turck BL67-4DI-P User manual

USER
MANUAL
BL67-
MULTIPROTOCOL
GATEWAY
FOR
ETHERNET
Sense it! Connect it! Bus it! Solve it!
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All brand and product names are trademarks or registered trade marks of the owner
concerned.
Edition 02/2015
© 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
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D300815 0215- BL67 multiprotocol i
Table of contents
1Aboutthismanual
1.1 Documentation concept .................................................................................................................................1-2
1.1.1 Additional documentation .................................................................................................................................................................1-2
1.2 Explanation of symbols used..........................................................................................................................1-3
1.2.1 Further notes ...........................................................................................................................................................................................1-3
1.3 General notes...................................................................................................................................................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 BL67 philosophy
2.1 The basic concept ............................................................................................................................................2-2
2.1.1 Flexibility ...................................................................................................................................................................................................2-3
2.1.2 Easy to handle .........................................................................................................................................................................................2-3
2.2 The BL67 components.....................................................................................................................................2-4
2.2.1 Gateways ...................................................................................................................................................................................................2-4
2.2.2 Electronic modules ................................................................................................................................................................................2-5
2.2.3 Base modules...........................................................................................................................................................................................2-5
2.2.4 End plate....................................................................................................................................................................................................2-6
3 Properties: Gateway
3.1 General technical data ....................................................................................................................................3-3
3.1.1 Function.....................................................................................................................................................................................................3-3
3.1.2 Version overview ....................................................................................................................................................................................3-3
3.2 Supported I/O-modules (protocol dependent).............................................................................................3-4
3.3 QuickConnect (QC) and Fast Start-Up (FSU)..................................................................................................3-6
3.4 Technical data..................................................................................................................................................3-7
3.4.1 Top view BL67-GW-EN (VN < 03-00) ...............................................................................................................................................3-7
3.4.2 Top view BL67-GW-EN (VN ≥03-00) ...............................................................................................................................................3-8
3.4.3 Gateway structure..................................................................................................................................................................................3-8
3.4.4 Technical data..........................................................................................................................................................................................3-9
3.5 Connection options ...................................................................................................................................... 3-13
3.5.1 Fieldbus connection .......................................................................................................................................................................... 3-13
3.5.2 Voltage supply via 7/8"-connector ............................................................................................................................................... 3-14
3.5.3 Service-interface female PS/2 connector (VN < 03-00).......................................................................................................... 3-15
3.5.4 Service interface Mini-USB (VN ≥ 03-00)..................................................................................................................................... 3-16
3.6 Address assignment ..................................................................................................................................... 3-17
3.6.1 Default setting of the gateway....................................................................................................................................................... 3-18
3.6.2 Address setting via rotary coding switch (rotary mode)....................................................................................................... 3-19
3.6.3 Address setting via BootP-mode (300)........................................................................................................................................ 3-20
3.6.4 Address setting via DHCP-mode (400) ........................................................................................................................................ 3-20
3.6.5 Address setting via PGM-mode (500) .......................................................................................................................................... 3-21
3.6.6 Address setting via the mode PGM-DHCP (universal mode, 600)..................................................................................... 3-22
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D300815 0215- BL67 multiprotocolii
3.6.7 F_Reset (reset to factory settings, 900)........................................................................................................................................3-22
3.6.8 Addressing via I/O-ASSISTANT 3 (FDT/DTM) .............................................................................................................................3-23
3.6.9 Address assignment via Web server (only VN ≥03-00)..........................................................................................................3-26
3.7 Reset to factory settings............................................................................................................................... 3-27
3.8 Web server - remote access/configuration (only VN ≥03-00) ................................................................... 3-28
3.8.1 Safety in the web server ....................................................................................................................................................................3-28
3.8.2 IP address................................................................................................................................................................................................3-28
3.8.3 Home........................................................................................................................................................................................................3-29
3.8.4 Gateway Diagnostics..........................................................................................................................................................................3-29
3.8.5 Ethernet Statistics................................................................................................................................................................................3-30
3.8.6 Links..........................................................................................................................................................................................................3-31
3.8.7 Login/password....................................................................................................................................................................................3-31
3.8.8 Change Admin Password..................................................................................................................................................................3-32
3.8.9 Network Configuration......................................................................................................................................................................3-33
3.8.10 Gateway Configuration .....................................................................................................................................................................3-34
3.8.11 Slot Parameters.....................................................................................................................................................................................3-35
3.8.12 Usage of mobile devices ...................................................................................................................................................................3-36
3.8.13 Web server logout ...............................................................................................................................................................................3-36
3.8.14 Deactivating the web server............................................................................................................................................................3-37
3.9 Status and Control Word of the BL67-stations........................................................................................... 3-38
3.9.1 Status Word............................................................................................................................................................................................3-38
3.9.2 Control Word.........................................................................................................................................................................................3-38
3.10 SET button ..................................................................................................................................................... 3-39
3.11 Status indicators/diagnostic messages gateway ....................................................................................... 3-40
3.11.1 Diagnostic messages via LEDs ........................................................................................................................................................3-40
3.12 Parameters of the I/O-modules .................................................................................................................. 3-43
3.13 Diagnostics of the I/O-modules ................................................................................................................... 3-44
4 Implementation of EtherNet/IP™
4.1 The EtherNet/IP™ Communications Profile .................................................................................................. 4-2
4.1.1 Communications Profile for BL67 .................................................................................................................................................... 4-3
4.2 QC - QuickConnect .......................................................................................................................................... 4-4
4.2.1 General ...................................................................................................................................................................................................... 4-4
4.2.2 QuickConnect in BL67.......................................................................................................................................................................... 4-4
4.3 Device Level Ring (DLR).................................................................................................................................. 4-6
4.4 Diagnostic messages via the process data ................................................................................................... 4-7
4.4.1 Summarized Diagnostics .................................................................................................................................................................... 4-7
4.4.2 Scheduled Diagnostics ........................................................................................................................................................................ 4-7
4.5 Classes and Instances of the EtherNet/IP™ stations..................................................................................... 4-8
4.5.1 EtherNet/IP™ Standard Classes......................................................................................................................................................... 4-8
4.5.2 Identity Object (0×01).......................................................................................................................................................................... 4-9
4.5.3 Assembly Object (0×04) ....................................................................................................................................................................4-11
4.5.4 TCP/IP Interface Object (0×F5)........................................................................................................................................................4-14
4.5.5 Ethernet Link Object (0×F6).............................................................................................................................................................4-18
4.5.6 DLR Object (0×47) ...............................................................................................................................................................................4-21
4.5.7 QOS Object (0×48)...............................................................................................................................................................................4-22
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D300815 0215- BL67 multiprotocol iii
4.6 VSC-Vendor Specific Classes........................................................................................................................ 4-23
4.6.1 Class instance of the VSC.................................................................................................................................................................. 4-23
4.6.2 Gateway Class (VSC 100, 64h) ......................................................................................................................................................... 4-24
4.6.3 Process Data Class (VSC102, 66h) .................................................................................................................................................. 4-27
4.6.4 Miscellaneous Parameters Class (VSC 126) ................................................................................................................................ 4-29
5 Application example: BL67-GW-EN with EtherNet/IP™ (Allen Bradley)
5.1 General notes...................................................................................................................................................5-2
5.1.1 Used hard-/ software.............................................................................................................................................................................5-2
5.2 Network configuration....................................................................................................................................5-3
5.2.1 Configuration of the network in "RS Logix 5000".......................................................................................................................5-3
5.2.2 Downloading the I/O configuration................................................................................................................................................5-8
5.3 I/O data mapping.......................................................................................................................................... 5-10
5.4 Process data access ...................................................................................................................................... 5-12
5.4.1 Setting outputs .................................................................................................................................................................................... 5-12
5.4.2 Example program................................................................................................................................................................................ 5-13
5.5 Activating QuickConnect ............................................................................................................................ 5-15
6 Implementation of Modbus TCP
6.1 Common Modbus description ........................................................................................................................6-2
6.2 Implemented Modbus functions....................................................................................................................6-6
6.3 Modbus registers.............................................................................................................................................6-7
6.3.1 Structure of the packed in-/output process data .................................................................................................................... 6-11
6.3.2 Register 100Ch: "Gateway status" ................................................................................................................................................. 6-14
6.3.3 Register 1130h: "Modbus connection mode" ........................................................................................................................... 6-15
6.3.4 Register 1131h: "Modbus Connection Timeout" ..................................................................................................................... 6-15
6.3.5 Register 0×113C and 0×113D: "Restore Modbus-Connection-Parameters".................................................................. 6-15
6.3.6 Register 0×113E and 0×113F: "Save Modbus-Connection-Parameters"......................................................................... 6-15
6.4 The Service Object........................................................................................................................................ 6-16
6.5 Bit areas: mapping of input-discrete- and coil-areas ................................................................................ 6-18
6.6 Output module behavior in case of an error .............................................................................................. 6-19
7 Application example: BL67-GW-EN with Modbus TCP (CODESYS Win V3)
7.1 Used hard-/software........................................................................................................................................7-2
7.1.1 Hardware...................................................................................................................................................................................................7-2
7.1.2 Software.....................................................................................................................................................................................................7-2
7.2 Network configuration....................................................................................................................................7-3
7.3 Programming with CODESYS .........................................................................................................................7-4
7.3.1 Predefined feature sets ........................................................................................................................................................................7-4
7.3.2 Creating a new project.........................................................................................................................................................................7-5
7.3.3 Defining the communication settings............................................................................................................................................7-7
7.3.4 Adding the Ethernet Adapter ............................................................................................................................................................7-9
7.3.5 Adding the Modbus master............................................................................................................................................................. 7-10
7.3.6 Adding a Modbus TCP slave............................................................................................................................................................ 7-11
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D300815 0215- BL67 multiprotocoliv
7.3.7 Programming (example program) ................................................................................................................................................7-13
7.3.8 CODESYS: Global variables...............................................................................................................................................................7-14
7.3.9 Modbus channels.................................................................................................................................................................................7-15
7.3.10 Building, login and start ....................................................................................................................................................................7-27
7.3.11 Reading out the process data .........................................................................................................................................................7-29
7.3.12 Diagnosis evaluation ..........................................................................................................................................................................7-30
8 Implementation of PROFINET
8.1 PROFINET......................................................................................................................................................... 8-2
8.2 FSU - Fast Start-Up (prioritized startup)....................................................................................................... 8-4
8.2.1 General ...................................................................................................................................................................................................... 8-4
8.2.2 FSU in BL67............................................................................................................................................................................................... 8-4
8.3 MRP (Media Redundancy Protocol)............................................................................................................... 8-5
8.4 Address assignment ....................................................................................................................................... 8-5
8.5 GSDML file ....................................................................................................................................................... 8-6
8.6 Default values ................................................................................................................................................. 8-6
8.7 Diagnosis in PROFINET ................................................................................................................................... 8-7
8.7.1 Gateway Error codes ............................................................................................................................................................................ 8-7
8.7.2 Channel-specific error codes of the I/O-modules...................................................................................................................... 8-8
8.8 Parameterization ......................................................................................................................................... 8-12
8.8.1 Gateway parameters...........................................................................................................................................................................8-12
8.8.2 I/O module parameters .....................................................................................................................................................................8-15
8.9 Description of user data for acyclic services............................................................................................... 8-16
8.9.1 Description of the acyclic gateway user data............................................................................................................................8-16
8.9.2 Description of the acyclic module user data .............................................................................................................................8-17
9 Application example: BL67-GW-EN with PROFINET (S7)
9.1 Application example ...................................................................................................................................... 9-2
9.1.1 General ...................................................................................................................................................................................................... 9-2
9.1.2 Example network ................................................................................................................................................................................... 9-2
9.1.3 New project in the SIMATIC Manager ............................................................................................................................................ 9-3
9.1.4 Setting the PG/PC-interface............................................................................................................................................................... 9-3
9.1.5 Installation of the GSDML-files.......................................................................................................................................................... 9-4
9.1.6 Adding PROFINET network nodes................................................................................................................................................... 9-8
9.1.7 Configuring the BL67-station..........................................................................................................................................................9-10
9.1.8 Scanning the network for PROFINET nodes...............................................................................................................................9-11
9.1.9 PROFINET neighborhood detection via LLDP ...........................................................................................................................9-13
9.1.10 Online topology detection...............................................................................................................................................................9-16
9.1.11 Fast Start-Up - configuration of fieldbus nodes .......................................................................................................................9-17
9.2 Diagnosis with Step 7 ................................................................................................................................... 9-19
9.2.1 Diagnostic messages in the hardware configuration.............................................................................................................9-19
9.2.2 Diagnostic telegram with error code ...........................................................................................................................................9-20
10 Guidelines for station planning
10.1 Module arrangement.................................................................................................................................... 10-2
10.1.1 Random module arrangement.......................................................................................................................................................10-2
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D300815 0215- BL67 multiprotocol v
10.2 Complete planning....................................................................................................................................... 10-3
10.3 Maximum system extension........................................................................................................................ 10-3
10.4 Creating potential groups ........................................................................................................................... 10-4
10.5 Plugging and pulling electronics modules................................................................................................. 10-4
10.6 Extending an existing station...................................................................................................................... 10-5
10.7 Firmware download ..................................................................................................................................... 10-6
11 Guidelines for Electrical Installation
11.1 General notes................................................................................................................................................ 11-2
11.1.1 General.................................................................................................................................................................................................... 11-2
11.1.2 Cable routing ........................................................................................................................................................................................ 11-2
11.1.3 Lightning protection.......................................................................................................................................................................... 11-3
11.1.4 Transmission media............................................................................................................................................................................ 11-3
11.2 Potential relationships................................................................................................................................. 11-4
11.2.1 General.................................................................................................................................................................................................... 11-4
11.3 Electromagnetic compatibility (EMC) ......................................................................................................... 11-5
11.3.1 Ensuring electromagnetic compatibility .................................................................................................................................... 11-5
11.3.2 Grounding of inactive metal components................................................................................................................................. 11-5
11.3.3 PE connection....................................................................................................................................................................................... 11-5
11.3.4 Earth-free operation........................................................................................................................................................................... 11-5
11.3.5 Mounting rails....................................................................................................................................................................................... 11-6
11.4 Shielding of cables ....................................................................................................................................... 11-7
11.5 Potential compensation............................................................................................................................... 11-8
11.5.1 Switching inductive loads................................................................................................................................................................ 11-8
11.5.2 Protection against Electrostatic Discharge (ESD) .................................................................................................................... 11-8
12 Appendix
12.1 Changing the IP address of a PC/ network interface card ......................................................................... 12-2
12.1.1 Changing the IP address in Windows .......................................................................................................................................... 12-2
12.1.2 Changing the IP address via PACTware™ FDT/DTM (I/O-ASSISTANT V3) ...................................................................... 12-4
12.2 Deactivating/ adapting the firewall in Windows ....................................................................................... 12-5
12.3 Addressing via DHCP.................................................................................................................................... 12-7
12.4 Nominal current consumption of modules on Ethernet ........................................................................... 12-9
12.5 Ident codes of the BL67-modules.............................................................................................................. 12-11
13 Glossary
14 Index
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D300815 0215- BL67 multiprotocolvi
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D300815 0215- BL67 multiprotocol 1-1
1 About this manual
1.1 Documentation concept.................................................................................................................... 2
1.1.1 Additional documentation...............................................................................................................................................................2
1.2 Explanation of symbols used ............................................................................................................ 3
– Warnings .............................................................................................................................................................................................3
1.2.1 Further notes .........................................................................................................................................................................................3
1.3 General notes.................................................................................................................................... 4
1.3.1 Prescribed use .......................................................................................................................................................................................4
1.3.2 Notes concerning planning/installation of this product .......................................................................................................4
1.4 List of revisions ................................................................................................................................. 5
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About this manual
D300815 0215- BL67 multiprotocol1-2
1.1 Documentation concept
This manual contains all information about the multiprotocol-gateway of the product line BL67 (BL67-
GW-EN).
In addition to a short BL67-system description and the protocol-independent properties of the gateway
and if necessary of the I/O-modules (technical properties, diagnostics, parameters, etc.), the following
chapters contain two protocol-dependent chapters respectively.
The protocol-dependent chapters contain on the one hand the protocol-specific gateway-properties
and on the other hand an application example for the respective Ethernet-protocol, describing the
device's connection to automation devices.
EtherNet/IP™
–chapter 4, Implementation of EtherNet/IP™
–chapter 5, Application example: BL67-GW-EN with EtherNet/IP™ (Allen Bradley)
Modbus TCP
–chapter 6, Implementation of Modbus TCP
–chapter 7, Application example: BL67-GW-EN with Modbus TCP (CODESYS Win V3)
PROFINET
–chapter 8, Implementation of PROFINET
–chapter 9, Application example: BL67-GW-EN with PROFINET (S7)
Additionally, the manual contain protocol-independent guideline for station configuration, the
electrical installation, etc.
1.1.1 Additional documentation
BL67 I/O-modules (TURCK-documentation no.: German D300572; English D300529).
The bus-independent I/O-modules of the BL67-system as well as all bus independent information
as mounting, labeling etc. are described in a separate manual.
In addition to that, the manual contains a short description of the I/O-ASSISTANT, the project
planning and configuration software tool for TURCK I/O-systems-
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D300815 0215- BL67 multiprotocol 1-3
Explanation of symbols used
1.2 Explanation of symbols used
Warnings
Action-related warnings are placed next to potentially dangerous work steps and are marked by
graphic symbols. Each warning is initiated by a warning sign and a signal word that expresses the grav-
ity of the danger. The warnings have absolutely to be observed.
1.2.1 Further notes
CALL TO ACTION
This symbol identifies steps that the user has to perform.
RESULTS OF ACTION
This symbol identifies relevant results of steps
DANGER!
DANGER indicates an immediately dangerous situation, with high risk, the death or severe
injury, if not avoided.
WARNING!
WARNING indicates a potentially dangerous situation with medium risk, the death or severe
injury, if not avoided.
CAUTION!
WARNING indicates a potentially dangerous situation with medium risk, the death or severe
injury, if not avoided.
ATTENTION!
ATTENTION indicates a situation that may lead to property damage, if it is not avoided.
NOTE
In NOTES you find tips, recommendations and important information. The notes facilitate
work, provide more information on specific actions and help to avoid overtime by not follow-
ing the correct procedure.
TECHNICAL BASICS
The TECHNICAL BASICS offer technical information, basics and background information. This
information lead to a better understanding of the device functions for example. The experi-
enced user can skip this information.
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About this manual
D300815 0215- BL67 multiprotocol1-4
1.3 General notes
Please read this section carefully. Safety aspects cannot be left to chance when dealing with electrical
equipment.
This manual includes all information necessary for the prescribed use of the BL67-gateways. It has been
specially conceived for personnel with the necessary qualifications.
1.3.1 Prescribed use
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.
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
All respective safety measures and accident protection guidelines must be considered carefully and
without exception.
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D300815 0215- BL67 multiprotocol 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 Topic new changed
3QuickConnect (QC) and Fast Start-Up (FSU) (page 3-6) x
Ethernet-connection for QC-/FSU-applications (page 3-13) x
Parameters of the I/O-modules (page 3-43) x
Diagnostics of the I/O-modules (page 3-44) x
4 QuickConnect in BL67 (page 4-4) x
Device Level Ring (DLR) (page 4-6) x
5Activating QuickConnect (page 5-15) x
8PROFINET (page 8-2) x
FSU - Fast Start-Up (priorisierter Hochlauf) (page 8-4) x
MRP (Media Redundancy Protokoll) (page 8-5) x
9Fast Start-Up - configuration of fieldbus nodes (page 9-17) x
NOTE
The publication of this manual renders all previous editions invalid.
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About this manual
D300815 0215- BL67 multiprotocol1-6
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D300815 0215- BL67 multiprotocol 2-1
2 BL67 philosophy
2.1 The basic concept.............................................................................................................................. 2
2.1.1 Flexibility .................................................................................................................................................................................................3
2.1.2 Easy to handle .......................................................................................................................................................................................3
2.2 The BL67 components....................................................................................................................... 4
2.2.1 Gateways.................................................................................................................................................................................................4
2.2.2 Electronic modules..............................................................................................................................................................................5
– Power feeding modules.................................................................................................................................................................5
2.2.3 Base modules.........................................................................................................................................................................................5
2.2.4 End plate..................................................................................................................................................................................................6
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BL67 philosophy
D300815 0215- BL67 multiprotocol2-2
2.1 The basic concept
BL67 is a modular I/O system of protection class IP67 for use in industrial automation. It connects the
sensors and actuators in the field with the higher-level master.
BL67 offers modules for practically all applications:
Digital input and output modules
Analog input and output modules
Technology modules (SSI-, RS232-module,...).
A complete BL67 station counts as one station on the bus and therefore occupies one fieldbus address
in any given fieldbus structure.
A BL67 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 BL67 station and the other fieldbus stations.
The communication within the BL67 station between the gateway and the individual BL67 modules is
regulated via an internal module bus.
NOTE
The gateway is the only fieldbus-dependent module on a BL67 station. All other BL67 mod-
ules are not dependent on the fieldbus used.
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D300815 0215- BL67 multiprotocol 2-3
The basic concept
2.1.1 Flexibility
A BL67 station can contain modules in any combination, which means it is possible to adapt the system
to practically all applications in automated industry.
2.1.2 Easy to handle
All BL67 modules of the standard line, with the exception of the gateway, consist of a base module and
an electronics module.
The gateway and the base modules are either snapped onto a mounting rail or are directly mounted
onto the machine frame. The electronic modules are plugged onto the appropriate base modules.
The electronics modules can be plugged or pulled when the station is being commissioned or for main-
tenance purposes, without having to disconnect the field wiring from the base modules.
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BL67 philosophy
D300815 0215- BL67 multiprotocol2-4
2.2 The BL67 components
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/O-ASSIS-
TANT.
Figure 2-1:
BL67 station
AGateway
BElectronic
module
CBase module
Figure 2-2:
BL67 gateway
A
B
C
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D300815 0215- BL67 multiprotocol 2-5
The BL67 components
2.2.2 Electronic modules
The standard electronics modules contain the I/O-functions of the BL67 modules (power distribution
modules, digital and analog input/output modules, and technology modules).
They are plugged onto the base modules and are not directly connected to the wiring and can be
plugged or pulled when the station is being commissioned or for maintenance purposes, without hav-
ing to disconnect the field wiring from the base modules.
Power feeding modules
Power Feeding modules distribute the required 24 V DC field voltage to the I/O-modules. They are nec-
essary for building groups of modules with different potentials within a BL67 station, or if the rated sup-
ply voltage for the outputs cannot be guaranteed.
The adjoining power supply module and modules to the left are potentially isolated.
2.2.3 Base modules
The field wiring is connected to the base modules.
These are available in the following connection variations:
1 × M12, 2 × M12, 2 × M12-P, 4 × M12, 4 × M12-P
4 × M8, 8 × M8
1 × M12-8
1 × M23, 1 × M23-19
Figure 2-3:
Example of an
electronic module
NOTE
For detailed information about the individual BL67 I/O components, please refer to the chap-
ters 2 to 8 of the manual "BL67- I/O-modules" (TURCK Documentation-No.: German D300572;
English: D300529).
The "Appendix" to the manual mentioned above contains (amongst others) a list of all BL67
components and the assignment of electronic modules to base modules.
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BL67 philosophy
D300815 0215- BL67 multiprotocol2-6
1 × 7/8" (for Power Feeding-modules)
2.2.4 End plate
An end plate on the right-hand side physically completes the BL67 station.
It protects the module bus connections of the last base module in a station and guarantees the protec-
tion class IP67.
Figure 2-4:
Example of a base
module
Figure 2-5:
End plate
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