turck BL20 User manual

BL20 –
I/O-MODULES
USER MANUAL
FOR
CANopen

All brand and product names are trademarks or registered trade
marks of the owner concerned.
Edition 03/2008
© Hans Turck GmbH, Mülheim 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, dupli-
cated or distributed by means of electronic systems without written
permission of Hans Turck GmbH & Co. KG, Mülheim an der Ruhr.
Subject to alterations without notice.
E_co.fm Seite I Montag, 13. Oktober 2003 8:40 08

I
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 equalization. The system installer is
responsible for implementing this connection.
Connecting cables and signal lines should be installed so that
inductive or capacitive interference 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 auto-
mation 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.

II
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
necessary, 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 malfunc-
tion (for example, by means of separate limit switches, mechan-
ical 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 0308 - BL20 CANopen i
Table of Contents
About this Manual
Documentation Concept............................................................................... 0-2
Overview ....................................................................................................... 0-3
Prescribed Use........................................................................................ 0-3
Notes Concerning Planning /Installation of this Product ........................ 0-3
Description of Symbols Used.................................................................. 0-4
List of Revisions............................................................................................ 0-5
1 BL20 Philosophy
The Basic Concept........................................................................................ 1-2
BL20 Components ........................................................................................ 1-5
Gateways................................................................................................. 1-5
Power Distribution Modules .................................................................... 1-6
Electronics Modules................................................................................ 1-7
Base Modules.......................................................................................... 1-9
End Plate ............................................................................................... 1-11
End Bracket........................................................................................... 1-12
Jumpers................................................................................................. 1-13
Marking Material.................................................................................... 1-14
Shield Connection, 2-Pole for Analog Modules .................................... 1-15
2 Short description of CANopen
CANopen ...................................................................................................... 2-2
General .................................................................................................... 2-2
Communication ....................................................................................... 2-3
BL20 and CANopen...................................................................................... 2-7
Electronic data sheet – EDS file.................................................................... 2-8
3 BL20 - Gateway for CANopen
Introduction................................................................................................... 3-2
Function ........................................................................................................ 3-3
Technical Information.................................................................................... 3-4
Technical Data .............................................................................................. 3-6
General Technical Data ........................................................................... 3-6
Structure Diagram of a Gateway........................................................... 3-11
Technical Data BL20-GW-CANOPEN................................................... 3-11

D301087 0308 - BL20 CANopenii
Technical Data BL20-GWBR-CANOPEN .............................................. 3-13
Connections for data cables to BL20-GW-CANOPEN ............................... 3-15
Fieldbus connection via SUB-D socket................................................. 3-15
Fieldbus connection through direct wiring............................................ 3-16
Connections of the data cables to BL20-GWBR-CANopen....................... 3-18
Fieldbus connection via Open Style connector..................................... 3-18
Service Interface Connection ................................................................ 3-20
Setting the bit transfer rate through DIP-switches...................................... 3-22
Node-ID Setting .......................................................................................... 3-24
Acceptance of the BL20 Station Configuration .......................................... 3-26
Status Indicators/ Diagnostic Messages Gateway ..................................... 3-27
Diagnostic Messages via LEDs ............................................................. 3-27
4 BL20 - Communication in CANopen
Setting up communication............................................................................ 4-6
Minimum Boot-up ................................................................................... 4-6
Identifier for the Standard Objects........................................................ 4-10
Set up Node Guarding Protocol............................................................ 4-13
Boot-up Message.................................................................................. 4-15
Parameterization through Service Data Objects (SDO) .............................. 4-16
Read (Read from Object Dictionary)...................................................... 4-17
Write (Write to Object Dictionary).......................................................... 4-18
Commanded Parameter Storing/Restoring........................................... 4-21
Transmission of Process Data Objects (PDO) ............................................ 4-22
Communication Parameter COB-ID...................................................... 4-22
Transmission Type ................................................................................ 4-23
Inhibit Time............................................................................................ 4-24
Event Timer ........................................................................................... 4-24
Available PDOs...................................................................................... 4-25
Mapping Objects in PDOs..................................................................... 4-25
Default-PDOs and PDO-Mappings ....................................................... 4-26
BL20-Specific Default-PDOs................................................................. 4-28
Mappable Objects ................................................................................. 4-32
Procedure for Altering PDO-Mappings ................................................. 4-34
Object Dictionary ........................................................................................ 4-35
Overview of all Objects.......................................................................... 4-35
Commands for "Parameter Save" and "Restore Defaults"................... 4-40
Objects for the Communication Profile ................................................. 4-42
Objects for the Transfer of Service Data............................................... 4-72

D301087 0308 - BL20 CANopen iii
Objects for the Transfer of Process Output Data.................................. 4-74
Objects for the Transfer of Process Input data..................................... 4-83
Objects for Network Management ........................................................ 4-92
Manufacturer Specific Objects............................................................ 4-103
I/O-Module Objects .................................................................................. 4-110
Overview of the I/O-Module Objects................................................... 4-110
General I/O-Objects ............................................................................ 4-113
Objects for Digital Input Modules........................................................ 4-114
Objects for Digital Output Modules..................................................... 4-121
Objects for Analog Input Modules....................................................... 4-137
Objects for Analog Output Modules.................................................... 4-155
Objects for RS232/RS4xx-modules .................................................... 4-163
Objects for SSI-Modules..................................................................... 4-176
Objects for Counter-Modules.............................................................. 4-199
Objects for SWIRE modules................................................................ 4-255
Representation of process input data................................................. 4-257
Representation of process output data............................................... 4-261
5 Diagnostics - Emergency Frames
General.......................................................................................................... 5-2
Structure of the Emergency Frames............................................................. 5-3
Error Register .......................................................................................... 5-4
Gateway-Diagnostics.................................................................................... 5-5
I/O-Module Diagnostics ................................................................................ 5-7
Digital Input Modules .............................................................................. 5-7
Digital Output Modules ........................................................................ 5-10
Analog Input Modules ........................................................................... 5-11
Technology Modules ............................................................................. 5-16
6 Guidelines for Station Planning
Random Module Arrangement...................................................................... 6-2
Complete Planning .................................................................................. 6-2
Maximum System Extension................................................................... 6-2
Power Supply................................................................................................ 6-5
Gateway Supply ...................................................................................... 6-5
Module Bus Refreshing........................................................................... 6-5
Creating Potential Groups..................................................................... 6-11
Protecting the Service Interface on the Gateway.................................. 6-12
C-Rail (Cross Connection)..................................................................... 6-13
Direct Wiring of Relay Modules............................................................. 6-15

D301087 0308 - BL20 CANopeniv
Plugging and Pulling Electronics Modules.................................................. 6-16
Extending an Existing Station ..................................................................... 6-17
Firmware Download .................................................................................... 6-18
7 Guidelines for Electrical Installation
General Notes ............................................................................................... 7-2
General .................................................................................................... 7-2
Cable Routing.......................................................................................... 7-2
Cable Routing Inside and Outside of Cabinets ....................................... 7-2
Lightning Protection ................................................................................ 7-3
Transmission Cables ............................................................................... 7-3
Cable Types ............................................................................................ 7-4
Potential Relationships ................................................................................. 7-5
General .................................................................................................... 7-5
Potential-Free Installation........................................................................ 7-6
Non-isolated Installation.......................................................................... 7-6
Electromagnetic Compatibility (EMC) ........................................................... 7-7
Ensuring Electromagnetic Compatibility ................................................. 7-7
Grounding of Inactive Metal Components .............................................. 7-7
PE Connection......................................................................................... 7-8
Earth-Free Operation............................................................................... 7-8
Mounting Rails......................................................................................... 7-9
EMC Compliant Cabinet Installation ..................................................... 7-10
Shielding of cables...................................................................................... 7-11
Potential Compensation.............................................................................. 7-13
Switching Inductive Loads .................................................................... 7-15
Protection against Electrostatic Discharge (ESD) ................................. 7-15
Bus Connection .......................................................................................... 7-16
Two-Pole Shield Connection ...................................................................... 7-17
8 BL20-Approvals for Zone 2/ Division 2
Certified BL20-Components ......................................................................... 8-2
Certificates for Europe .................................................................................. 8-4
Type Examination Certificate .................................................................. 8-4
ATEX IEC Rev.1.doc.............................................................................. 8-10
Declaration of Conformity/ Konformitätserklärung................................ 8-11
Zertifikate für Europa .................................................................................. 8-12
Baumusterprüfbescheinigung ............................................................... 8-12

D301087 0308 - BL20 CANopen v
ATEX IEC Rev.1.doc.............................................................................. 8-18
Declaration of Conformity/Konformitätserklärung................................. 8-19
Certificates IECEx ....................................................................................... 8-20
IECEx Certificate of Conformity ............................................................ 8-20
ATEX IEC Rev.1.doc.............................................................................. 8-25
Certificates for the USA .............................................................................. 8-26
Certificate Of Compliance ..................................................................... 8-26
Installation Drawings ............................................................................. 8-30
Certificates for Canada ............................................................................... 8-32
Certificate Of Compliance ..................................................................... 8-32
Installation Drawings ............................................................................. 8-36
9Glossary
10 Index

D301087 0308 - BL20 CANopenvi

D301087 0308 - BL20 CANopen 0-1
About this Manual
Documentation Concept .................................................................... 2
Overview ............................................................................................ 3
Prescribed Use............................................................................................3
Notes Concerning Planning /Installation of this Product ............................3
Description of Symbols Used......................................................................4
List of Revisions ................................................................................ 5

About this Manual
D301087 0308 - BL20 CANopen0-2
Documentation Concept
This manual contains all information about the BL20-gateway for
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 auto-
mation 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 0308 - BL20 CANopen 0-3
Overview
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.
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.
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.
Warning
The devices described in this manual must be used only in applica-
tions prescribed in this manual or in the respective technical de-
scriptions, and only with certified components and devices from
third party manufacturers.
Warning
All respective safety measures and accident protection guidelines
must be considered carefully and without exception.

About this Manual
D301087 0308 - BL20 CANopen0-4
Description of Symbols Used
Warning
This sign can be found next to all notes that indicate a source of haz-
ards. 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 impor-
tant information about one or more operating steps. These specific
notes are intended to make operation easier and avoid unnecessary
work due to incorrect operation.

D301087 0308 - BL20 CANopen 0-5
List of Revisions
List of Revisions
In comparison to the previous manual edition, the following
changes/ revisions have been made:
Table 1:
List of revisions
Chapter Subject/
Description
new changed
Ch. 8 BL20-Approvals for Zone 2 X
Note
The publication of this manual renders all previous editions invalid.

About this Manual
D301087 0308 - BL20 CANopen0-6

D301087 0308 - BL20 CANopen 1-1
1 BL20 Philosophy
The Basic Concept ............................................................................ 2
BL20 Components ............................................................................. 5
Gateways.....................................................................................................5
– Gateways with integrated power supply .................................................5
– Gateways without power supply ............................................................6
Power Distribution Modules ........................................................................6
Electronics Modules....................................................................................7
Base Modules..............................................................................................9
End Plate ...................................................................................................11
End Bracket...............................................................................................12
Jumpers.....................................................................................................13
Marking Material........................................................................................14
Shield Connection, 2-Pole for Analog Modules ........................................15

BL20 Philosophy
D301087 0308 - BL20 CANopen1-2
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 struc-
ture. 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.
Note
The gateway is the only fieldbus-dependent module on a BL20 sta-
tion. All other BL20 modules are not dependent on the fieldbus
used.

D301087 0308 - BL20 CANopen 1-3
The Basic Concept
1
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 applica-
tions 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.
Figure 1:
Example of a
BL20 station
AGateway
BPower distri-
bution module
CElectronics
module in block
design
DElectronics
module in slice
design
EEnd plate
FBase module
in slice design
GBase module
in block design
A
B
CD
G
F
E

BL20 Philosophy
D301087 0308 - BL20 CANopen1-4
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.