GE IC695CNM001 User manual

GE
Intelligent Platforms
Programmable Control Products
PACSystems* RX3i
CANopen Master Module, IC695CNM001
Quick Start Guide, GFK-2837
March 2013

2PACSystems* RX3i CANopen Master Module Quick Start GFK-2837
Contents
1. User Features .........................................................................3
1.1. Overview .........................................................................3
1.2. Indicators.........................................................................4
2. Hardware Installation.............................................................6
2.1. Installation in Hazardous Areas.......................................7
2.2. Connecting the CNM001 to the CANopen Network.........8
3. Configuration........................................................................10
4. Diagnostic Data....................................................................13
5. Additional Information.........................................................15
5.1. PACSystems RX3i User Manuals..................................15
5.2. Information about CANopen..........................................15

GFK-2837 PACSystems* RX3i CANopen Master Module Quick Start 3
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

4PACSystems* RX3i CANopen Master Module Quick Start GFK-2837
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.

GFK-2837 PACSystems* RX3i CANopen Master Module Quick Start 5
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.

6PACSystems* RX3i CANopen Master Module Quick Start GFK-2837
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.
For details about installing RX3i rack systems, refer to GFK-2314.

GFK-2837 PACSystems* RX3i CANopen Master Module Quick Start 7
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;
WARNING –EXPLOSION HAZARD –WHEN IN HAZARDOUS
AREAS, TURN OFF POWER BEFORE REPLACING OR WIRING
MODULES; AND
WARNING –EXPLOSION HAZARD –DO NOT CONNECT OR
DISCONNECT EQUIPMENT UNLESS POWER HAS BEEN
SWITCHED OFF OR THE AREA IS KNOWN TO BE
NONHAZARDOUS.

8PACSystems* RX3i CANopen Master Module Quick Start GFK-2837
2.2. Connecting the CNM001 to the 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
MOD STATUS
NET STATUS
CANOPEN MASTER
CAN_GND-3
CAN_H_7
CAN_L_2
CNM001
CANOPEN
STATION ADD
USB
Sample CANopen Network

GFK-2837 PACSystems* RX3i CANopen Master Module Quick Start 9
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.
CAN_L
CAN_H

10 PACSystems* RX3i CANopen Master Module Quick Start GFK-2837
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.
■Proficy Machine Edition configuration and programming
software from GE Intelligent Platforms, version 7.00 or later.
■Serial or Ethernet cable for connecting the Proficy Machine
Edition programmer to the RX3i CPU.
■EDS files for the slave devices in your system, available from
the device manufacturers.
■PACSystems RX3i CANopen Master Module User’s Manual,
GFK-2831, available fromhttp://www.ge-ip.com/support.

GFK-2837 PACSystems* RX3i CANopen Master Module Quick Start 11
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.

12 PACSystems* RX3i CANopen Master Module Quick Start GFK-2837
2. Configure the CNM001 module in Proficy 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.
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.
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.

GFK-2837 PACSystems* RX3i CANopen Master Module Quick Start 13
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

14 PACSystems* RX3i CANopen Master Module Quick Start GFK-2837
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.

GFK-2837 PACSystems* RX3i CANopen Master Module Quick Start 15
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, http://www.ge-ip.com/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/

GE Intelligent Platforms
Contact Information
Americas: 1-800-433-2682 or 1-434-978-5100
Global regional phone numbers are available on our
web site
www.ge-ip.com
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*Trademark of GE Intelligent Platforms, Inc.
All other brands or names are property of their respective
holders
GFK-2837