Pixsys MCM260X User manual

MCM260X
Modbus RTU - CANopen expansion module
User manual - Manuale d'uso

Table of contents
1 Safety guidelines.......................................................................................................................................................... 7
1.1 Organization of safety notices.................................................................................................................. 7
1.2 Safety Precautions ....................................................................................................................................... 7
1.3 Precautions for safe use.............................................................................................................................. 8
1.4 Environmental policy / WEEE .................................................................................................................... 8
2 Composition of acronym ........................................................................................................................................... 9
3 Technical data............................................................................................................................................................... 9
3.1 General characteristics ............................................................................................................................... 9
3.2 Hardware characteristics ........................................................................................................................... 9
3.3 Software features....................................................................................................................................... 12
4 Dimension and installation..................................................................................................................................... 12
4.1 Electric connections................................................................................................................................... 13
4.2 Connection to the communication line................................................................................................ 18
5 Device SET-UP ............................................................................................................................................................. 18
5.1 Numeric indicators (internal display).................................................................................................... 18
5.2 Meaning of the status lights (LED) ......................................................................................................... 19
5.3 Changing the configuration parameters from the terminal........................................................... 19
5.4 Changing to the configuration parameters from the MyPixsys app.............................................20
5.5 Table of the configuration parameters that can be accessible from the terminal and via the
MyPixsys app............................................................................................................................................... 21
5.6 Restore to factory settings........................................................................................................................22
6 Table of the configuration parameters for the models MCM260X-1/2/3/4AD ............................................22
6.1 UNIT A - GENERAL CONFIGURATION .....................................................................................................23
6.2 UNIT B - ANALOG INPUTS .........................................................................................................................24
6.3 UNIT C - DIGITAL INPUTS...........................................................................................................................25
7 Table of the configuration parameters for the model MCM260X-5AD.........................................................26
7.1 UNIT A - GENERAL CONFIGURATION .....................................................................................................26
7.2 UNIT B - ANALOG INPUTS .........................................................................................................................27
7.3 UNIT C - ANALOG OUTPUTS.....................................................................................................................29
8 Table of the configuration parameters for the model MCM260X-9AD.........................................................30
8.1 UNIT A - GENERAL CONFIGURATION .....................................................................................................30
8.2 UNIT B - ANALOG INPUTS ......................................................................................................................... 31
8.3 UNIT C - ANALOG OUTPUTS.....................................................................................................................33
8.4 UNIT D - DIGITAL INPUTS ..........................................................................................................................34
9 Modbus RTU ................................................................................................................................................................35
9.1 Characteristics of the Modbus RTU slave protocol.............................................................................35
9.2 Modbus RTU communication areas......................................................................................................35
10 CANopen ......................................................................................................................................................................44
10.1 SET-UP of slave CANopen node ..............................................................................................................44
10.2 Slave CANopen node operation .............................................................................................................44
10.3 EDS Files........................................................................................................................................................44
11 CANopen in detail......................................................................................................................................................44
11.1 Object Dictionary.......................................................................................................................................45
11.1.1 CANopen communication model ...................................................................................................46
11.1.2 CANopen Pre-defined Connection Set ........................................................................................... 47
11.1.3 CANopen identifier distribution.......................................................................................................48
11.1.4 CANopen boot-up procedure ...........................................................................................................48
11.1.5 Communication profile: initialization............................................................................................48
11.1 Communication Profile Area...................................................................................................................49
11.1.1 Device Type ...........................................................................................................................................50
11.1.2 Error Register.........................................................................................................................................50
11.1.3 Pre-defined Error Field........................................................................................................................50
11.1.4 COB-ID SYNC message....................................................................................................................... 51
11.1.5 Communication Cycle Period ........................................................................................................... 51

11.1.6 Manufacturer Device Name.............................................................................................................. 51
11.1.7 Manufacturer Hardware Version..................................................................................................... 51
11.1.8 Manufacturer Software Version.......................................................................................................51
11.1.9 Node ID .................................................................................................................................................. 51
11.1.10 Guard Time............................................................................................................................................ 51
11.1.11 Life Time Factor.................................................................................................................................... 52
11.1.12 Store Parameters .................................................................................................................................52
11.1.13 Restore Default Parameters ..............................................................................................................52
11.1.14 COB-ID Emergency Object ................................................................................................................52
11.1.15 Inhibit Time Emergency Object........................................................................................................ 52
11.1.16 Producer Heartbeat Time ..................................................................................................................52
11.1.17 Identity Object...................................................................................................................................... 53
11.1.18 Error Behaviour ....................................................................................................................................53
11.1.19 Receive PDO Communication Parameter......................................................................................53
11.1.20 Receive PDO Mapping Parameter ...................................................................................................54
11.1.21 Transmit PDO Communication Parameter ................................................................................... 55
11.1.22 Transmit PDO Mapping .....................................................................................................................56
11.2 Manufacturer Specific Parameter Area.................................................................................................56
11.2.1 Device specification ............................................................................................................................56
11.2.2 MCM260X parameters........................................................................................................................57
11.2.3 Encoder/Counter calculations ..........................................................................................................58
11.2.4 Encoder/Counter preset .....................................................................................................................58
11.2.5 Encoder/Counter commands............................................................................................................58
11.2.6 Encoder counter calculations 1s ......................................................................................................59
11.2.7 Encoder/Counter calculations 100ms............................................................................................. 59
11.2.8 Status/error flags .................................................................................................................................59
11.3 Standard Device Profile Area...................................................................................................................60
11.3.1 Digital Input.......................................................................................................................................... 61
11.3.2 Global interrupt Enable Digital 8 bit............................................................................................... 61
11.3.3 Interrupt Mask Any Change 8 bit..................................................................................................... 61
11.3.4 Interrupt Mask Low-to-High 8 bit.................................................................................................... 61
11.3.5 Interrupt Mask High-to-Low 8 bit....................................................................................................62
11.3.6 Digital Output ......................................................................................................................................62
11.3.7 Error Mode Output 8bit......................................................................................................................62
11.3.8 Error Value Output 8bit ......................................................................................................................63
11.3.9 Analogue Input 16bit.......................................................................................................................... 63
11.3.10 Analogue Output 16bit ......................................................................................................................63
11.3.11 Analogue Input Interrupt Trigger Selection ..................................................................................64
11.3.12 Analogue Input Global Interrupt Enable.......................................................................................64
11.3.13 Analogue Input Interrupt Upper Limit Integer .............................................................................64
11.3.14 Analogue Input Interrupt Lower Limit Integer .............................................................................65
11.3.15 Analogue Input Interrupt Delta Unsigned..................................................................................... 65
11.3.16 Analogue Input Interrupt Negative Delta Unsigned...................................................................65
11.3.17 Analogue Input Interrupt Positive Delta Unsigned .....................................................................66
11.3.18 Analogue Output Error Mode...........................................................................................................66
11.3.19 Analogue Output Error Value Integer.............................................................................................66
11.3.20 Error Behaviour ....................................................................................................................................66
11.4 PDO transmission....................................................................................................................................... 67
11.4.1 PDO Mapping.......................................................................................................................................67
11.5 Monitoring via SYNC ................................................................................................................................. 67
11.6 Node Guarding ...........................................................................................................................................67
11.7 Monitoring via Heartbeat ........................................................................................................................68
11.8 Emergency ...................................................................................................................................................68
12 Error messages............................................................................................................................................................69

Indice dei contenuti
1 Norme di sicurezza ....................................................................................................................................................71
1.1 Organizzazione delle note di sicurezza ................................................................................................ 71
1.2 Note di sicurezza.........................................................................................................................................71
1.3 Precauzioni per l’uso sicuro .....................................................................................................................72
1.4 Tutela ambientale e smaltimento dei rifiuti / Direttiva WEEE .........................................................73
2 Composizione della sigla .........................................................................................................................................73
3 Dati tecnici...................................................................................................................................................................73
3.1 Caratteristiche generali ............................................................................................................................73
3.2 Caratteristiche Hardware......................................................................................................................... 74
3.3 Caratteristiche software ...........................................................................................................................76
4 Dimensioni e installazione ...................................................................................................................................... 76
4.1 Collegamenti elettrici................................................................................................................................77
4.2 Collegamento alla linea di comunicazione.........................................................................................82
5 SET-UP del dispositivo...............................................................................................................................................82
5.1 Indicatori numerici (display interno).....................................................................................................82
5.2 Significato delle spie di stato (Led).........................................................................................................83
5.3 Modifica parametri di configurazione da terminale.........................................................................83
5.4 Modifica parametri di configurazione da app MyPixsys..................................................................84
5.5 Tabella dei parametri di configurazione accessibili da terminale e tramite app MyPixsys .....85
5.6 Ripristino dei parametri di fabbrica.......................................................................................................86
6 Tabella parametri di configurazione per i modelli MCM260X-1/2/3/4AD....................................................86
6.1 GRUPPO A - CONFIGURAZIONE GENERALE..........................................................................................87
6.2 GRUPPO B - INGRESSI ANALOGICI ..........................................................................................................88
6.3 GRUPPO C - INGRESSI DIGITALI ...............................................................................................................89
7 Tabella parametri di configurazione per il modello MCM260X-5AD ............................................................89
7.1 GRUPPO A - CONFIGURAZIONE GENERALE..........................................................................................89
7.2 GRUPPO B - INGRESSI ANALOGICI ..........................................................................................................90
7.3 GRUPPO C - USCITE ANALOGICHE..........................................................................................................93
8 Tabella parametri di configurazione per il modello MCM260X-9AD ............................................................94
8.1 GRUPPO A - CONFIGURAZIONE GENERALE..........................................................................................94
8.2 GRUPPO B - INGRESSI ANALOGICI ..........................................................................................................95
8.3 GRUPPO C - USCITE ANALOGICHE.......................................................................................................... 97
8.4 GRUPPO D - INGRESSI DIGITALI...............................................................................................................98
9 Modbus RTU ................................................................................................................................................................98
9.1 Caratteristiche protocollo Modbus RTU slave.....................................................................................99
9.2 Aree di comunicazione Modbus RTU.....................................................................................................99
10 CANopen ....................................................................................................................................................................108
10.1 SET-UP nodo CANopen slave.................................................................................................................108
10.2 Funzionamento nodo CANopen slave................................................................................................108
10.3 EDS Files......................................................................................................................................................108
11 CANopen nel dettaglio ...........................................................................................................................................108
11.1 Object Dictionary.....................................................................................................................................109
11.1.1 CANopen communication model ................................................................................................. 110
11.1.2 CANopen Pre-defined Connection Set ..........................................................................................111
11.1.3 CANopen identifier distribution..................................................................................................... 112
11.1.4 Procedura di boot-up CANopen .................................................................................................... 112
11.1.5 Communication profile: inizializzazione..................................................................................... 112
11.1 Communication Profile Area................................................................................................................. 113
11.1.1 Device Type ......................................................................................................................................... 113
11.1.2 Error Register....................................................................................................................................... 114
11.1.3 Pre-defined Error Field...................................................................................................................... 114
11.1.4 COB-ID SYNC message..................................................................................................................... 114
11.1.5 Communication Cycle Period ......................................................................................................... 115
11.1.6 Manufacturer Device Name............................................................................................................ 115

11.1.7 Manufacturer Hardware Version................................................................................................... 115
11.1.8 Manufacturer Software Version..................................................................................................... 115
11.1.9 Node ID ................................................................................................................................................ 115
11.1.10 Guard Time.......................................................................................................................................... 115
11.1.11 Life Time Factor.................................................................................................................................. 115
11.1.12 Store Parameters ............................................................................................................................... 115
11.1.13 Restore Default Parameters ............................................................................................................ 116
11.1.14 COB-ID Emergency Object .............................................................................................................. 116
11.1.15 Inhibit Time Emergency Object...................................................................................................... 116
11.1.16 Producer Heartbeat Time ................................................................................................................ 116
11.1.17 Identity Object.................................................................................................................................... 116
11.1.18 Error Behaviour .................................................................................................................................. 117
11.1.19 Receive PDO Communication Parameter.................................................................................... 117
11.1.20 Receive PDO Mapping Parameter ................................................................................................. 118
11.1.21 Transmit PDO Communication Parameter ................................................................................. 119
11.1.22 Transmit PDO Mapping ...................................................................................................................120
11.2 Manufacturer Specific Parameter Area...............................................................................................120
11.2.1 Device specification .......................................................................................................................... 121
11.2.2 Parametri MCM260X......................................................................................................................... 121
11.2.3 Conteggi encoder/Contatori ...........................................................................................................122
11.2.4 Preset encoder/Contatori.................................................................................................................122
11.2.5 Comandi encoder/contatori ...........................................................................................................122
11.2.6 Conteggi 1s encoder contatori .......................................................................................................123
11.2.7 Conteggi 100ms encoder/contatori ..............................................................................................123
11.2.8 Flags stato/errore...............................................................................................................................123
11.3 Standard Device Profile Area.................................................................................................................124
11.3.1 Digital Input........................................................................................................................................ 124
11.3.2 Global interrupt Enable Digital 8 bit.............................................................................................125
11.3.3 Interrupt Mask Any Change 8 bit...................................................................................................125
11.3.4 Interrupt Mask Low-to-High 8 bit..................................................................................................125
11.3.5 Interrupt Mask High-to-Low 8 bit..................................................................................................125
11.3.6 Digital Output ....................................................................................................................................126
11.3.7 Error Mode Output 8bit....................................................................................................................126
11.3.8 Error Value Output 8bit ....................................................................................................................126
11.3.9 Analogue Input 16bit........................................................................................................................ 127
11.3.10 Analogue Output 16bit ....................................................................................................................127
11.3.11 Analogue Input Interrupt Trigger Selection ................................................................................127
11.3.12 Analogue Input Global Interrupt Enable.....................................................................................127
11.3.13 Analogue Input Interrupt Upper Limit Integer ...........................................................................128
11.3.14 Analogue Input Interrupt Lower Limit Integer ...........................................................................128
11.3.15 Analogue Input Interrupt Delta Unsigned...................................................................................128
11.3.16 Analogue Input Interrupt Negative Delta Unsigned.................................................................129
11.3.17 Analogue Input Interrupt Positive Delta Unsigned ...................................................................129
11.3.18 Analogue Output Error Mode.........................................................................................................129
11.3.19 Analogue Output Error Value Integer...........................................................................................129
11.3.20 Error Behaviour ..................................................................................................................................130
11.4 Trasmissione PDO.....................................................................................................................................130
11.4.1 PDO Mapping.....................................................................................................................................130
11.5 Monitoraggio tramite SYNC ..................................................................................................................130
11.6 Node Guarding ......................................................................................................................................... 131
11.7 Monitoraggio tramite Heartbeat ......................................................................................................... 131
11.8 Emergency .................................................................................................................................................132
12 Messaggi di errore....................................................................................................................................................133

Manuale d’uso - MCM260X - 7
Introduction
Thank you for choosing a Pixsys instrument.
The MCM260X modules are a series of digital/analog expansions for PLC that implement the Modbus
RTU protocol with RS485 interface or the CANopen protocol.
There are 6 versions of the expansion module, in continuous voltage for the models MCM260X-1AD,
MCM260X-2AD, MCM260X-3AD, MCM260X-9AD, while for the models with relay outputs or analog
inputs/outputs MCM260X-4AD, MCM260X-5AD operation is required in low continuous and alternating
voltage.
1 Safety guidelines
Read carefully the safety guidelines and programming instructions contained in this manual before
connecting/using the device.
Disconnect power supply before proceeding to hardware settings or electrical wirings to avoid risk of
electric shock, fire, malfunction.
Do not install/operate the device in environments with flammable/explosive gases.
This device has been designed and conceived for industrial environments and applications that rely
on proper safety conditions in accordance with national and international regulations on labour
and personal safety. Any application that might lead to serious physical dama ge/ life risk or involve
medical life support devices should be avoided.
Device is not conceived for applications related to nuclear power plants, weapon systems, flight
control, mass transportation systems.
Only qualified personnel should be allowed to use device and/or service it and only in accordance to
technical data listed in this manual.
Do not dismantle/modify/repair any internal component.
Device must be installed and can operate only within the allowed environmental conditions.
Overheating may lead to risk of fire and can shorten the lifecycle of electronic components.
1.1 Organization of safety notices
Safety notices in this manual are organized as follows:
Safety notice Description
Danger! Disregarding these safety guidelines and notices can be life-threatening.
Warning! Disregarding these safety guidelines and notices can result in severe injury or
substantial damage to property.
Information! This information is important for preventing errors.
1.2 Safety Precautions
Danger!
CAUTION - Risk of Fire and Electric Shock
This product is UL listed as DIN-rail mounting process control equipment. It must be
mounted in an enclosure that does not allow fire to escape externally.
Danger!
If the output relays are used past their life expectancy, contact fusing or burning may
occasionally occur.
Always consider the application conditions and use the output relays within their
rated load and electrical life expectancy. The life expectancy of output relays varies
considerably with the output load and switching conditions.
Warning!
Devices shall be supplied with limited energy according to UL 61010-1 3rd Ed, section
9.4 or LPS in conformance with UL 60950-1 or SELV in conformance with UL 60950-1
or Class 2 in compliance with UL 1310 or UL 1585.
Warning!
Loose screws may occasionally result in fire.
For screw terminals, tighten screws to tightening torque is 0.5 Nm for 5 mm Pitch
terminal blocks or 0.25 Nm for 3.81 mm Pitch terminal blocks.

8 - MCM260X - Manuale d’uso
Warning!
A malfunction in the Digital Controller may occasionally make control operations
impossible or prevent alarm outputs, resulting in property damage. To maintain
safety in the event of malfunction of the Digital Controller, take appropriate safety
measures, such as installing a monitoring device on a separate line.
1.3 Precautions for safe use
Be sure to observe the following precautions to prevent operation failure, malfunction, or adverse
affects on the performance and functions of the product. Not doing so may occasionally result in
unexpected events. Do not handle the Digital Controller in ways that exceed the ratings.
• The product is designed for indoor use only. Do not use or store the product outdoors or in any of
the following places.
- Places directly subject to heat radiated from heating equipment.
- Places subject to splashing liquid or oil atmosphere.
- Places subject to direct sunlight.
- Places subject to dust or corrosive gas (in particular, sulfide gas and ammonia gas).
- Places subject to intense temperature change.
- Places subject to icing and condensation.
- Places subject to vibration and large shocks.
• Installing two or more controllers in close proximity might lead to increased internal temperature
and this might shorten the life cycle of electronic components. It is strongly recommended to
install cooling fans or other air-conditioning devices inside the control cabinet.
• Always check the terminal names and polarity and be sure to wire properly. Do not wire the
terminals that are not used.
• To avoid inductive noise, keep the controller wiring away from power cables that carry high voltages
or large currents. Also, do not wire power lines together with or parallel to Digital Controller
wiring. Using shielded cables and using separate conduits or ducts is recommended. Attach a
surge suppressor or noise filter to peripheral devices that generate noise (in particular motors,
transformers, solenoids, magnetic coils or other equipment that have an inductance component).
When a noise filter is used at the power supply, first check the voltage or current, and attach the
noise filter as close as possible to the Digital Controller. Allow as much space as possible between
the Digital Controller and devices that generate powerful high frequencies (high-frequency
welders, high-frequency sewing machines, etc.) or surge.
• A switch or circuit breaker must be provided close to device. The switch or circuit breaker must be
within easy reach of the operator, and must be marked as a disconnecting means for the controller.
• Wipe off any dirt from the Digital Controller with a soft dry cloth. Never use thinners, benzine,
alcohol, or any cleaners that contain these or other organic solvents. Deformation or discoloration
may occur.
• The number of non-volatile memory write operations is limited. Therefore, use EEprom write mode
when frequently overwriting data, e.g.: through communications.
• The device must be protected by:
MCM260X-1AD: 4A Fast Fuse (F)
MCM260X-2AD: 1A Fast Fuse (F)
MCM260X-3AD: 4A Fast Fuse (F)
MCM260X-4AD: 1A Fast Fuse (F)
MCM260X-5AD: 1A Fast Fuse (F)
MCM260X-9AD: 5A Fast Fuse (F)
• The MCM260X series does not require ventilation.
1.4 Environmental policy / WEEE
Do not dispose electric tools together with household waste material.
According to European Directive 2012/19/EU on waste electrical and electronic equipment and its
implementation in accordance with national law, electric tools that have reached the end of their life
must be collected separately and returned to an environmentally compatible recycling facility.

Manuale d’uso - MCM260X - 9
2 Composition of acronym
The MCM260X series includes the following models:
MCM260X-
MCM260X-1AD Power supply 12..24 Vdc
16 Static Outputs 12..24Vdc
MCM260X-2AD
Power supply 12..24 Vdc
16 Digital inputs PNP 12..24Vdc
2 Analog inputs 0...10V
3 Encoders/Counters
MCM260X-3AD
Power supply 12..24 Vdc
8 Digital inputs PNP 12..24Vdc
8 Static Outputs 12..24Vdc
3 Encoders/Counters
MCM260X-4AD
Power supply 12..24 Vdc/Vac
8 Digital inputs PNP 12..24Vdc
8 Relay outputs
2 Analog inputs 0...10V
3 Encoders/Counters
MCM260X-5AD
Power supply 12..24 Vdc/Vac
4 Universal analog inputs
2 Analog outputs 0..10V / 4..20mA
MCM260X-9AD
Power supply 12..24 Vdc
4 Universal analog inputs
2 Analog outputs 0..10V / 4..20mA
16 Static outputs 12..24Vdc / Digital inputs PNP 12..24Vdc
4 Encoders/Counters
3 Technical data
3.1 General characteristics
Displays 4 0.52 inch displays
RUN, COM LEDs and I/O status LEDs
Operating
conditions
Temperature: 0-50 °C -Humidity 35..95 Rh%
Max. altitude: 2000m
Protection IP30 container
Materials Container: Self-extinguishing polycarbonate
Front: Self-extinguishing polyamide
Weight Approximately 250 g
3.2 Hardware characteristics
3.2.a MCM260X-1AD
Power supply 12..24 Vdc ± 15% Consumption 100VA max
Digital outputs 16 static outputs 12-24Vdc Max 700mA per output
Max 3A in total for all the outputs
Communication
port
2 modes to select:
- RS485 with Modbus RTU protocol
- CAN with CANopen protocol
Galvanically isolated
Up to 115200 baud
Up to 1Mbit

10 - MCM260X - Manuale d’uso
3.2.b MCM260X-2AD
Power supply 12..24 Vdc ±15% Consumption 10VA max
Digital inputs 16 inputs PNP 12-24Vdc VIL = 4.3V
VIL = 8.0V
Encoder/Counter
inputs
3 encoders/counters superimposed on
the PNP digital inputs
32 bit resolution
Maximum frequency 80KHz
Analog inputs 2 inputs 0..10V superimposed on the
digital inputs 45000 points resolution
Communication
port
2 modes to select:
- RS485 with Modbus RTU protocol
- CAN with CANopen protocol
Galvanically isolated
Up to 115200 baud
Up to 1Mbit
3.2.c MCM260X-3AD
Power supply 12..24 Vdc ±15% Consumption 50VA max
Digital inputs 8 inputs PNP 12-24Vdc VIL = 4.3V
VIL = 8.0V
Encoder/Counter
inputs
3 encoders/counters superimposed on
the PNP digital inputs
32 bit resolution
Maximum frequency 80KHz
Digital outputs 8 static outputs 12-24Vdc Max 700mA per output
Max 3A in total for all the outputs
Communication
port
2 modes to select:
- RS485 with Modbus RTU protocol
- CAN with CANopen protocol
Galvanically isolated
Up to 115200 baud
Up to 1Mbit
3.2.d MCM260X-4AD
Power supply 12..24 Vdc/Vac ±15% Consumption 20VA max
Digital inputs 8 inputs PNP 12-24Vdc VIL = 4.3V
VIL = 8.0V
Encoder/Counter
inputs
3 encoders/counters superimposed on
the PNP digital inputs
32 bit resolution
Maximum frequency 80KHz
Analog inputs 2 inputs 0..10V superimposed on the
digital inputs 45000 points resolution
Relay outputs 8 relay outputs with single in common
Contact data:
5A at 250Vac, 30Vdc resistive load
2A at 250Vac, 30Vdc inductive load
Max exchange power
1250 VA, 150W resistive load
500 VA, 60W inductive load
Max 10A in total
Communication
port
2 modes to select:
- RS485 with Modbus RTU protocol
- CAN with CANopen protocol
Galvanically isolated
Up to 115200 baud
Up to 1Mbit