Festo CESA-GW-AS-CO User manual

Description
AS-i Gateway
English
Gateway AS-i - CANopen
CESA-GW-AS-CO
749964
1002NH

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© Festo AG & Co. KG,
Postfach
D-73726 Esslingen
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+49 / 711 / 347-0
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service_internati[email protected]
Internet:
http://www.festo.com
Original: de
Version: 1002NH

CESA-GW-AS-CO Description 5
Table of contents
AS-i 3.0 CANopen Gateway in Stainless Steel
1 Symbol catalog ................................................................................... 10
1.1 Abbreviations ................................................................................................. 10
2 General ................................................................................................ 11
2.1 Product information....................................................................................... 11
2.2 Technical data ................................................................................................ 11
2.3 AS-i specification 3.0..................................................................................... 11
3 Safety ................................................................................................... 12
3.1 Intended use................................................................................................... 12
3.2 General safety information ........................................................................... 12
3.3 Disposal .......................................................................................................... 12
4 Installation........................................................................................... 13
4.1 Dimensions..................................................................................................... 13
4.2 Connections ................................................................................................... 13
4.3 Installing in the control cabinet.................................................................... 13
4.4 Removing........................................................................................................ 14
4.5 Electrical Connection .................................................................................... 14
4.6 Startup ............................................................................................................ 15
4.6.1 Switching to advanced display mode ......................................................................... 15
4.7 Setting the baud rate ..................................................................................... 15
4.8 Setting the NODE ID ...................................................................................... 16
4.8.1 Connecting AS-i Slaves................................................................................................ 16
4.9 Error tracing ................................................................................................... 17
4.9.1 Faulty slaves.................................................................................................................. 17
4.9.2 Error display (last error) ............................................................................................... 17
4.10 Quick setup .................................................................................................... 18
4.11 Addressing ..................................................................................................... 19
4.11.1 Program slave 0 to address 4 ...................................................................................... 19
5 Electrical connection ......................................................................... 20
5.1 Overview of terminals, indicators and operating elements ....................... 20

CESA-GW-AS-CO Description 6
5.1.1 CESA-GW-AS-CO ..........................................................................................................20
5.2 AS-i bus connection....................................................................................... 21
5.3 Information about the device types.............................................................. 21
5.4 AS-i and power supply terminal assignments.............................................21
5.4.1 Electrical connection CESA-GW-AS-CO ................................................................... 22
5.5 CANopen interface ........................................................................................ 23
5.6 Diagnostics interface ..................................................................................... 23
5.6.1 Diagnostics port RS 232 ............................................................................................... 23
5.7 Indicators and operating elements...............................................................24
5.7.1 LED indicators – master ............................................................................................... 24
5.7.1.1 CANopen LED "ser.active" flashing sample ................................................................. 25
5.7.2 Buttons ........................................................................................................................... 26
6 Operation in advanced display mode............................................... 27
6.1 Overview .........................................................................................................27
6.2 Navigating through the advanced display mode ........................................29
6.3 CANOPEN (main menu) ................................................................................. 30
6.3.1 NODE ID (CANopen NODE ID) ......................................................................................30
6.3.2 BAUDRATE ....................................................................................................................30
6.3.3 STATUS ..........................................................................................................................31
6.4 AS-I CONTROL (option) ................................................................................. 31
6.4.1 CONTROL INFO .............................................................................................................32
6.4.2 CONTROL RUN .............................................................................................................. 32
6.4.3 CONTROL FLAGS (control program flag memory) .................................................... 33
6.5 QUICK SETUP................................................................................................. 33
6.6 SLAVE ADR TOOL.......................................................................................... 34
6.7 SLAVE TEST TOOL ........................................................................................35
6.8 SETUP (configuration of an AS-i network) .................................................. 37
6.8.1 AS-I SLAVE ADR. (set/change slave address)............................................................37
6.8.2 FORCE OFFLINE (Switch AS-i Master to offline operation) ...................................... 38
6.8.3 OPERATION MODE ....................................................................................................... 38
6.8.4 STORE ACTUAL (store currently detected configuration) ........................................ 38
6.8.5 PERMANENT PARA (permanent parameters) ............................................................ 39
6.8.6 PERMANENT CONFIG (permanent configuration data)............................................. 40
6.8.7 AS-I ADDRESS (AS-i address assistant) ..................................................................... 40
6.8.8 LOS (list of offline slaves) ............................................................................................41
6.8.9 AUTO ADDR (enable automatic address) ................................................................... 41
6.8.10 FACTORY RESET (factory default settings) ............................................................... 42
6.9 IO + PARAM.TEST .......................................................................................... 42
6.9.1 BINARY INPUTS.............................................................................................................43
6.9.2 BINARY OUTPUTS.........................................................................................................43
6.9.3 ANALOG INPUTS........................................................................................................... 43
6.9.4 ANALOG OUTPUTS....................................................................................................... 44
6.9.5 PARAMETER..................................................................................................................45
6.10 DIAGNOSIS .....................................................................................................45
6.10.1 FLAGS ............................................................................................................................ 46
6.10.2 ACTUAL CONFIG (actual slave configuration) ........................................................... 47
6.10.3 LPF (List of Peripheral Faults) ..................................................................................... 48

CESA-GW-AS-CO Description 7
6.10.4 AS-I MASTER (info)....................................................................................................... 49
6.11 ADV. DIAGNOSIS (advanced diagnostics) .................................................. 49
6.11.1 LCS (History of the slaves which have triggered a configuration error) ................. 50
6.11.2 FAULT DETECTOR........................................................................................................ 50
6.12 AS-I SAFETY................................................................................................... 51
6.12.1 SAFETY SLAVES (safety oriented slaves).................................................................. 51
6.12.2 SAFETY MONITOR ........................................................................................................ 52
6.12.3 SAFETY SUBST VAL (Substitute values for input data from safe slaves) .............. 53
6.12.4 Language (menu language) ......................................................................................... 53
6.13 DISPLAY CONTRAST (set display contrast) ............................................... 53
7 Operation as CANopen Node ............................................................ 55
7.1 CANopen parameter communication........................................................... 56
7.1.1 Object directory............................................................................................................. 56
7.2 Fade-in/Fade-out Safety Slaves .................................................................... 58
7.3 Process Data Communication ...................................................................... 58
7.3.1 Mapping AS-i Data in CANopen PDOs ........................................................................ 58
7.3.1.1 RPDOs ......................................................................................................................... 60
7.3.1.2 TPDOs ......................................................................................................................... 61
7.3.2 LSS (Layer Setting Services) ....................................................................................... 61
7.3.3 Compatibility to AS-i 2.1 CANopen Gateway.............................................................. 61
8 CANopen Telegrams .......................................................................... 63
8.1 Representation of a CAN message .............................................................. 63
8.2 Default identifier distribution........................................................................ 64
8.2.1 Simplified Boot-up According to CANopen (NMT=0, DBT=0)................................... 65
8.2.2 Examples for data exchange........................................................................................ 68
9 Advanced Diagnostics for AS-i Masters ..........................................70
9.1 List of corrupted AS-i Slaves (LCS) ............................................................. 70
9.2 Protocol analysis: Counters for corrupted data telegrams ....................... 70
9.3 Offline Phase for Configuration Errors........................................................ 71
9.4 Functions of the AS-i Fault Detector............................................................ 71
9.4.1 Duplicate address detection ........................................................................................ 71
9.4.2 Earth/Ground Fault Detector........................................................................................ 72
9.4.3 Noise Detector............................................................................................................... 72
9.4.4 Over-voltage Detector................................................................................................... 72

CESA-GW-AS-CO Description 8
10 System startup using AS-i Control Tools ........................................ 73
11 Codes indicated by the display ........................................................ 76
12 Glossary.............................................................................................. 78
13 Reference List .................................................................................... 83
13.1 Manual: “AS-i 3.0 Command Interface“ ....................................................... 83

CESA-GW-AS-CO Description 9
Conformity Statement
The AS-i/CANopen Gateways have been developed and produced in
accordance with the applicable european standards and directives. The
conformity statement according to the EC EMC-, low voltage, and -
maschinery directive can be sent to by request.
Additional information can be found in the Festo basic catalogue or in the
online catalogue in internet.
Subject to technical modifications.

CESA-GW-AS-CO Description 10
1. Symbol catalog
1.1 Abbreviations
Information!
This symbol indicates important information.
Attention!
This symbol warns of a potential failure. Non-compliance may lead to interruptions of
the device, the connected peripheral systems, or plant, potentially leading to total mal-
functioning.
Warning!
This symbol warns of an imminent danger. Non-compliance may lead to personal inju-
ries that could be fatal or result in material damages and destruction.
Information!
Additional information can be found in section <Glossary>.