Festo CMGA-E1-CO User manual

Description
Installation manual
CANopen extension
module
761724
1201NH
Extension module
CMGA-E1-CO

CMGA-E1-CO
2 Festo – GDCP-CMGA-E1-CO-EN – 1201NH
Translation of the original instructions
GDCP-CMGA-E1-CO-EN
CANopen
®
is a registered trademark of its respective trademark holder in certain countries.
Status: TD-37350-810-03-04E-EN
Identification marking of dangers and instructions on how to avoid them:
Warning
Dangers which can lead to death or serious injuries.
Caution
Dangers which can lead to slight injuries or to serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendation, tip, reference to other documentation
Necessary or useful accessories
Information on environmentally friendly use
Text designation:
• Activities which can be carried out in any sequence.
1. Activities which should be carried out in the specified sequence.
– General lists

CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 3
Table of contents – CMGA-E1-CO
1 Important notes 4..........................................................
2 Safety regulations 4........................................................
2.1 Operation and service 4......................................................
2.2 Modification of an installation 5...............................................
3 Parametrisation of the backplane communication 5...............................
4 Parametrisation of the CANopen communication 5................................
5 Device-specific OD entries 7..................................................
6TPDOs 9..................................................................
7SDO 9....................................................................
8 Heartbeat producer 9.......................................................
9 Connection 10..............................................................
10 DiagData 10................................................................
11 LEDs 11...................................................................
12 Can bus termination 12.......................................................
13 Definition of the terms 12.....................................................
14 Modifications / procedures with changes to the modules or the installation 13..........
15 Maintenance 13.............................................................
15.1 Replacement of a CMGA module 13.............................................

CMGA-E1-CO
4 Festo – GDCP-CMGA-E1-CO-EN – 1201NH
1 Important notes
Target group of this operating manual:
Service, maintenance and changing of units, company electricians, users
Definitions
The designation CMGA is used as a generic term for all derivatives of the CMGA product range.
Wherever this description refers to a certain derivative, the complete designation is used.
The term “safe” used in the subsequent text refers in each case to the classification as a safe function
on the basis of EN ISO 13849-1 or EN 61508 in the corresponding categories or levels.
2 Safety regulations
2.1 Operation and service
– The module must always be de-energized before installation and removal, or before disconnecting
signal lines or supply lines.
– When installing or removing the module, appropriate measures must be taken to prevent electro-
static discharge to the externally arranged terminal and plug connections.
– The manufacturer's warranty is invalidated if there is any manipulation or modification of the unit.
– The CMGA can only be operated within a temperature range between 0° and 50 °C. Make sure that
this temperature range is observed:
1Coding switch for Bus
termination
23 LEDs show the operating
status
3CAN connection
4Rotary switch for selection
of address and baud rate
1
2
3
4
Fig. 1 Front page CMGA-E1-CO

CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 5
Scope of delivery
The scope of delivery contains:
– Extension module CMGA-E1-CO
The EDS file with CMGA icon and the installation handbooks can be found on the CD ROM
GSPF-CMGA-BS... or under www.festo.com.
2.2 Modification of an installation
A CMGA installation can only be put into operation or modified by qualified personnel! Speak to the
company which issued the inspection report. If the configuration of the module is modified, there is a
threat of loss of safety.
3 Parametrisation of the backplane communication
The CMGA equipment used must be configured with the CAN-IDs unique to the network.
The CAN-IDs must be entered via SDO in the OD, index 0x6200 and the corresponding sub-index for the
device.
Index Sub-index Meaning
0x6200 1CAN-ID of the 1st mapped device or 0, if not used
0x6200 2CAN-ID of the 2nd mapped device or 0, if not used
0x6200 3CAN-ID of the 3rd mapped device or 0, if not used
0x6200 4CAN-ID of the 4th mapped device or 0, if not used
0x6200 5CAN-ID of the 5th mapped device or 0, if not used
0x6200 6CAN-ID of the 6th mapped device or 0, if not used
0x6200 7CAN-ID of the 7th mapped device or 0, if not used
0x6200 8CAN-ID of the 8th mapped device or 0, if not used
Ta b. 1 C A N- I Ds
Example: if you want TPD05 to include the DiagData of the CMGA basic module with CAN-ID 0x107,
then you must write the value 0x107 in the OD index 0x6200, sub-index 5.
4 Parametrisation of the CANopen communication
Each CANopen subscriber has its own unique node ID.
ThenodeIDofaCMGA-E1-COisconfiguredwiththerotaryDIPswitchatthefront.
Each of the rotary switches has 16 possible positions.
You can understand the two rotary switches as high and low nibble of a byte.
They are marked with the lettering “HIGH” and “LOW” on the front.

CMGA-E1-CO
6 Festo – GDCP-CMGA-E1-CO-EN – 1201NH
The value of the rotary switches can be calculated as follows:
RDS value = 16 x (value of the “HIGH” rotary switch) + (value of the “LOW” rotary switch)
Please note that if you are using more than one CMGA-E1-CO in the same CANopen net-
work, the addresses of these must differ by at least 2.
Since a CANopen subscriber can have only one address in the range 1 to 127, the most significant bit is
used for the selection of the baud rate.
The CMGA-E1-CO supports 500 kBaud and 1 MBaud. If the most significant bit is a RDS value 0, the
device uses 500 kBaud, if it is 1, the device uses 1 MBaud.
Due to the number of TPDOs generated, there is a further restriction for the highest configurable ad-
dress. Therefore for the address range 1 to 126 (if you configure the address as 127, the device sees
this as 126).
If you want to generate heartbeat messages with the CMGA-E1-CO, you can configure the “Producer
Heartbeat Time” as described below under “Heartbeat Producer”.
Example: the “HIGH” rotary switch has the value 10, the “LOW” rotary switch the value 3:
– RDS value = 10 * 16 + 3 = 163 = 0xA3
– The most significant bit is set, and the CMGA-E1-CO CANopen interface is thereby configured with
1 MBaud.
– The node ID is constituted from the 7 lower significant bits, and it can therefore be calculated as
follows: (0xA3 & 0x7F) = 0x23 = 35.
As described below under “TPDOs”, the COB-IDs can be calculated on the basis of the node ID.
TDPO COB-ID
TPDO1 0x180 + 0x23 = 0x1A3
TPDO2 0x280 + 0x23 = 0x2A3
TPDO3 0x380 + 0x23 = 0x3A3
TPDO4 0x480 + 0x23 = 0x4A3
TPDO5 0x180 + 0x23 +1 = 0x1A4
TPDO6 0x280 + 0x23 +1 = 0x2A4
TPDO7 0x380 + 0x23 +1 = 0x3A4
TPDO8 0x480 + 0x23 +1 = 0x4A4
Tab. 2 Calculation of COB-IDs
If you would like, you can change the COB-IDs of the TPDOs by altering the desired values in the corres-
ponding positions of the OD.

CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 7
5 Device-specific OD entries
Index Sub-index Type Meaning
0x6000 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6000 0x01 UINT8 1st byte DiagData of the 1st mapped device
0x6000 0x02 UINT8 2nd byte DiagData of the 1st mapped device
0x6000 0x03 UINT8 3rd byte DiagData of the 1st mapped device
0x6000 0x04 UINT8 4th byte DiagData of the 1st mapped device
0x6000 0x05 UINT8 5th byte DiagData of the 1st mapped device
0x6000 0x06 UINT8 6th byte DiagData of the 1st mapped device
0x6000 0x07 UINT8 7th byte DiagData of the 1st mapped device
0x6000 0x08 UINT8 8th byte DiagData of the 1st mapped device
0x6001 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6001 0x01 UINT8 1st byte DiagData of the 2nd mapped device
0x6001 0x02 UINT8 2nd byte DiagData of the 2nd mapped device
0x6001 0x03 UINT8 3rd byte DiagData of the 2nd mapped device
0x6001 0x04 UINT8 4th byte DiagData of the 2nd mapped device
0x6001 0x05 UINT8 5th byte DiagData of the 2nd mapped device
0x6001 0x06 UINT8 6th byte DiagData of the 2nd mapped device
0x6001 0x07 UINT8 7th byte DiagData of the 2nd mapped device
0x6001 0x08 UINT8 8th byte DiagData of the 2nd mapped device
0x6002 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6002 0x01 UINT8 1st byte DiagData of the 3rd mapped device
0x6002 0x02 UINT8 2nd byte DiagData of the 3rd mapped device
0x6002 0x03 UINT8 3rd byte DiagData of the 3rd mapped device
0x6002 0x04 UINT8 4th byte DiagData of the 3rd mapped device
0x6002 0x05 UINT8 5th byte DiagData of the 3rd mapped device
0x6002 0x06 UINT8 6th byte DiagData of the 3rd mapped device
0x6002 0x07 UINT8 7th byte DiagData of the 3rd mapped device
0x6002 0x08 UINT8 8th byte DiagData of the 3rd mapped device
0x6003 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6003 0x01 UINT8 1st byte DiagData of the 4th mapped device
0x6003 0x02 UINT8 2nd byte DiagData of the 4th mapped device
0x6003 0x03 UINT8 3rd byte DiagData of the 4th mapped device
0x6003 0x04 UINT8 4th byte DiagData of the 4th mapped device
0x6003 0x05 UINT8 5th byte DiagData of the 4th mapped device
0x6003 0x06 UINT8 6th byte DiagData of the 4th mapped device
0x6003 0x07 UINT8 7th byte DiagData of the 4th mapped device
0x6003 0x08 UINT8 8th byte DiagData of the 4th mapped device
0x6004 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6004 0x01 UINT8 1st byte DiagData of the 5th mapped device
0x6004 0x02 UINT8 2nd byte DiagData of the 5th mapped device
0x6004 0x03 UINT8 3rd byte DiagData of the 5th mapped device

CMGA-E1-CO
8 Festo – GDCP-CMGA-E1-CO-EN – 1201NH
Index MeaningTypeSub-index
0x6004 0x04 UINT8 4th byte DiagData of the 5th mapped device
0x6004 0x05 UINT8 5th byte DiagData of the 5th mapped device
0x6004 0x06 UINT8 6th byte DiagData of the 5th mapped device
0x6004 0x07 UINT8 7th byte DiagData of the 5th mapped device
0x6004 0x08 UINT8 8th byte DiagData of the 5th mapped device
0x6005 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6005 0x01 UINT8 1st byte DiagData of the 6th mapped device
0x6005 0x02 UINT8 2nd byte DiagData of the 6th mapped device
0x6005 0x03 UINT8 3rd byte DiagData of the 6th mapped device
0x6005 0x04 UINT8 4th byte DiagData of the 6th mapped device
0x6005 0x05 UINT8 5th byte DiagData of the 6th mapped device
0x6005 0x06 UINT8 6th byte DiagData of the 6th mapped device
0x6005 0x07 UINT8 7th byte DiagData of the 6th mapped device
0x6005 0x08 UINT8 8th byte DiagData of the 6th mapped device
0x6006 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6006 0x01 UINT8 1st byte DiagData of the 7th mapped device
0x6006 0x02 UINT8 2nd byte DiagData of the 7th mapped device
0x6006 0x03 UINT8 3rd byte DiagData of the 7th mapped device
0x6006 0x04 UINT8 4th byte DiagData of the 7th mapped device
0x6006 0x05 UINT8 5th byte DiagData of the 7th mapped device
0x6006 0x06 UINT8 6th byte DiagData of the 7th mapped device
0x6006 0x07 UINT8 7th byte DiagData of the 7th mapped device
0x6006 0x08 UINT8 8th byte DiagData of the 7th mapped device
0x6007 0x00 UINT8 Number of the sub-indices used (const. 8)
0x6007 0x01 UINT8 1st byte DiagData of the 8th mapped device
0x6007 0x02 UINT8 2nd byte DiagData of the 8th mapped device
0x6007 0x03 UINT8 3rd byte DiagData of the 8th mapped device
0x6007 0x04 UINT8 4th byte DiagData of the 8th mapped device
0x6007 0x05 UINT8 5th byte DiagData of the 8th mapped device
0x6007 0x06 UINT8 6th byte DiagData of the 8th mapped device
0x6007 0x07 UINT8 7th byte DiagData of the 8th mapped device
0x6007 0x08 UINT8 8th byte DiagData of the 8th mapped device
0x6200 0x00 UINT32 Number of the sub-indices used (const. 8)
0x6200 0x01 UINT32 CAN-ID of the 1st mapped device or 0, if not used
0x6200 0x02 UINT32 CAN-ID of the 2nd mapped device or 0, if not used
0x6200 0x03 UINT32 CAN-ID of the 3rd mapped device or 0, if not used
0x6200 0x04 UINT32 CAN-ID of the 4th mapped device or 0, if not used
0x6200 0x05 UINT32 CAN-ID of the 5th mapped device or 0, if not used
0x6200 0x06 UINT32 CAN-ID of the 6th mapped device or 0, if not used
0x6200 0x07 UINT32 CAN-ID of the 7th mapped device or 0, if not used
0x6200 0x08 UINT32 CAN-ID of the 8th mapped device or 0, if not used
Tab. 3 Device-specific OD entries

CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 9
6 TPDOs
The following COB-IDs are used for the TPDOs during the initialization of the CMGA-E1-CO. They can be
be changed on the standard position within the OD (index 0x1800 to 0x1807, sub-index 1).
TDPO COB-ID Assigned device
TPDO1 0x180 + node ID Device 1
TPDO2 0x280 + node ID Device 2
TPDO3 0x380 + node ID Device 3
TPDO4 0x480 + node ID Device 4
TPDO5 0x180 + node ID + 1 Device 5
TPDO6 0x280 + node ID + 1 Device 6
TPDO7 0x380 + node ID + 1 Device 7
TPDO8 0x480 + node ID + 1 Device 8
Tab. 4 COB-IDs used for the TPDOs
The mapping of the TPDOs can not be altered, but it can be read from the OD, index 0x1A00 to 0x1A07.
A TPDO telegram is always generated if there is a change in the received DiagData of the assigned
device.
Example: if there is a change in at least one byte of the DiagData received from the CMGA-E1-CO on the
backplane bus of device 3, then a TPDO3 is generated.
7SDO
The data communication with SDO uses the standard COB-IDs 0x580 + node ID for sending and 0x600 +
node ID for receiving.
8 Heartbeat producer
The CMGA-E1-CO is a heartbeat producer conforming to the CANopen standard.
The “producer heartbeat time” is adjustable and can be changed in the OD index 0x1017.
The standard value is 0, i.e. the production of heartbeat messages is switched off.
Valid values lie in the range from 0 to 60000. The unit is 1 ms.

CMGA-E1-CO
10 Festo – GDCP-CMGA-E1-CO-EN – 1201NH
9 Connection
CANopen interface
CMGA-E1-CO CMGA-B1-M...
CAN backplane bus
CMGA-B1-M...
max 8 devices
Fig. 2 Connection principle
10 DiagData
Configuration of the internal data frame, see installation handbook for
GDSP-CMGA-E1-G2 CAN messages.

CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 11
11 LEDs
There are 3 LEDs on the front of the CMGA-E1-CO.
LED name Status Meaning Remedy
RUN permanently red
or green
Internal error CMGA-E1-CO damaged
Flashing green CMGA-E1-CO in operation –
ST permanently red CANopen controller bus OFF Check connection
red, flashes 1
time
Warning limit At least one of the error counters of
the CAN controller has reached or
exceeded the warning level (too
many error frames)
red, flashes 2
times
Error control event A guard event (NMT slave or NMT
master) or a heartbeat event
(heatbeat consumer) has arisen
Flashing green CANopen PREOPERATIONAL
status
ThedeviceisinPREOPERATIONAL
status
green, flashes 1
time
CANopen STOPPED status ThedeviceisinSTOPPEDstatus
permanently
green
CANopeninoperation –
XB permanently red No device mapping con-
figured
Write the assignment in the OD,
index 0x6200, sub-index 1 to 8
Flashing orange
1)
At least one device is
mapped
For at least 1 second no
DiagData was received from
at least one mapped device
Is the OD index 0x6200 configured
with the correct values?
They must match the the CAN-ID of
the assigned CMGA basic module.
Is the CMGA basic device running
and working?
Flashing green Within the last second the
DiagData was received from
all mapped devices.
–
RUN
ST
XB
Off
Red
Off
Invalid node ID SelectanodeIDwiththerotary
switch in the range of 1 to 126.
1) If both LEDs (green/red) are switched on at the same time, the colour of the LED appears as orange
Tab. 5 Diagnostic LEDs

CMGA-E1-CO
12 Festo – GDCP-CMGA-E1-CO-EN – 1201NH
12 Can bus termination
It is necessary for CAN to work correctly that both ends of the cabling terminate with a resistor of
120 Ohm.
If the CMGA-E1-CO is at one end of the line and the terminating resistor is not integrated in the plug,
this can be switched with the XB DIP switch.
XB DIP switch Assigned bus
1CANopen interface
2Backplane bus
Ta b. 6 X B D I P s wi tc h
In the ON position the 120 Ohm resistor is active for the termination.
13 Definition of the terms
Ter m Meaning
CAN-ID The CAN identifier, programmed with SafePLC, for the backplane bus communic-
ation of the CMGA basic module. A CMGA uses the CAN protocol 2.0A with 11 bit
address on the backplane bus.
Node ID A CANopen network consists of maximum 127 subscribers. The Node ID is in this
context the address of the CMGA-E1-CO.
OD Abbreviation for Object Directory. A CANopen specific term. Each CANopen sub-
scriber has its own object directory as a central data structure.
An entry in the OD is addressed with an index and a sub-index. There are a series
of standard entries and ranges for device-specific information.
SDO Abbreviation for Service Data Objects. This is a communication alternative for
accessing the OD of a device.
PDO Abbreviation for Process Data Objects. This communication alternative is quicker
than SDO, but it has some restrictions.
TPDO The PDOs are divided into RPDOs (= Receive Process Data Objects) and TPDOs
(= Transmit Process Data Objects).
COB-ID Each CAN telegram has a message identifier. The CAN protocol 2.0A defines a
size of 11 bit, the CAN protocol 2.0B defines a size of 29 bit. The message identi-
fier is named COB-ID with CANopen.
A series of COB-IDs is defined as standard, but there are others which can be
changed.
Heartbeat A CANopen subscriber with the heartbeat function can produce messages in
cyclical intervals. The heartbeat messages can be used by other subscribers to
monitor the device.
Tab. 7 Terms

CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 13
14 Modifications / procedures with changes to the modules
or the installation
Repair
Repair work on a device can only be performed in the factory.
Warranty
If the CMGA module is modified or the housing opened, the warranty and safety approval are invalid-
ated.
Mechanical alterations
If the drives / mechanical transmission are modified, or the sensors (encoders) are altered, the safety
function can be lost. Speak to the company, which installed or delivered the CMGA modules, or to the
person who issued the safety test report.
Electrical alterations
If the cabling or wiring of the CMGA modules is modified, the safety function can be lost. Speak to the
company, which installed or delivered the CMGA modules, or to the person who issued the safety test
report.
15 Maintenance
15.1 Replacement of a CMGA module
After a CMGA module has been replaced, it must be ensured that the replacement module has the
same configuration.
Follow the instructions when replacing a CMGA module:
1. Disconnect the drive controller from the main supply.
2. Switch off the electric power supply for the device and disconnect.
3. Disconnect the sensor plugs and pull them out.
4. Remove all other plug-in connections.
5. Take the module from the top-hat rail and pack it in accordance with EMC regulations.
6. Attach the new module on the top-hat rail.
7. Reconnect all connections.
8. Switch the drive controller on again.
9. Switch on the supply voltage.

CMGA-E1-CO
14 Festo – GDCP-CMGA-E1-CO-EN – 1201NH

CMGA-E1-CO
Festo – GDCP-CMGA-E1-CO-EN – 1201NH 15

CMGA-E1-CO
16 Festo – GDCP-CMGA-E1-CO-EN – 1201NH
Reproduction, distribution or sale of this document or communica-
tion of its contents to others without express authorization is
prohibited. Offenders will be liable for damages. All rights
reserved in the event that a patent, utility model or design patent
is registered.
Copyright:
Festo AG & Co. KG
Postfach
D-73726 Esslingen
Phone:
[phone]
Fax:
[phone]
e-mail:
[e-mail]
Internet:
www.festo.com
Original: de
Version: 1201NH