Helmholz TB20 600-160-1AA11 User manual

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Helmholz GmbH & Co. KG | Hannberger Weg 2 | D-91091 Großenseebach
Phone [phone] | Fax [phone] | [e-mail] | www.helmholz.com
TB20 – CANopen® Slave Coupler
Manual
Version 6 / 09.03.2020 for HW 1-1 & FW 1.12
Manual order no.: 960-160-1AA11/en

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TB20 CANopen Coupler | Version 6 | 09.03.2020 3
Notes
All rights reserved, including those related to the translation, reprinting, and reproduction of this
manual or of parts thereof.
No part of this manual may be reproduced, processed, duplicated, or distributed in any form
(photocopy, microfilm, or any other methods), even for training purposes or with the use of electronic
systems, without written approval from Helmholz GmbH & Co. KG.
All rights reserved in the event of the granting of a patent or the registration of a utility model.
To download the latest version of this manual, please visit our website at
www.helmholz.de/goto/600-160-1AA11.
We welcome all ideas and suggestions.
Copyright © 2020 by
Helmholz GmbH & Co. KG
Hannberger Weg 2, 91091 Großenseebach, Germany
Revision record:
Version Date Change
1 3/8/2013 First version
2 3/15/2013 Emergency supplemented/corrected; Bit rates table corrected; other smaller corrections
3 7/2/2013 SDOs 200x described; emergencies completely revised; 24 TPDOs & 24 RPDOs
4 2/3/2014 UL; LED in simulation operation; red LED due to diagnoses
5 1/19/2017
FW V1.08: Emergency messages for diagnostics changed
Introductory chapter updated
DIP switch labeling adjusted
Factory reset explained
PDO mapping addenda
TB20 ToolBox explanation added (PDO mapping, EDS/DCF export)
Emergency messages revised
6 3/6/2020
Various corrections and addenda for FW V1.12
Adjustments to layout
WEEE note added

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Table of contents
1. General.......................................................................................................9
1.1. Target audience for this manual ..............................................................................................9
1.2. Safety instructions ...................................................................................................................9
1.3. Note symbols and signal words in the manual ......................................................................10
1.4. Intended use..........................................................................................................................11
1.5. Improper use .........................................................................................................................11
1.6. Installation ............................................................................................................................12
1.6.1. Access restriction...............................................................................................................12
1.6.2. Electrical installation ........................................................................................................12
1.6.3. Protection against electrostatic discharges........................................................................12
1.6.4. Overcurrent protection .....................................................................................................12
1.6.5. EMC protection.................................................................................................................12
1.6.6. Operation..........................................................................................................................12
1.6.7. Liability.............................................................................................................................12
1.6.8. Disclaimer of liability........................................................................................................13
1.6.9. Warranty...........................................................................................................................13
1.6.10. Recycling / WEEE ..............................................................................................................13
2. System overview.......................................................................................14
2.1. General ..................................................................................................................................14
2.2. The components that make up the TB20 I/O system.............................................................14
2.2.1. Bus coupler........................................................................................................................14
2.2.2. Peripheral modules ...........................................................................................................14
2.2.3. Power and isolation module .............................................................................................15
2.2.4. Power module ...................................................................................................................16
2.2.5. Final cover.........................................................................................................................17
2.2.6. Components in a module .................................................................................................17
2.2.7. Module Coding .................................................................................................................18
3. Installation and removal...........................................................................19
3.1. Installation position ..............................................................................................................19
3.2. Minimum clearance ..............................................................................................................19
3.3. Installing and removing peripheral modules ........................................................................20
3.3.1. Installation........................................................................................................................20
3.3.2. Removal ............................................................................................................................21
3.4. Replacing an electronic module ............................................................................................24
3.5. Installing and removing the coupler .....................................................................................28
3.5.1. Installation........................................................................................................................28

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3.5.2. Removal ............................................................................................................................29
3.6. Installing and Removing the Final Bus Cover........................................................................31
3.6.1. Installation........................................................................................................................31
3.6.2. Removal ............................................................................................................................31
4. Setup and wiring......................................................................................32
4.1. EMC/safety/shielding............................................................................................................32
4.2.Front connectors ...................................................................................................................33
4.3. Wiring the coupler ................................................................................................................34
4.4. Using power and isolation modules ......................................................................................35
4.5. Separate power supply segments for the coupler and the I/O components...........................36
4.6. Using power modules ............................................................................................................37
4.7. Electronic nameplate.............................................................................................................38
4.8. Fusing ....................................................................................................................................38
5. CANopen Coupler Characteristics ............................................................39
6. CAN bus....................................................................................................40
6.1. CAN bus wiring .....................................................................................................................40
6.2. CAN bus plug.........................................................................................................................40
6.3. The CANopen® protocol........................................................................................................41
6.3.1. CANopen Objects .............................................................................................................41
6.3.2. CANopen Functions..........................................................................................................42
6.3.3. Network management ......................................................................................................43
7. Setup and use...........................................................................................45
7.1. Address switches....................................................................................................................45
7.2. Bit rate ...................................................................................................................................45
7.3. EDS file-based configuration .................................................................................................45
7.4. CAN bus connection .............................................................................................................45
7.5. Factory Reset (Restoring the Coupler to Its Factory Settings).................................................46
7.6. LED-based diagnosis..............................................................................................................46
7.6.1. CANopen Coupler LEDs....................................................................................................46
7.6.2. Module LEDs.....................................................................................................................47
7.7. Startup behavior ....................................................................................................................47
7.8. SDOs Assigned to I/O Data (SDOs 21xx, 22xx, 6000, 6200, 6401, 6411) ...............................48
7.9. Process Data Objects (PDOs)..................................................................................................49
7.9.1. PDO Mapping (SDOs 16xx/1Axx).....................................................................................49
7.9.2. PDO Default Mapping.......................................................................................................50
7.9.3. PDO Communication Parameters (SDOs 14xx/18xx).......................................................51
7.9.4. CAN Identifier for PDOs (SDOs 14xx/18xx, Subindex 1) ..................................................51

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7.9.5. PDO Transmission Type (SDOs 14xx/18xx, Subindex 2) ..................................................52
7.9.6. PDO Inhibit Timer (SDOs 14xx/18xx, Subindex 3)...........................................................53
7.9.7. PDO Event Timer (SDOs 14xx/18xx, Subindex 5).............................................................53
7.10. Module Parameter Configurations (SDO 30xx).....................................................................54
7.11. Storing a Parameter Configuration (SDO 1010) ....................................................................55
7.12. Restoring Factory Settings (SDO 1011) ..................................................................................55
7.13. Module Diagnostics (SDO 31xx)............................................................................................56
7.14. Behavior in the Event of an Error (SDO 1029) .......................................................................57
7.15. Hot-swap function (SDO 2020) .............................................................................................58
8. SDO object table ......................................................................................59
8.1. System objects (SDO 1000–1200, 2020) ................................................................................59
8.1.1. Device Type (1000)............................................................................................................59
8.1.2. Error Register (1001)..........................................................................................................59
8.1.3. Pre-Defined Error Field (1003)...........................................................................................59
8.1.4. Number of PDOs (1004) ....................................................................................................59
8.1.5. SYNC identifier (1005) ......................................................................................................59
8.1.6. Device Name (1008)..........................................................................................................59
8.1.7. Hardware version (1009)...................................................................................................60
8.1.8. Firmware version (100A) ...................................................................................................60
8.1.9. Node ID (100B)..................................................................................................................60
8.1.10. Guard Time (100C) ...........................................................................................................60
8.1.11. Life Time Factor (100D).....................................................................................................60
8.1.12. Store (1010) (Used to Store Parameters) ............................................................................60
8.1.13. Restore (1011) (Used to Load Parameters).........................................................................60
8.1.14. Emergency identifier (1014)..............................................................................................61
8.1.15. Consumer Heartbeat (1016)..............................................................................................61
8.1.16. Producer Heartbeat (1017) ................................................................................................61
8.1.17. Identity Object (1018).......................................................................................................61
8.1.18. Module List (1027) ............................................................................................................62
8.1.19. Object Behavior in Case of Error (1029) ............................................................................62
8.1.20. SDO server parameters (1200) ...........................................................................................62
8.1.21. Hot-swap behavior (2020).................................................................................................62
8.2. RPDO Communication Parameters (SDO 14xx)....................................................................63
8.3. RPDO Mapping (SDO 16xx) ..................................................................................................63
8.4. TPDO Communication Parameters (SDOs 18xx) ..................................................................63
8.5. TPDO Mapping (SDO 1Axx) ..................................................................................................63
8.6. Coupler identification (SDO 200x)........................................................................................64
8.6.1. Module ID of the coupler (2001).......................................................................................64

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8.6.2. Order number of the coupler (2002) .................................................................................64
8.6.3. Series number of the coupler (2003)..................................................................................64
8.6.4. Firmware version of the coupler (2004) ............................................................................64
8.6.5. Hardware version of the coupler (2006)............................................................................64
8.6.6. Active bit rate (2010).........................................................................................................64
8.7. Module Configuration (SDO 2F0x) .......................................................................................65
8.7.1. Module Models (2F00) ......................................................................................................65
8.7.2. Module Codes (2F01) ........................................................................................................65
8.7.3. Module Order Numbers (2F02) .........................................................................................65
8.7.4. Module Serial Numbers (2F03)..........................................................................................65
8.7.5. Firmware versions of the modules (2F04)..........................................................................66
8.7.6. Module Hardware Versions (2F06) ....................................................................................66
8.8. Module Data (SDO 21xx, 22xx, 6xxx) ...................................................................................67
8.8.1. Input Data (21xx)..............................................................................................................67
8.8.2. Output Data (22xx) ...........................................................................................................67
8.8.3. Digital Inputs (6000) .........................................................................................................68
8.8.4. Digital Outputs (6200) ......................................................................................................68
8.8.5. Analog Inputs (6401) ........................................................................................................69
8.8.6. Analog Outputs (6411)......................................................................................................69
8.9. Module Parameters (SDO 30xx).............................................................................................70
8.10. Module diagnostic states (SDO 31xx)....................................................................................70
9. Emergency messages................................................................................71
10. Configuration with the TB20 ToolBox ......................................................74
10.1. Installation of the TB20 ToolBox...........................................................................................74
10.2. Start and create a new project (“Welcome”) ..........................................................................74
10.3. Configurator..........................................................................................................................75
10.3.1. Set coupler parameters ......................................................................................................76
10.3.2. Set PDO mapping..............................................................................................................76
10.3.3. Load project into the coupler (“Upload”) .........................................................................77
10.3.4. EDS/DCF export ................................................................................................................78
10.4. Online diagnostics.................................................................................................................79
10.4.1. Load project from the coupler (“Download”) ...................................................................80
10.4.2. Simulation ........................................................................................................................81
11. Technical data ..........................................................................................82
12. TB20 System Dimensions .........................................................................83
13. Spare parts ...............................................................................................84

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13.1. Base modules .........................................................................................................................84
13.1.1. 14 mm width standard base module .................................................................................84
13.1.2. 25 mm width base module................................................................................................84
13.1.3. Power and isolation base module......................................................................................84
13.1.4. Power base module ...........................................................................................................85
13.2. Front connectors ...................................................................................................................85
13.2.1. 10-terminal front connector .............................................................................................85
13.2.2. 20-terminal front connector .............................................................................................85
13.3. Electronic modules................................................................................................................86
13.4. Final cover .............................................................................................................................86

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1. General
This operating manual applies only to devices, assemblies, software, and services of Helmholz GmbH
& Co. KG(“Helmholz“).
1.1. Target audience for this manual
This description is only intended for trained personnel qualified in control and automation
engineering who are familiar with the applicable national standards. For installation, commissioning,
and operation of the components, compliance with the instructions and explanations in this
operating manual is essential.
Configuration, execution, and operating errors can interfere with the proper operation of the TB20
devices and result in personal injury, as well as material or environmental damage. Only suitably
qualified personnel may operate the TB20 devices!
Qualified personnel must ensure that the application and use of the products described meet all the
safety requirements, including all relevant laws, regulations, provisions, and standards.
1.2. Safety instructions
The safety instructions must be observed in order to prevent harm to living creatures, material goods,
and the environment. The safety notes indicate possible hazards and provide information about how
hazardous situations can be prevented.

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1.3. Note symbols and signal words in the manual
If the hazard warning is ignored, there is an imminent danger to life and health of people from electrical
voltage.
If the hazard warning is ignored, there is a probable danger to life and health of people from electrical
voltage.
If the hazard warning is ignored, people can be injured or harmed.
Draws attention to sources of error that can damage equipment or the environment.
Gives an indication for better understanding or preventing errors.