter “NMT Startup (1F80
h
)”
7.9.23 New Chapter “Self Starting Nodes Timing Parameters (1F91
h
)”
7.9.25 Figure 19-21 revised
7.10 Figure 22 updated, chapter revised
7.10.5 Description of object 6421
h
revised
8. Chapter inserted
9. EU Declaration of Conformity inserted
10. Chapter “Order Information” moved and revised
Technical details are subject to change without further notice.

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 4 of 99
Safety Instructions

When working with CAN-CBX modules follow the instructions below and read the manual carefully to protect
yourself and the CAN-CBX module from damage.

The permitted operating position is specified as shown (Fig. 7). Other operating positions are not allowed.

Do not open the housing of the CAN-CBX module

Never let liquids get inside the CAN-CBX module. Otherwise, electric shocks or short circuits may result.

Protect the CAN-CBX module from dust, moisture and steam.

Protect the CAN-CBX module from shocks and vibrations.

The CAN-CBX module may become warm during normal use. Always allow adequate ventilation around the CAN-
CBX module and use care when handling.

Do not operate the CAN-CBX module adjacent to heat sources and do not expose it to unnecessary thermal radiation.
Ensure an ambient temperature as specified in the technical data.

Do not use damaged or defective cables to connect the CAN-CBX module and follow the CAN wiring hints in
chapter: ‘Correct Wiring of Electrically Isolated CAN Networks’ .

In case of damages to the device, which might affect safety, appropriate and immediate measures must be taken, that
exclude an endangerment of persons and domestic animals, or property.

Current circuits which are connected to the device have to be sufficiently protected against hazardous voltage (SELV
according to EN 60950-1).

The CAN-CBX module may only be driven by power supply current circuits, that are contact protected. A power
supply, that provides a safety extra-low voltage (SELV or PELV) according to EN 60950-1, complies with this
conditions.
Qualified Personal
This documentation is directed exclusively towards qualified personal in control and automation engineering.
The installation and commissioning of theproduct mayonly be carried out byqualified personal, which isauthorized to put
devices, systems and electric circuits into operation according to the applicable national standards of safety engineering.
Conformity
The CAN-CBX module is an industrial product and meets the demands of the EU regulations and EMC standards printed
in the conformity declaration at the end of this manual.
Warning: In a residential, commercial or light industrial environment the CBX-module may cause radio
interferences in which case the user may be required to take adequate measures.
Intended Use
The intended use of the CAN-CBX module is the operation as a CANopen module with four relay outputs.
The esd guarantee does not cover damages which result from improper use, usage not in accordance with regulations or
disregard of safety instructions and warnings.

The CAN-CBX module is intended for indoor installation only.

The operation of the CAN-CBX module in hazardous areas, or areas exposed to potentially explosive materials
is not permitted.

The operation of the CAN-CBX module for medical purposes is prohibited.
Service Note
The CAN-CBX module does not contain any parts that require maintenance by the user. The CAN-CBX module does not
require any manual configuration of the hardware. Unauthorized intervention in the device voids warranty claims.
Disposal
Devices which have become defective in the long run have to be disposed in an appropriate way or have to be returned to
the manufacturer for proper disposal. Please, make a contribution to environmental protection.

CAN-CBX-REL4 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 Page 5 of 99
Contents
1. Overview ....................................................................9
1.1DescriptionoftheModule....................................................9
2. Technical Data ..............................................................10
2.1GeneraltechnicalData .....................................................10
2.2CPU-Unit................................................................11
2.3CANInterface ............................................................ 11
2.4Relay-Connection .........................................................12
2.5Software-Support .........................................................12
3. Hardware Installation ........................................................13
3.1ConnectingDiagram .......................................................13
3.2LEDDisplay .............................................................14
3.2.1RelayLEDs1-4 .......................................................14
3.2.2IndicatorStates .......................................................15
3.2.3 Operation of the CAN-Error LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.2.4 Operation of the CANopen-Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2.5OperationoftheError-LED..............................................16
3.2.6 Operation of the Module Status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2.7SpecialIndicatorStates .................................................17
3.2.8 Assignment of LED Labelling to Name in Schematic Diagram . . . . . . . . . . . . . . . . . . 17
3.3CodingSwitch............................................................18
3.3.1 Setting the Node-ID via Coding Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.2SettingtheBaudRate ..................................................19
3.3.3 Assignment of Coding-Switch Labelling to Name in Schematic Diagram . . . . . . . . . . 19
3.4.1 Connecting Power Supply and CAN-Signals to CBX-InRailBus . . . . . . . . . . . . . . . . . 21
3.4.2 Connection of the Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.3ConnectionofCAN....................................................23
3.5 Remove the CAN-CBX Module from the InRailBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4. Connector Assignments .......................................................24
4.1PowerSupplyVoltage24V(X100) ...........................................24
4.2CAN ...................................................................25
4.2.1CANInterface ........................................................25
4.2.2CANConnector.......................................................26
4.2.3 CAN and Power Supply Voltage via InRailBus Connector . . . . . . . . . . . . . . . . . . . . . 27
4.3RelayOutputs ............................................................28
4.4 Conductor Connection/Conductor Cross Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5. Correct Wiring of Electrically Isolated CAN Networks .............................30
5.1 Light Industrial Environment (Single Twisted Pair Cable) . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.1.1GeneralRules ........................................................30
5.1.2Cabling .......................................31
5.1.3Termination ..........................................................31
5.2 Heavy Industrial Environment (Double Twisted Pair Cable) . . . . . . . . . . . . . . . . . . . . . . . . 32
5.2.1GeneralRules ........................................................32
5.2.2DeviceCabling .......................................................33
5.2.3Termination ..........................................................33

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 6 of 99
5.3ElectricalGrounding.......................................................34
5.4BusLength ..............................................................34
5.5ExamplesforCANCables ..................................................35
5.5.1 Cable for Light Industrial Environment Applications (Two-Wire) . . . . . . . . . . . . . . . . 35
5.5.2 Cable for Heavy Industrial Environment Applications (Four-Wire) . . . . . . . . . . . . . . . 35
6. CAN-Bus Troubleshooting Guide ..............................................36
6.1Termination .............................................................36
6.2Ground .................................................................37
6.3ShortCircuitinCANWiring ................................................37
6.4CAN_H/CAN_LVoltage ...................................................37
6.5CANTransceiverResistanceTest ............................................38
7. CANopen Firmware .........................................................39
7.1 Definition of Terms . . . . . . . . . . . 39
7.2NMT-Boot-up ............................................................40
7.3TheCANopen-ObjectDirectory..............................................40
7.4 Communication Parameters of the PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.4.1AccessontheObjectDirectory...........................................41
7.5 Overview of used CANopen-Identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.5.1SettingtheCOB-ID....................................................44
7.6DefaultPDO-Assignment ...................................................45
7.7SettingtheRelays .........................................................46
7.7.1 Supported Transmission Types Based on CiA 301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
7.8CommunicationProfileArea ................................................47
7.8.1UsedNamesandAbbreviations ..........................................47
7.9ImplementedCANopen-Objects..............................................48
7.9.1 Overview of Communication Profile Objects with Product-Specific Values . . . . . . . . 48
7.9.2 Device Type (1000
h
) ...................................................50
7.9.3 Error Register (1001
h
) ..................................................51
7.9.4 Pre-defined Error Field (1003
h
)...........................................52
7.9.5 COB-ID of SYNC-Message (1005
h
) .......................................54
7.9.6 Communication Cycle Period (1006
h
)......................................55
7.9.7 Manufacturer Device Name (1008
h
) .......................................56
7.9.8 Manufacturer Hardware Version (1009
h
) ...................................57
7.9.9 Manufacturer Software Version (100A
h
)....................................57
7.9.10 Guard Time (100C
h
) und Life Time Factor (100D
h
) ..........................58
7.9.11 Node Guarding Identifier (100E
h
) ........................................59
7.9.12 Store Parameters (1010
h
)...............................................60
7.9.13 Restore Default Parameters (1011
h
) ......................................62
7.9.14 COB_ID Emergency Message (1014
h
) ....................................64
7.9.15 Inhibit Time EMCY (1015
h
) ............................................65
7.9.16 Consumer Heartbeat Time (1016
h
) .......................................66
7.9.17 Producer Heartbeat Time (1017
h
) ........................................68
7.9.18 Identity Object (1018
h
) ................................................69
7.9.19 Synchronous Counter Overflow Value (1019
h
)..............................71
7.9.20 Verify Configuration (1020
h
)............................................72
7.9.21 Error Behaviour Object (1029
h
)..........................................73
7.9.22 NMT Startup (1F80
h
)..................................................74
7.9.23 Self Starting Nodes Timing Parameters (1F91
h
) .............................75

CAN-CBX-REL4 Manual • Doc.-No.: C.3012.21 / Rev. 1.1 Page 7 of 99
7.9.24 Receive PDO Communication Parameter (1400
h
- 1403
h
) .....................76
7.9.25 Receive PDO Mapping Parameter (1600
h
- 1603
h
) ...........................77
7.9.25.1 Synchronous Setting of the Relays of 8 CAN-CBX-REL4-Modules: . . . . . . . . . 78
7.9.25.2 Switching the four Relays of a Module with Mapping of Bit-Objects . . . . . . . . 80
7.9.25.3 Switching the four relays of a module with different PDOs . . . . . . . . . . . . . . . . 81
7.10DeviceProfileArea.......................................................82
7.10.1 Overview of implemented Objects 6200
h
... 6270
h
...........................82
7.10.2 Write Output 8-Bit (6200
h
) .............................................83
7.10.3 Change Polarity Output 8-bit (6202
h
) .....................................84
7.10.4 Error Mode Output 8-bit (6206
h
).........................................85
7.10.5 Error Value Output 8-bit (6207
h
).........................................86
7.10.6 Filter Mask Output 8-bit (6208
h
).........................................87
7.10.7 Write Output Bit 1 to 4 (6220
h
)..........................................88
7.10.8 Change Polarity Bit 1 to 4 (6240
h
)........................................89
7.10.9 Error Mode Output Bit 1 to 4 (6250
h
) .....................................90
7.10.10 Error Value Output Bit 1 to 4 (6260
h
)....................................91
7.10.11 Filter Mask Output Bit 1 to 4 (6270
h
) ....................................92
7.11 Manufacturer Specific Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
7.12 Firmware Update via DS-302-Objects 1F50
h
...1F52
h
.............................94
7.12.1 Download Control via Object (1F51
h
).....................................95
7.12.2 Verify Application Software (1F52
h
) .....................................95
8. References ..................................................................96
9. EU Declaration of Conformity .................................................97
10. Order Information ..........................................................98

Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4Page 8 of 99
Typographical Conventions
Throughout this manual the following typographical conventions are used to distinguish technical
terms.
Convention Example
File and path names /dev/null or <stdio.h>
Function names open()
Programming constants NULL
Programming data types uint32_t
Variable names Count
The following indicators are used to highlight noticeable descriptions.
Attention:
Warnings or cautions to tell you about operations which might have unwanted side
effects.
Note:
Notes to point out something important or useful.
Number Representation
All numbers in this document are base 10 unless designated otherwise. For hexadecimal numbers
h
is
appended . For example, 42 is represented as 2A
h
in hexadecimal format.

Overview
CAN-CBX-REL4
Manual • Doc.-No.: C.3012.21 / Rev. 1.1 Page 9 of 99
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1. Overview
1.1 Description of the Module
Fig. 1: Block circuit diagram of the CAN-CBX-REL4 module
The CAN-CBX-REL4 module offers four monostable relay outputs. Two of these are normally open
contacts and two are change over contacts.
The individual channels are electrically isolated and therefore various voltages can be applied to the
CAN-CBX-REL4 module simultaneously.
The CAN-CBX-REL4module is equipped with a MB90F497 microcontroller, which buffers theCAN
datainto alocalSRAM.The firmwareisstoredintheFlash.Parametersarestoredin aserialEEPROM.
The power supply voltage and the CAN bus connection can either be fed via the InRailBus connector,
integrated in the top-hat-rail, or via separate plugs.
TheISO11898-2-compliantCANinterfaceallowsamaximumdatatransferrateof1Mbit/s.TheCAN-
interface is electrically isolated by a digital isolator and a DC/DC-converter.
The CANopen node number and the CAN-bit rate can be configured via coding switches.

Technical Data
Manual • Doc.-No.: C.3012.21 / Rev. 1.1 CAN-CBX-REL4
Page 10 of 99
2. Technical Data
2.1 General technical Data
Power supply voltage nominal voltage: 24 V/DC input voltage range: 18...30 V/DC
current consumption (24 V, 20
m
C): approx. 100 mA
Connectors
24V (4-pin line connector with spring-cage connection, X100) -
24 V-power supply voltage
InRailBus (5-pin CAN-CBX-TBUS, Phoenix Contact, X101) -
CAN interface and power supply voltage via InRailBus
11-44 (10-pin line connector with screw connection, X300) -
Relay outputs (2 monostable change over contacts,
2 monostable normally open contacts)
CAN (5-pin line connector with spring-cage connection, X600) -
CAN interface
Only for test and programming purposes:
X200 (6-pin connector) - the connector is placed inside the case
Temperature range -20
m
C ... +70
m
C ambient temperature
Humidity max. 90%, non-condensing
Protection class IP20
Pollution degree maximum permissible according to DIN EN 61131-2:
Pollution Degree 2
Housing Plastic housing for carrier rail mounting NS35/7,5 DIN EN 60715
Dimensions width: 22.5 mm, length: 99 mm, constructional height: 114.5 mm
(dimensions without mating connectors)
Weight 145 g
Table 1: General technical data of the module