VIPA System 100V Series User manual

VIPA System 100V
SM-CAN | Manual
HB100E_SM-CAN | Rev. 15/02
January 2015

Copyright © VIPA GmbH. All Rights Reserved.
This document contains proprietary information of VIPA and is not to be disclosed or used except in accordance with applicable
agreements.
This material is protected by the copyright laws. It may not be reproduced, distributed, or altered in any fashion by any entity (either
internal or external to VIPA), except in accordance with applicable agreements, contracts or licensing, without the express written
consent of VIPA and the business management owner of the material.
For permission to reproduce or distribute, please contact:
VIPA, Gesellschaft für Visualisierung und Prozessautomatisierung mbH
Ohmstraße 4, D-91074 Herzogenaurach, Germany
Tel.: [phone]
Fax.: [phone]
EMail: inf[email protected]
http://www.vipa.com
Note
Every effort has been made to ensure that the information contained in this document was complete and accurate at the time of
publishing. Nevertheless, the authors retain the right to modify the information. This customer document describes all the hardware
units and functions known at the present time. Descriptions may be included for units which are not present at the customer site. The
exact scope of delivery is described in the respective purchase contract.
CE Conformity Declaration
Hereby, VIPA GmbH declares that the products and systems are in compliance with the essential requirements and other relevant
provisions.
Conformity is indicated by the CE marking affixed to the product.
Conformity Information
For more information regarding CE marking and Declaration of Conformity (DoC), please contact your local VIPA customer service
organization.
Trademarks
VIPA, SLIO, System 100V, System 200V, System 300V, System 300S, System 400V, System 500S and Commander Compact are
registered trademarks of VIPA Gesellschaft für Visualisierung und Prozessautomatisierung mbH.
SPEED7 is a registered trademark of profichip GmbH.
SIMATIC, STEP, SINEC, TIA Portal, S7-300 and S7-400 are registered trademarks of Siemens AG.
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Information product support
Contact your local VIPA Customer Service Organization representative if you wish to report errors or questions regarding the contents
of this document. If you are unable to locate a customer service center, contact VIPA as follows:
VIPA GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany
Telefax:[phone]
EMail: documentat[email protected]
Technical support
Contact your local VIPA Customer Service Organization representative if you encounter problems with the product or have questions
regarding the product. If you are unable to locate a customer service center, contact VIPA as follows:
VIPA GmbH, Ohmstraße 4, 91074 Herzogenaurach, Germany
Telephone: [phone] (Hotline)
EMail: s[email protected]

Manual VIPA System 100V Contents
HB100E - SM-CAN - Rev. 15/02 i
Contents
About this manual.................................................................................... 1
Safety information....................................................................................2
Chapter 1 Basics..............................................................................1-1
Safety information for Users.................................................................1-2
Overview System 100V........................................................................1-3
General Description of the System 100V..............................................1-4
Assembly dimensions...........................................................................1-5
Chapter 2 Decentral block periphery CAN-Bus CANopen.............2-1
Principles of CANopen .........................................................................2-2
System overview..................................................................................2-5
Structure ..............................................................................................2-6
Installation and Cabling......................................................................2-12
Circuit diagrams.................................................................................2-13
Deployment with CANopen ................................................................2-14
Fast introduction.................................................................................2-15
Baudrate and module-ID settings.......................................................2-18
Message structure..............................................................................2-19
PDO - Process Data Object ...............................................................2-21
SDO - Service Data Object ................................................................2-24
Object directory..................................................................................2-26
Emergency object ..............................................................................2-40
NMT - Network Management .............................................................2-41
Technical data....................................................................................2-43

Contents Manual VIPA System 100V
ii HB100E - SM-CAN - Rev. 15/02

Manual VIPA System 100V About this manual
HB100E - SM-CAN - Rev. 15/02 1
About this Manual
This manual describes the available System 100V decentral block
periphery CAN from VIPA. Besides of a product overview you will find the
detailed description of the single components.
You'll get information about installing and operating decentral block
periphery in a CAN system.
Chapter 1: Basics
This introduction includes recommendations on the handling of the
modules of the VIPA System 100V as central resp. decentral automation
system.
Besides a system overview you will find general information to the System
100V like dimensions, installation and operating conditions.
Chapter 2: Decentral block periphery CANopen
The decentral block periphery consists of one CANopen slave and in-/out-
put components. The CANopen block periphery is available in different
variants described in the following chapter.
This chapter summarizes all information you need for assembly, project
engineering and operating of this System 100V components.
Besides a fast step-in in the project engineering for "experts", this chapter
contains an introduction of the telegram structure and the function codes of
CANopen. Afterwards the principles of process and service data exchange
are described, followed by the object directory, the parameter data and
information about error control and maintenance.
Overview

About this manual Manual VIPA System 100V
2 HB100E - SM-CAN - Rev. 15/02
This manual describes the System 100V decentral block periphery CAN
from VIPA. It contains a description of the construction, project
implementation and usage.
This manual is part of the documentation package with order number
HB100E_SM-CAN and relevant for:
Product Order number as of state:
HW
SM-CAN VIPA 153-xxxx 01
The manual is targeted at users who have a background in automation
technology.
The manual consists of chapters. Every chapter provides a self-contained
description of a specific topic.
The following guides are available in the manual:
• an overall table of contents at the beginning of the manual
• an overview of the topics for every chapter
The manual is available in:
• printed form, on paper
• in electronic form as PDF-file (Adobe Acrobat Reader)
Important passages in the text are highlighted by following icons and
headings:
Danger!
Immediate or likely danger.
Personal injury is possible.
Attention!
Damages to property is likely if these warnings are not heeded.
Note!
Supplementary information and useful tips.
Objective and
contents
Target audience
Structure of the
manual
Guide to the
document
Availability
Icons
Headings

Manual VIPA System 100V Safety information
HB100E - SM-CAN - Rev. 15/02 3
Safety information
The System 100V is constructed and manufactured for
• communication and process control
• general control and automation applications
• industrial applications
• operation within the environmental conditions specified in the technical
data
• installation into a cubicle
Danger!
This device is not certified for applications in
• in explosive environments (EX-zone)
The manual must be available to all personnel in the
• project design department
• installation department
• commissioning
• operation
The following conditions must be met before using or commissioning
the components described in this manual:
• Hardware modifications to the process control system should only be
carried out when the system has been disconnected from power!
• Installation and hardware modification only by properly trained
personnel.
• The national rules and regulations of the respective country must be
satisfied (installation, safety, EMC ...)
National rules and regulations apply to the disposal of the unit!
Applications
conforming with
specifications
Documentation
Disposal

Safety information Manual VIPA System 100V
4 HB100E - SM-CAN - Rev. 15/02

Manual VIPA System 100V Chapter 1 Basics
HB100E - SM-CAN - Rev. 15/02 1-1
Chapter 1 Basics
This introduction includes recommendations on the handling of the
modules of the VIPA System 100V as central resp. decentral automation
system.
Besides a system overview you will find general information to the System
100V like dimensions, installation and operating conditions.
Topic Page
Chapter 1 Basics..............................................................................1-1
Safety information for Users.................................................................1-2
Overview System 100V........................................................................1-3
General Description of the System 100V..............................................1-4
Assembly dimensions...........................................................................1-5
Overview
Content

Chapter 1 Basics Manual VIPA System 100V
1-2 HB100E - SM-CAN - Rev. 15/02
Safety information for Users
VIPA modules make use of highly integrated components in MOS-
technology. These components are extremely sensitive to over-voltages
that can occur during electrostatic discharges.
The following symbol is attached to modules that can be destroyed by
electrostatic discharges:
The symbol is located on the module, the module rack or on packing
material and it indicates the presence of electrostatic sensitive equipment.
It is possible that electrostatic sensitive equipment is destroyed by energies
and voltages that are far less than the human threshold of perception.
These voltages can occur where persons do not discharge themselves
before handling electrostatically sensitive modules and they can damage
components thereby, causing the module to become inoperable or
unusable. Modules that have been damaged by electrostatic discharges
may fail after a temperature change, mechanical shock or changes in the
electrical load.
Only the consequent implementation of protection devices and meticulous
attention to the applicable rules and regulations for handling the respective
equipment can prevent failures of electrostatically sensitive modules.
Modules have to be shipped in the original packing material.
When you are conducting measurements on electrostatically sensitive
modules you should take the following precautions:
• Floating instruments must be discharged before use.
• Instruments must be grounded.
Modifying electrostatically sensitive modules you should only use soldering
irons with grounded tips.
Attention!
Personnel and instruments should be grounded when working on
electrostatically sensitive modules.
Handling of
electrostatically
sensitive modules
Shipping of
electrostatically
sensitive modules
Measurements
and alterations on
electrostatically
sensitive modules

Manual VIPA System 100V Chapter 1 Basics
HB100E - SM-CAN - Rev. 15/02 1-3
Overview System 100V
The System 100V from VIPA is a compact central and decentral usable
automation system from VIPA. The system is recommended for lower and
middle performance needs.
At a System 100V module, CPU res. bus coupler are integrated together
with in-/output functions in one case.
System 100V modules are installed directly to a 35mm norm profile rail.
You may expand the number of I/Os of the Micro-PLC by means of
expansion modules res. connect System 200V modules via bus couplers.
The following picture shows the performance range of the System 100V:
System 100V
decentral
PROFIBUS DP slave
with I/O functions Micro-PLC
with I/O functions
System 100V expansion modules
S
y
stem 200V modules
expandable with
central
Micro-PLC
with I/O functions and
PROFIBUS DP slave
CANopen slave
with I/O functions
The central system is built of one CPU and integrated I/O-functions. The
CPU is instruction compatible to the S7-300 from Siemens and may be
programmed and projected by means of S7 programming tools from
Siemens and VIPA via MPI.
By means of bus couplers you may connect modules of the System 200V
family res. enlarge the number of I/Os by installing System 100V expansion
modules.
The CPUs are available in different variants.
At the central system besides the CPU and I/O functions, a PROFIBUS DP
slave is included that acknowledges itself within the address range of the
CPU.
This system contains a PROFIBUS DP res. CANopen slave with I/O
functions instead of the CPU. The system is not expandable.
General
Central system
Central system
with DP slave
Decentral system

Chapter 1 Basics Manual VIPA System 100V
1-4 HB100E - SM-CAN - Rev. 15/02
General Description of the System 100V
• Norm profile head rail 35mm
• Dimensions basic module:
4tier width: (WxHxD) in mm: 101.6x76x48 / in inches: 4x3x1.9
6tier width: (WxHxD) in mm: 152.4x76x48 / in Inches: 6x3x1.9
The installation of a System 100V module works via snapping on a norm
profile head rail.
Ç Ç
Dismantling
When using expansion modules, you have to clip the included 1tier bus
connector at the right side to the module from behind before the
installation.
VIPA 115-6BL02
CPU 115
P1 P2
X1
DC24V
MMC
M
P
I
2
00
PW
SF
FC
MC
L+ M PE
X2
34
R
S
RUN
STOP
MRST
DI 8xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
I0
DI 8xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
I0
DO 8xDC24V
L+
.0
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
I0
DO 8xDC24V
L+
.0
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
I0
X3 X4 X5 X6
AB
DI 16(20)xDC24V
DI 16(20)xDC24V, 0,5A
• Plug in via CageClamps, core cross-section 0.08...2.5mm2
• Total isolation of the cables during module changes
• EMV resistance ESD/Burst acc. IEC 61000-4-2 / IEC 61000-4-4
(to level 3)
• Shock resistance acc. IEC 60068-2-6 / IEC 60068-2-27 (1G/12G)
• Operating temperature: 0... + 60°C
• Storage temperature: -25... + 70°C
• Relative humidity: 5 ... 95% without condensation
• fan-less operation
Structure and
dimensions
Installation
Operation security
Environmental
conditions

Manual VIPA System 100V Chapter 1 Basics
HB100E - SM-CAN - Rev. 15/02 1-5
Assembly dimensions
60 mm
60 mm
44 mm
34 mm
48 mm
ca. 70 mm
45 mm
76,62 mm
76 mm
2,77 cm
24 mm
Installation
dimensions
Installed and
wired dimensions

Chapter 1 Basics Manual VIPA System 100V
1-6 HB100E - SM-CAN - Rev. 15/02
50 mm
27 mm
8 cm
76 mm
8 cm
85 mm
51 mm
65 mm
24 mm
5 mm
11 mm
45 mm
CPU 11x with
EasyConn from
VIPA

Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen
HB100E - SM-CAN - Rev. 15/02 2-1
Chapter 2 Decentral block periphery CAN-Bus CANopen
The decentral block periphery consists of one CANopen slave and in-/out-
put components. The CANopen block periphery is available in different
variants described in the following chapter.
This chapter summarizes all information you need for assembly, project
engineering and operating of this System 100V components.
Besides a fast step-in in the project engineering for "experts", this chapter
contains an introduction of the telegram structure and the function codes of
CANopen. Afterwards the principles of process and service data exchange
are described, followed by the object directory, the parameter data and
information about error control and maintenance.
Topic Page
Chapter 2 Decentral block periphery CAN-Bus CANopen.............2-1
Principles of CANopen.........................................................................2-2
System overview..................................................................................2-5
Structure ..............................................................................................2-6
Installation and Cabling......................................................................2-12
Circuit diagrams .................................................................................2-13
Deployment with CANopen ................................................................2-14
Fast introduction.................................................................................2-15
Baudrate and module-ID settings.......................................................2-18
Message structure..............................................................................2-19
PDO - Process Data Object................................................................2-21
SDO - Service Data Object.................................................................2-24
Object directory..................................................................................2-26
Emergency object...............................................................................2-40
NMT - Network Management..............................................................2-41
Technical data....................................................................................2-43
Overview
Content

Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V
2-2 HB100E - SM-CAN - Rev. 15/02
Principles of CANopen
All the modules in this chapter have got the UL Certification:
The CAN-Bus (Control Area Network) is an international open fieldbus
standard for building, manufacturing and process automation and has been
developed for automotive production.
Due to the wide range of error localization possibilities, the CAN-Bus is
seen as the bus system with the highest security with a rest error
probability of less than 4.7 x 10-11. Defective messages are signalized and
automatically transferred again.
In contrast to PROFIBUS and Interbus, CAN-Bus also defines several 7-
layer user profiles under the CAL-Layer-7-protocol (CAL=CAN application
layer).
One of those user profiles is CANopen, which standardization is controlled
by the CiA CAN in Automation e.V.
CANopen is the user profile for industrial real-time systems and is at this
time on its way through the manufacturing sites. CANopen has been
published as Profile DS-301 from the CAN-User Organization (C.i.A). The
communication profile DS-301 serves the standardization of the devices to
ensure the compatibility of the products from different manufacturers.
Another step is the device profile DS-401 that standardizes the device
specific and the process data of the digital and analog in-/output modules.
CANopen consists of the communication profile that defines the objects
used for the transfer of certain data, and the device profiles that define the
kind of data transferred with the objects.
The CANopen communication profile bases on an object directory
comparable to the PROFIBUS directory. The communication profile DS-301
defines two kinds of objects and some special objects:
• Process data objects (PDO)
PDOs provide the transfer of real-time data
• Service data objects (SDO)
SDOs allow the read and write access to the object directory
UL Certification
General
CANopen
PDO and SDO
UL-Recognition-Mark
Underwriters Laboratories (UL)
Standard UL 508, File Nr.: E234291

Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen
HB100E - SM-CAN - Rev. 15/02 2-3
CAN is based on a line topology. With the help of a router node, it is
possible to build-up a network structure. The number of participants per
network is only limited by the efficiency of the used bus driver module.
The maximum net extension is limited by the signal run times. At 1Mbaud,
for example, a net extension of 25m and at 50kBaud of 1000m is possible.
As transfer medium, CAN-Bus uses a screened 3core cable (5core
optional).
The CAN-Bus is working with voltage differences. Thus it is less sensitive
to interference than a voltage or current interface. The net should be
configured as line with a 120Ωterminating resistor at the end.
Your VIPA CAN-Bus coupler provides a 9pin plug. This plug allows you to
link-up the CAN-Bus coupler directly to the CAN-Bus net as slave.
All participants in the net are communicating with the same baudrate.
The bus structure allows the free installation or dismantling of station or the
start-up step by step. Later expansions don’t have any influence on stations
that are already integrated. The system realizes automatically if one partner
had a fail down or is new at the network.
Bus access methods are commonly divided into controlled (deterministic)
and uncontrolled (random) bus access systems.
CAN employs a Carrier-Sense Multiple Access (CSMA) method, i.e. all
stations have the same right to access the bus as long as the bus is not in
use (random bus access).
Data communications is message related, not station related. Every
message contains a unique identifier, which also defines the priority of the
message. At any instance only one station can occupy the bus for a
message.
CAN-Bus access control is performed by means of a collision-free, bit-
based arbitration algorithm. Collision-free means that the final winner of the
arbitration process does not have to repeat his message. The station with
the highest priority is selected automatically when more than one station
accesses the bus simultaneously. Any station that is has information to
send will delay the transmission if it detects that the bus is occupied.
For parameterization and configuration of the CANopen-Bus, the
manufacturers of the CANopen master deliver a software configuration tool.
This tool is able to access the object directory of your CAN slave and thus
parameterize the coupler.
The system specific properties of your CANopen couplers are delivered in
form of an EDS-file (electronic data sheet).
Transfer medium
Bus access
procedure
Parameterization
and configuration

Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V
2-4 HB100E - SM-CAN - Rev. 15/02
• max. 128 participants per net - max. 64 slaves per segment
• max. net extension at 1MBaud 25m, at 50kBaud 1000m
(depending on baudrate)
• max. baudrate 1MBaud
The maximum bus length with CAN is predominantly limited by the signal
run time. The multi-master bus access procedure (arbitration) requires that
the signals are applied at all nodes quasi simultaneously (before the
scanning within one Bit time). For the signal run times of the CAN modules
(transceiver, opto coupler, CAN controller) are nearly constant, the line
length has to be adjusted to the baudrate:
Baudrate Length
1MBit/s 25m
800MBit/s 50m
500kBit/s 100m
250kBit/s 250m
125kBit/s 500m
(50kBit/s) 1000m
(20kBit/s) 2500m
The "Emergency" object serves the diagnosis. It is provided with a high
priority and delivers information about the device and the net.
Every bus participant identifies itself with an address. This address must be
unique in this bus system and may range between 01... 99.
The address is adjusted at the CAN-Bus coupler via the address adjuster.
To configure a slave connection in your projecting tool, you get the
performance data of the components in the consignment in form of an
EDS-file (electronic data sheet).
The EDS-files are: VIPA_153_4CF00.EDS
VIPA_153_4CH00.EDS
VIPA_153_6CH00.EDS
VIPA_153_6CL10.EDS
Install your EDS-files in your projecting tool! More detailed information
about the installation of the EDS-files is in the manual to your tool.
Restrictions
Bus length
Diagnosis
v
ia
Emergency object
Addressing
EDS-file

Manual VIPA System 100V Chapter 2 Decentral block periphery CAN-Bus CANopen
HB100E - SM-CAN - Rev. 15/02 2-5
System overview
The System 100V is an universal link between a fieldbus and the
sensor/actuator level.
One System 100V unit consists of a CANopen-Bus coupler and a
combination of in-/output channels and extension terminals.
Your System 100V gets the link-up to CAN via the integrated CAN-Bus
coupler.
• each 1 PDO for send and receive (PDO Linking)
• 2 SDOs as server
• Emergency object
• NMT
• Node Guarding
• Heartbeat
Decentral
block periphery
Old order no.
New order no.
Module width Number of input DC 24V Number of output DC 24V, 1A
Number of relay output DC 30V/AC 230V, 5A
Input data Output data Number of clamps Current consumption module
Digital in-/output
123-4CF00 153-4CF00 4tier tot. 8 - 1Byte 1Byte 2x11 55mA
123-4CH00 153-4CH00 4tier 8...12 4...8 - 2Byte 1Byte - 55mA
123-6CH00 153-6CH00 6tier 8...12 4...8 - 2Byte 1Byte 4x11 55mA
123-6CL10 153-6CL10 6tier 24 8 - 3Byte 1Byte - 55mA
Link-up to
CANopen
CANopen system
properties

Chapter 2 Decentral block periphery CAN-Bus CANopen Manual VIPA System 100V
2-6 HB100E - SM-CAN - Rev. 15/02
Structure
The module provides four LEDs for status monitoring. The usage and the
according colors of the diagnostic LEDs are shown in the following tables:
Label Color Description
PW green Signalizes an applying operating voltage
ER red On at error
RD green Blinks with 1Hz at positive self test and successful initialization
BA yellow Off at positive self test and successful initialization
1Hz blinking in state "Pre-Operational".
On at state "Operational".
10Hz blinking in state "Prepared".
Front view
1
2
3
4
PW
ER
RD
BA
C
A
N
X2
34
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
I0
DC
24V
L+ M PE
X1
12
X3
.0
.1
.2
.3
.4
.5
.6
.7
1
2
3
4
5
6
7
8
9
I0
X4
5
Components
LEDs
[1] LED status monitoring
[2] CANopen interface
[3] Address selector
[4] Power supply DC24V
[5] In-/output periphery