turck BL20-GW-CANOPEN User manual

BL20 –
USER MANUAL
FOR
CANopen

All brand and product names are trademarks or registered trade marks of the owner
concerned.
Edition 12/2011
© Hans Turck GmbH, Muelheim an der Ruhr
All rights reserved, including those of the translation.
No part of this manual may be reproduced in any form (printed, photocopy, microfilm or any
other process) or processed, duplicated or distributed by means of electronic systems
without written permission of Hans Turck GmbH & Co. KG, Muelheim an der Ruhr.
Subject to alterations without notice

Safety Notes!
Before starting the installation
Disconnect the power supply of the device.
Ensure that devices cannot be accidentally restarted.
Verify isolation from the supply.
Earth and short circuit.
Cover or enclose neighboring units that are live.
Follow the engineering instructions (AWA) of the device concerned.
Only suitably qualified personnel in accordance with EN 50 110-1/-2 (VDE 0 105 Part 100) may
work on this device/system.
Before installation and before touching the device ensure that you are free of electrostatic
charge.
The functional earth (FE) must be connected to the protective earth (PE) or to the potential equa-
lization. The system installer is responsible for implementing this connection.
Connecting cables and signal lines should be installed so that inductive or capacitive interfe-
rence do not impair the automation functions.
Install automation devices and related operating elements in such a way that they are well
protected against unintentional operation.
Suitable safety hardware and software measures should be implemented for the I/O interface so
that a line or wire breakage on the signal side does not result in undefined states in the automa-
tion devices.
Ensure a reliable electrical isolation of the low voltage for the 24 volt supply. Only use power
supply units complying with IEC 60 364-4-41 (VDE 0 100 Part 410) or HD 384.4.41 S2.
Deviations of the mains voltage from the rated value must not exceed the tolerance limits given
in the specifications, otherwise this may cause malfunction and dangerous operation.
Emergency stop devices complying with IEC/EN 60 204-1 must be effective in all operating
modes of the automation devices. Unlatching the emergency-stop devices must not cause
restart.
Devices that are designed for mounting in housings or control cabinets must only be operated
and controlled after they have been installed with the housing closed. Desktop or portable units
must only be operated and controlled in enclosed housings.
Measures should be taken to ensure the proper restart of programs interrupted after a voltage
dip or failure. This should not cause dangerous operating states even for a short time. If neces-
sary, emergency-stop devices should be implemented.
Wherever faults in the automation system may cause damage to persons or property, external
measures must be implemented to ensure a safe operating state in the event of a fault or
malfunction (for example, by means of separate limit switches, mechanical interlocks etc.).
The electrical installation must be carried out in accordance with the relevant regulations (e. g.
with regard to cable cross sections, fuses, PE).
All work relating to transport, installation, commissioning and maintenance must only be carried
out by qualified personnel. (IEC 60 364 and HD 384 and national work safety regulations).
All shrouds and doors must be kept closed during operation.

D301087 1211 - BL20 CANopen i
Table of Contents
1 About this Manual
1.1 Documentation Concept.................................................................................................................................1-2
1.2 Description of Symbols Used..........................................................................................................................1-3
1.3 Overview ..........................................................................................................................................................1-4
1.3.1 Prescribed Use .........................................................................................................................................................................................1-4
1.3.2 Notes Concerning Planning /Installation of this Product ........................................................................................................1-4
1.4 List of Revisions ...............................................................................................................................................1-5
2 BL20 Philosophy
2.1 The Basic Concept............................................................................................................................................2-2
2.2 BL20 Components ...........................................................................................................................................2-3
2.2.1 Gateways ...................................................................................................................................................................................................2-3
2.2.2 Power Distribution Modules ..............................................................................................................................................................2-3
2.2.3 Electronics Modules ..............................................................................................................................................................................2-4
2.2.4 Base Modules ...........................................................................................................................................................................................2-5
2.2.5 End Plate....................................................................................................................................................................................................2-7
2.2.6 End Bracket...............................................................................................................................................................................................2-7
2.2.7 Jumpers......................................................................................................................................................................................................2-8
2.2.8 Marking Material.....................................................................................................................................................................................2-8
2.2.9 Shield Connection, 2-Pole for Analog Modules ..........................................................................................................................2-9
3 Short description of CANopen
3.1 CANopen ..........................................................................................................................................................3-2
3.1.1 General.......................................................................................................................................................................................................3-2
3.1.2 Communication ......................................................................................................................................................................................3-3
3.2 BL20 and CANopen..........................................................................................................................................3-5
3.3 Electronic data sheet – EDS file ......................................................................................................................3-6
4 BL20 - Gateway for CANopen
4.1 Introduction .....................................................................................................................................................4-2
4.2 Function ...........................................................................................................................................................4-3
4.3 Technical Information .....................................................................................................................................4-4
4.4 Technical Data .................................................................................................................................................4-5
4.4.1 General Technical Data ........................................................................................................................................................................4-5
4.4.2 Structure Diagram of a Gateway.......................................................................................................................................................4-8
4.4.3 Technical Data BL20-GW-CANOPEN................................................................................................................................................4-8
4.4.4 Technical Data BL20-GWBR-CANOPEN ..........................................................................................................................................4-9
4.5 Connections for data cables to BL20-GW-CANOPEN................................................................................. 4-10
4.5.1 Fieldbus connection via SUB-D socket........................................................................................................................................ 4-10
4.5.2 Fieldbus connection through direct wiring............................................................................................................................... 4-10
4.6 Connections of the data cables to BL20-GWBR-CANopen ........................................................................ 4-12
4.6.1 Fieldbus connection via Open Style connector ....................................................................................................................... 4-12

D301087 1211 - BL20 CANopenii
4.6.2 Service Interface Connection ..........................................................................................................................................................4-14
4.7 Setting the bit transfer rate through DIP-switches.................................................................................... 4-15
4.8 Node-ID Setting ............................................................................................................................................ 4-17
4.9 Acceptance of the BL20 Station Configuration .......................................................................................... 4-19
4.10 Status Indicators/ Diagnostic Messages Gateway ..................................................................................... 4-20
4.10.1 Diagnostic Messages via LEDs ........................................................................................................................................................4-20
5 BL20 - Communication in CANopen
6 Guidelines for Station Planning
6.1 Random Module Arrangement...................................................................................................................... 6-2
6.1.1 Complete Planning ............................................................................................................................................................................... 6-2
6.1.2 Maximum System Extension ............................................................................................................................................................. 6-2
6.2 Power Supply .................................................................................................................................................. 6-4
6.2.1 Gateway Supply...................................................................................................................................................................................... 6-4
6.2.2 Module Bus Refreshing........................................................................................................................................................................ 6-4
6.2.3 Creating Potential Groups .................................................................................................................................................................. 6-8
6.2.4 Protecting the Service Interface on the Gateway ...................................................................................................................... 6-8
6.2.5 C-Rail (Cross Connection).................................................................................................................................................................... 6-9
6.2.6 Direct Wiring of Relay Modules ......................................................................................................................................................6-10
6.3 Plugging and Pulling Electronics Modules ................................................................................................. 6-11
6.4 Extending an Existing Station...................................................................................................................... 6-12
6.5 Firmware Download ..................................................................................................................................... 6-13
7 Guidelines for Electrical Installation
7.1 General Notes.................................................................................................................................................. 7-2
7.1.1 General ...................................................................................................................................................................................................... 7-2
7.1.2 Cable Routing.......................................................................................................................................................................................... 7-2
7.1.3 Cable Routing Inside and Outside of Cabinets: .......................................................................................................................... 7-2
7.1.4 Lightning Protection ............................................................................................................................................................................ 7-3
7.1.5 Transmission Cables ............................................................................................................................................................................. 7-3
7.1.6 Cable Types.............................................................................................................................................................................................. 7-3
7.2 Potential Relationships .................................................................................................................................. 7-4
7.2.1 General ...................................................................................................................................................................................................... 7-4
7.2.2 Potential-Free Installation .................................................................................................................................................................. 7-4
7.2.3 Non-isolated Installation..................................................................................................................................................................... 7-4
7.3 Electromagnetic Compatibility (EMC)........................................................................................................... 7-5
7.3.1 Ensuring Electromagnetic Compatibility ...................................................................................................................................... 7-5
7.3.2 Grounding of Inactive Metal Components................................................................................................................................... 7-5
7.3.3 PE Connection......................................................................................................................................................................................... 7-5
7.3.4 Earth-Free Operation............................................................................................................................................................................ 7-5
7.3.5 Mounting Rails ........................................................................................................................................................................................ 7-6
7.3.6 EMC Compliant Cabinet Installation............................................................................................................................................... 7-7
7.4 Shielding of cables.......................................................................................................................................... 7-8
7.5 Potential Compensation ................................................................................................................................ 7-9

D301087 1211 - BL20 CANopen iii
7.5.1 Switching Inductive Loads............................................................................................................................................................... 7-10
7.5.2 Protection against Electrostatic Discharge (ESD) .................................................................................................................... 7-10
7.6 Bus Connection............................................................................................................................................. 7-11
7.7 Two-Pole Shield Connection........................................................................................................................ 7-12
8 BL20-Approvals for Zone 2/ Division 2
9Glossary
10 Index

D301087 1211 - BL20 CANopeniv

D301087 1211 - BL20 CANopen 1-1
1 About this Manual
1.1 Documentation Concept ................................................................................................................... 2
1.2 Description of Symbols Used ............................................................................................................ 3
1.3 Overview ........................................................................................................................................... 4
1.3.1 Prescribed Use.....................................................................................................................................4
1.3.2 Notes Concerning Planning /Installation of this Product......................................................................4
1.4 List of Revisions ................................................................................................................................ 5

About this Manual
D301087 1211 - BL20 CANopen1-2
1.1 Documentation Concept
This manual contains all information about the BL20-gateway for CANopen (BL20-GW-CANOPEN,
BL20-GWBR-CANOPEN).
The following chapters contain a short BL20 system description, a description of the field bus system
CANopen, exact information about function and structure of the BL20 CANopen-gateway as well as all
bus-specific information concerning the connection to automation devices, the maximum system
extension etc.
The bus-independent I/O-modules for BL20 as well as all further fieldbus-independent chapters like
mounting, labelling etc. are described in a separate manual.
BL20 I/O-modules (TURCK-Documentation-No.: English D300717)
Furthermore, the manual contains a short description of the project planning and diagnostics software
for TURCK I/O-systems, the software I/O-ASSISTANT.

D301087 1211 - BL20 CANopen 1-3
Description of Symbols Used
1.2 Description of Symbols Used
Danger
This sign can be found next to all notes that indicate a source of hazards. This can refer to
danger to personnel or damage to the system (hardware and software) and to the facility.
This sign means for the operator: work with extreme caution.
Attention
This sign can be found next to all notes that indicate a potential hazard.
This can refer to possible danger to personnel and damages to the system (hardware and
software) and to the facility.
Note
This sign can be found next to all general notes that supply important information about one
or more operating steps. These specific notes are intended to make operation easier and
avoid unnecessary work due to incorrect operation.

About this Manual
D301087 1211 - BL20 CANopen1-4
1.3 Overview
This manual includes all information necessary for the prescribed use of BL20 products. It has been
specially conceived for personnel with the necessary qualifications.
1.3.1 Prescribed Use
Appropriate transport, storage, deployment and mounting as well as careful operating and thorough
maintenance guarantee the trouble-free and safe operation of these devices.
1.3.2 Notes Concerning Planning /Installation of this Product
Attention
Please read this section carefully. Safety aspects cannot be left to chance when dealing with
electrical equipment.
Danger
The devices described in this manual must be used only in applications prescribed in this
manual or in the respective technical descriptions, and only with certified components and
devices from third party manufacturers.
Danger
All respective safety measures and accident protection guidelines must be considered
carefully and without exception.

D301087 1211 - BL20 CANopen 1-5
List of Revisions
1.4 List of Revisions
In comparison to the previous manual edition, the following changes/ revisions have been made:
Table 1-1:
List of revisions
Chapter Subject/Description new changed deleted
5/6 BL20 - Communication in CANopen/ Diagnostics -
Emergency Frames
→seperate manual D301230
X
8 BL20-Approvals for Zone 2/ Division 2
→seperate manual D301255
X
Note
The publication of this manual renders all previous editions invalid.

About this Manual
D301087 1211 - BL20 CANopen1-6

D301087 1211 - BL20 CANopen 2-1
2 BL20 Philosophy
2.1 The Basic Concept ............................................................................................................................. 2
2.2 BL20 Components ............................................................................................................................. 3
2.2.1 Gateways..............................................................................................................................................3
– Gateways with integrated power supply...........................................................................................3
– Gateways without power supply ......................................................................................................3
2.2.2 Power Distribution Modules .................................................................................................................3
2.2.3 Electronics Modules.............................................................................................................................4
2.2.4 Base Modules.......................................................................................................................................5
2.2.5 End Plate ..............................................................................................................................................7
2.2.6 End Bracket..........................................................................................................................................7
2.2.7 Jumpers................................................................................................................................................8
2.2.8 Marking Material...................................................................................................................................8
2.2.9 Shield Connection, 2-Pole for Analog Modules ...................................................................................9

BL20 Philosophy
D301087 1211 - BL20 CANopen2-2
2.1 The Basic Concept
BL20 is a modular I/O system for use in industrial automation. It connects the sensors and actuators in
the field with the higher-level master.
BL20 offers modules for practically all applications:
Digital input and output modules
Analog input and output modules
Technology modules (counters, RS232 interface...)
A complete BL20 station counts as one station on the bus and therefore occupies one fieldbus address
in any given fieldbus structure. A BL20 station consists of a gateway, power distribution modules and I/
O modules.
The connection to the relevant fieldbus is made via the bus-specific gateway, which is responsible for
the communication between the BL20 station and the other fieldbus stations.
The communication within the BL20 station between the gateway and the individual BL20 modules is
regulated via an internal module bus.
Flexibility
All BL20 stations can be planned to accommodate the exact number of channels to suit your needs,
because the modules are available in block and slice design.
A BL20 station can contain modules in any combination, which means it is possible to adapt the system
to practically all applications in automated industry.
Compactness
The slim design of the BL20 modules (gateway 50.4 mm / 1.98 inch, slice 12.6 mm / 0.49 inch and block
100.8 mm / 3.97 inch) and their low overall height favor the installation of this system in confined
spaces.
Easy to handle
All BL20 modules, with the exception of the gateway, consist of a base module and an electronics
module.
The gateway and the base modules are snapped onto a mounting rail. The electronics modules are
plugged onto the appropriate base modules.
The base modules are designed as terminal blocks. The wiring is secured by tension clamp or screw
connection. The electronics modules can be plugged or pulled when the station is being commissioned
or for maintenance purposes, without having to disconnect the field wiring from the base modules.
Note
The gateway is the only fieldbus-dependent module on a BL20 station. All other BL20
modules are not dependent on the fieldbus used.

D301087 1211 - BL20 CANopen 2-3
BL20 Components
2.2 BL20 Components
For a detailed explanation of the individual BL20 components, please refer to chapter 2 and chapter 4.
The "Appendix" to this manual contains (amongst others) a list of all BL20 components and the
assignment of electronics modules to base modules.
2.2.1 Gateways
The gateway connects the fieldbus to the I/O modules. It is responsible for handling the entire process
data and generates diagnostic information for the higher-level master and the software tool
I/Oassistant.
Gateways with integrated power supply
The BL20 gateway BL20-GWBR-CANOPEN offers an integrated power supply unit for feeding the
gateway and the connected I/O modules.
It is not necessary to supply each individual module with a separate voltage
Gateways without power supply
2.2.2 Power Distribution Modules
Figure 2-1:
Gateway
BL20-GWBR-
CANOPEN
Note
The gateways without integrated power supply unit need an additional power supply
module (bus refreshing module) which feeds the gateway an the connected I/O modules.

BL20 Philosophy
D301087 1211 - BL20 CANopen2-4
The power supply for gateways and I/O modules is fed to the power distribution modules; therefore, it
is not necessary to supply each individual module with a separate voltage.
2.2.3 Electronics Modules
Electronics modules contain the functions of the BL20 modules (power distribution modules, digital
and analog input/output modules, and technology modules).
Electronics modules are plugged onto the base modules and are not directly connected to the wiring.
The assignment table in the Section "Ordering Information" of the "Appendix" shows the possible
combinations of electronics and base modules. They can be plugged or pulled when the station is
being commissioned or for maintenance purposes, without having to disconnect the field wiring from
the base modules.
Figure 2-2:
Power distribu-
tion module
Figure 2-3:
Electronics
module in slice
design

D301087 1211 - BL20 CANopen 2-5
BL20 Components
2.2.4 Base Modules
The field wiring is connected to the base modules. These are constructed as terminals in block and slice
designs and are available in the following variations with either tension clamp or screw connections: 2-
/3-wire (2-channel), 4-wire (2-channel) and 4x 2-/3-wire (4-channel).
The assignment table in the Section "Ordering Information" of the "Appendix" shows the possible
combinations of electronics and base modules.
Figure 2-4:
Electronics
module in block
design
Figure 2-5:
Base module with
tension clamp
connection

BL20 Philosophy
D301087 1211 - BL20 CANopen2-6
Figure 2-6:
Base module with
screw connection
Figure 2-7:
Base module in
block design