PCE Electronics PC6RO User manual
05/08/2014 V1.0
P.O.Box 164
Seven Hills 1730
NSW
AUSTRALIA
IO Module
User Manual
PROCON ELECTRONICS 2 CANopen PC6RO
Disclaimer
Procon Electronics makes no representations or warranties with respect to the
contents hereof. In addition, information contained herein are subject to change
without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Procon Electronics assumes no responsibility, express or
implied, for errors or omissions or any damages resulting from the use of the
information contained in this publication.
All trademarks belong to their respective owners.
PROCON ELECTRONICS 3 CANopen PC6RO
TABLE OF CONTENTS
1. INTRODUCTION ............................................................................................5
2. TECHNICAL SPECIFICATION ...........................................................................6
3. PHYSICAL INFORMATION ..............................................................................7
3.1 PHYSICAL DIMENSIONS ................................................................................................................... 7
3.2 DIN RAIL BUS ADAPTOR.................................................................................................................. 8
3.3 INSTALLING THE MODULE ONTO THE DIN RAIL ..................................................................................... 8
3.4 REMOVING THE MODULE FROM THE DIN RAIL ..................................................................................... 9
3.5 GROUNDING/SHIELDING ................................................................................................................. 9
3.6 NETWORK TERMINATION ................................................................................................................ 9
4. SETTING THE NODE ID AND BAUD RATE......................................................10
4.1 CHANGING THE DIP SWITCH TO SET THE NODE ID AND BAUD RATE ....................................................... 10
4.2 SETTING THE NODE ID USING THE DIP SWITCHES............................................................................... 11
4.3 SETTING THE BAUD RATE USING THE DIP SWITCHES ........................................................................... 11
4.4 SETTING THE NODE ID USING SOFTWARE.......................................................................................... 11
4.5 SETTING THE BAUD RATE USING SOFTWARE....................................................................................... 12
5. WIRING ......................................................................................................13
5.1 POWER SUPPLY AND COMMUNICATIONS WIRING .............................................................................. 13
5.2 WIRING THE RELAY OUTPUTS.......................................................................................................... 14
6. INDICATORS ...............................................................................................15
6.1 FRONT PANEL INDICATORS............................................................................................................. 15
6.2 RUN INDICATOR (R) ..................................................................................................................... 16
6.3 ERROR INDICATOR (T)................................................................................................................... 16
7. IMPLEMENTED CANOPEN OBJECTS .............................................................17
7.1 OBJECT BLOCK DIAGRAMS............................................................................................................. 17
7.1.1 Block diagram for relay outputs ..................................................................................... 17
7.2 COMMUNICATION SEGMENT ......................................................................................................... 18
7.2.1 Object 1000h: Device Type ............................................................................................. 18
7.2.2 Object 1001h: Error Register .......................................................................................... 18
7.2.3 Object 1003h: Pre-defined Error Field............................................................................ 19
7.2.4 Object 1005h: COB-ID SYNC............................................................................................ 22
7.2.5 Object 1008h: Manufacturer Device Name.................................................................... 22
7.2.6 Object 1009h: Manufacturer Hardware Version ............................................................ 23
7.2.7 Object 100Ah: Manufacturer Software Version ............................................................. 23
7.2.8 Object 100Ch: Guard Time ............................................................................................. 24
7.2.9 Object 100Dh: Life Time Factor ...................................................................................... 24
7.2.10 Object 1010h: Store Parameter Field ............................................................................. 25
7.2.11 Object 1011h: Restore Default Parameters.................................................................... 26
7.2.12 Object 1014h: COB-ID EMCY........................................................................................... 28
7.2.13 Object 1015h: Inhibit Time Emergency .......................................................................... 29
7.2.14 Object 1016h: Heartbeat Consumer Entries................................................................... 29
7.2.15 Object 1017h: Producer Heartbeat Time........................................................................ 30
7.2.16 Object 1018h: Identity Object ........................................................................................ 31
7.2.17 Object 1029h: Error Behaviour ....................................................................................... 33
7.2.18 Object 1200h: Server SDO Parameter 1 ......................................................................... 34
7.2.19 Object 1400h: Receive PDO Communication Parameter 1............................................. 35
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7.2.20 Object 1600h: Receive PDO Mapping Parameter 1........................................................ 36
7.3 MANUFACTURER SEGMENT ........................................................................................................... 39
7.3.1 Object 2001h: Module ID................................................................................................ 39
7.3.2 Object 2002h: Module Baud Rate................................................................................... 39
7.3.3 Object 2003h: Module DIP Switch .................................................................................. 40
7.4 DEVICE PROFILE SEGMENT ............................................................................................................ 41
7.4.1 Object 6200h: Write State 6 Output Lines...................................................................... 41
7.4.2 Object 6202h: Polarity 6 Output Lines............................................................................ 42
7.4.3 Object 6206h: Error Mode 6 Output Lines ..................................................................... 43
7.4.4 Object 6207h: Fault State 6 Output Lines....................................................................... 44
7.4.5 Object 6220h: Write State 1 Output Line 1-6 ................................................................. 45
8. SAFETY GUIDELINES ....................................................................................47
8.1 INTRODUCTION ........................................................................................................................... 47
8.2 INTENDED USE ............................................................................................................................ 47
8.3 TRANSPORT AND STORAGE............................................................................................................. 47
8.4 INSTALLATION ............................................................................................................................. 47
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1. Introduction
The PC6RO module has 6 normally open/ normally closed relay outputs. These modules may be used
when a higher drive capability is required, or when isolation between outputs are required.
The module plugs into a special bus connector which fits inside the DIN rail. The power supply voltage
and the CAN bus signals are connected via this bus connector.
The CAN interface is electrically isolated and is compliant with ISO 11898.
The module has been equipped with status led’s which are used to indicate the status of the Inputs
and communications. This visual indication assists with fault finding and diagnostics.
The CANopen node ID and bit rate can be setup by DIP switches or software.
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2. Technical Specification
Power Supply
Logic Supply Voltage
24 Vdc
Logic Supply Current
71mA
Relay Outputs
Output Points
6
Maximum Current
1A @ 220VAC / 1A @ 28VDC
Isolation
4000Vrms between field and logic
1500Vrms between outputs
CANopen Data
NMT
Slave
Error Control
Node Guarding / Consumer Heartbeat
Node ID
DIP switch or software
Number of PDO
1 Rx
PDO Modes
Event Controlled Asynchronous,
Event Timer Asynchronous,
Sync - Acyclic, Sync –Cyclic.
PDO Mapping
Variable
PDO Linking
Supported
Number of SDO
1 Server
Error Message
Yes
Temperature
Operating Temperature.
-20°C to + 70°C
Storage Temperature
-40°C to + 85°C
Connectors
Logic Power and Comms.
5 way connector that clips onto DIN rail
Inputs
6 x 3 Way screw connector on top and
bottom
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3. Physical Information
3.1 Physical Dimensions
The PC6RO enclosure is shown below. The module clips directly onto an industry standard DIN rail.
Field wiring is on the top and bottom of the module via 6 plug-in connectors. The module power and
CAN communications wiring is on a separate connector which clips onto the DIN rail on the back of
the housing.
Allow at least 25mm on top and below the module to accommodate the wiring. Ensure that enough
space is kept above and below the module for good ventilation.
113.0mm 17.6mm
110.5mm
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3.2 DIN rail Bus adaptor
The BUS connector allows side-by-side installation of the Modules. The picture below shows multiple
BUS connectors installed on a DIN rail. First, install the BUS connector onto the DIN rail, then slide into
the adjacent BUS connector.
3.3 Installing the module onto the DIN rail
The modules are designed to be installed on a standard 35 mm DIN rail. Snap the BUS connector first
into the rail as shown above. Next clip the top of the module onto the DIN rail and pivot the Module
onto the DIN rail. The spring loaded clasp will latch around onto the DIN resulting in a firmly seated
product. Do not force the module onto the connector otherwise the module or connector may be
damaged.
Note: The modules are not designed for hot plug in. The power must be turned off before the
modules are plugged into the base.
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3.4 Removing the module from the DIN rail
To remove the module from the DIN Rail, use a flat blade screwdriver to pry the spring loaded clasp
away from the DIN rail in the manner shown in the picture below. Next pivot the module up and away
from the DIN rail and remove.
3.5 Grounding/Shielding
In most cases, the modules will be installed in an enclosure along with other devices which generate
electromagnetic radiation. Examples of these devices are relays and contactors, transformers, motor
controllers etc. This electromagnetic radiation can induce electrical noise into both power and signal
lines, as well as direct radiation into the module causing negative effects on the system. Appropriate
grounding, shielding and other protective steps should be taken at the installation stage to prevent
these effects. These protective steps include control cabinet grounding, module grounding, cable
shield grounding, protective elements for electromagnetic switching devices, correct wiring as well as
consideration of cable types and their cross sections.
3.6 Network Termination
Transmission line effects often present a problem on data communication networks. These problems
include reflections and signal attenuation.
To eliminate the presence of reflections from the end of the cable, the cable must be terminated at
both ends with a resistor across the line equal to its characteristic impedance. Both ends must be
terminated since the direction of propagation is bi-directional. This termination is typically 120 ohms.
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4. Setting the Node ID and baud rate
The DIP switches are provided to manually configure the module node ID and baud rate. Switches 1
through 5 set the node ID sequentially starting at 1 and ending at 31. Switches 6, 7 & 8 set the baud
rate. When the ID switches are all set to zero, the ID is taken from internal memory. When the baud
rate switches are all set to zero, the baud rate is taken from the internal memory. The user must first
configure the module by writing the correct values to the module.
4.1 Changing the DIP switch to set the Node ID and baud rate
The software in the module samples the dip switches on a reset when the power is cycled. Once
sampled, the software writes the settings to the CAN port. The user is welcome to change the dip
switches while the module is powered, however, a reset must be initiated afterward.
The DIP switch can be toggled using a small flat blade screwdriver, or equivalent tool, as shown in the
picture below.
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4.2 Setting the Node ID using the DIP switches
The following table assists with the setting up of DIP switches for the required NODE ID.
NODE ID
SWITCH SETTING
SW8
SW7
SW6
SW5
SW4
SW3
SW2
SW1
Software
-
-
-
Off
Off
Off
Off
Off
1
-
-
-
Off
Off
Off
Off
On
2
-
-
-
Off
Off
Off
On
Off
3
-
-
-
Off
Off
Off
On
On
4
-
-
-
Off
Off
On
Off
Off
4
-
-
-
Off
Off
On
Off
On
6
-
-
-
Off
Off
On
On
Off
-
-
-
-
-
-
-
-
-
31
-
-
-
On
On
On
On
On
4.3 Setting the Baud Rate using the DIP switches
The following table assists with the setting up of DIP switches for the required Baud Rate.
BAUD
RATE
SWITCH SETTING
kbits/s
SW8
SW7
SW6
SW5
SW4
SW3
SW2
SW1
Software
Off
Off
Off
20
Off
Off
On
-
-
-
-
-
50
Off
On
Off
-
-
-
-
-
125
Off
On
On
-
-
-
-
-
250
On
Off
Off
-
-
-
-
-
500
On
Off
On
-
-
-
-
-
800
On
On
Off
-
-
-
-
-
1000
On
On
On
-
-
-
-
-
4.4 Setting the Node ID using software.
In order to use the node ID from memory, ensure that all of the node ID dip switches are in the OFF
position.
Before the internal node id is selected, the user must first write the correct id value to the Module ID
object in the manufacturer segment. The object address is 2001h.
The node id can be configured from 1 to 127.
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4.5 Setting the baud rate using software.
In order to use the baud rate from memory, ensure that all of the baud rate dip switches are in the
OFF position.
Before the internal baud rate is selected, the user must first write the correct baud rate value to the
Module Baud Rate object in the manufacturer segment. The object address is 2002h.
The following baud rates are supported.
BAUD RATE
OBJECT VALUE (2002h)
kbits/s
20
1
50
2
100
3
125
4
250
5
500
6
800
7
1000
8
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5. Wiring
5.1 Power supply and Communications Wiring
The following diagram shows the wiring for the power and CAN communications.
Terminal
Description
1
Power 0V
The DC power supply 0V connection.
2
Power +24V
The DC power supply positive connection. 12V to 24VDC.
3
CAN GND
The CAN circuit is isolated from the DC power supply for the module. The
CAN GND connection is not connected to the DC power supply GND. Use a
separate ground wire to connect all of the CAN GND terminals on the
modules together. This ensures that all of the modules are at the same
potential. The ground wire must be earthed at one end only.
4
CANL
CANL network connection
5
CANH
CANH network connection
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5.2 Wiring the relay outputs
The following diagram shows how the relay contacts are connected to the wiring terminals.
COM 1
N/C 1
N/O 1
COM 2
N/C 2
N/O 2
COM 3
N/C 3
N/O 3
COM 4
N/C 4
N/O 4
COM 5
N/C 5
N/O 5
COM 6
N/C 6
N/O 6
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
1
2
3
4
6
5
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6. Indicators
6.1 Front panel indicators
The CAN communications uses an error LED (T) and a run LED (R). The run LED indicates the CANopen
state. The error LED is shows errors of the network.
Power: Flashes to indicate the CPU is running.
CAN (R): Indicates the CANopen run state.
CAN (T): Indicates a CANopen error.
Output Status: “OFF” when the output is off
“ON” when the output is on.
6RO
1 2 3 4
5 6
P R T
OFF ON
12 3 4 5 6 7 8
R = CANopen
RUN state
P = Power
T = CANopen
Error
Output Status
1 - 6
Switch 1
Switch 8
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6.2 Run indicator (R)
RUN LED
State
Description
Single flash
STOPPED
The device is in STOPPED state.
Blinking
PRE-OPERATIONAL
The device is in PRE- OPERATIONAL state.
On
RUN
The device is in
RUN state.
6.3 Error indicator (T)
ERROR LED
State
Description
Off
no error
The device is in working condition.
Single flash
warning limit reached
At least one of the error counters of the CAN
controller has reached or exceeded the
warning limit.
Double flash
Error Control Event
A guard event (NMT- Slave or NMT-
Master) or a Heartbeat event has
occurred.
On
Bus Off
The CAN controller is bus-off.
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7. Implemented CANopen Objects
7.1 Object Block Diagrams
7.1.1 Block diagram for relay outputs
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7.2 Communication Segment
7.2.1 Object 1000h: Device Type
The device type specifies the kind of device. The lower 16 bit contain the device profile number and the
upper 16 bit an additional information.
INDEX
1000
Name
Device Type
Object Code
Variable
Data Type
UNSIGNED32
Access
CONST
PDO Mapping
No
Default Value
0x00020191
7.2.2 Object 1001h: Error Register
The error register is a field of 8 bits, each for a certain error type. If an error occurs the bit has to be set.
Bit
Meaning
0
generic error
1
-
2
-
3
-
4
communication error (overrun, error state)
5
-
6
-
7
-
INDEX
1001
Name
Error Register
Object Code
Variable
Data Type
UNSIGNED8
Access
RO
PDO Mapping
No
Default Value
0x00
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7.2.3 Object 1003h: Pre-defined Error Field
This object holds errors that have occurred on the device and have been signalled via Emergency
Object. It is an error history.
Writing to sub index 0 deletes the entire error history.
ERROR
CODE
Communications Error
0x8100
CAN Overrun Error
0x8110
CAN in error passive
0x8120
Heart Beat or life guard error
0x8130
CAN recovered from bus-off
0x8140
PDO not processed due the length
0x8210
PDO length exceeded
0x8220
INDEX
1003
Name
Pre-defined Error Field
Object Code
Array
Data Type
UNSIGNED32
Sub-Index
000
Description
Number of Errors
Access
RW
PDO Mapping
No
Default Value
0x00000000
Sub-Index
001
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
002
Description
Standard Error Field
Data Type
UNSIGNED32
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Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
003
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
004
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
005
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
Default Value
0x00000000
Sub-Index
006
Description
Standard Error Field
Data Type
UNSIGNED32
Access
RO
PDO Mapping
No
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