CANopen Basics Instruction Manual pdf - Kuhnke

Kuhnke Electronics
Instruction Manual
CANopen
Basics and Configuration
E 615 GB 06.02.2008 / 84.658

This instruction manual is primarily intended for use by design, project, and development
engineers. It does not contain any availability information. Data is only given to describe the
product and must not be regarded as guaranteed properties in the legal sense. Any claims for
damages - on whatever legal grounds - are excluded except for instances of deliberate intent
or gross negligence on our part.
We reserve the rights for errors, omissions and modifications.
Reproduction even of extracts only with the editor's express and written prior consent.
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Table of Contents
Table of Contents
1 Introduction ................................................................................................7
1.1 CANopen ® Features ......................................................................8
1.2 Bus Location...................................................................................9
2 Reliability, Safety .....................................................................................11
2.1 Target Group ................................................................................11
2.2 Reliability ......................................................................................11
2.3 Notes ............................................................................................12
2.3.1 Danger........................................................................................12
2.3.2 Attention .....................................................................................12
2.3.3 Note ............................................................................................12
2.3.4 Under Construction.....................................................................12
2.3.5 Instruction ...................................................................................13
2.4 Safety ...........................................................................................14
2.4.1 Project Planning and Installation ................................................15
2.4.2 Maintenance and Servicing ........................................................16
2.5 Electromagnetic Compatibility......................................................17
2.5.1 Definition.....................................................................................17
2.5.2 Noise Immunity...........................................................................17
2.5.3 Interference Emission.................................................................18
2.5.4 General Notes on Installation .....................................................18
2.5.5 Protection against External Electrical Influences .......................19
2.5.6 Cable Routing and Wiring ..........................................................19
2.5.7 Location of Installation................................................................19
2.5.8 Particular Sources of Interference..............................................20
3 Network Configuration (Hardware) ..........................................................21
3.1 Data Transfer Methodology..........................................................21
3.2 Notes on Installation.....................................................................22
3.3 Bus Cable.....................................................................................23
3.3.1 Material.......................................................................................23
3.3.2 Transfer Rates and Line Lengths...............................................23
3.3.3 Shielding.....................................................................................23
3.3.4 Connecting up Bus Stations .......................................................24
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Table of Contents
3.4 Line Interfacing.............................................................................25
3.4.1 D-Sub Socket .............................................................................25
3.4.2 M12 Plug-and-Socket Connector ...............................................26
3.5 Bus Termination ...........................................................................26
4 Network Configuration (Software) ...........................................................29
4.1 Configuration Tool ........................................................................29
4.2 COBES - Configuration Data Interface ........................................30
4.2.1 Installing COBES........................................................................30
4.2.2 Using COBES.............................................................................31
5 Setting up Projects...................................................................................37
5.1 Project Setup Example.................................................................38
5.1.1 Task Description.........................................................................38
5.1.2 Start ProCANopen......................................................................39
5.1.3 Create a Project Folder ..............................................................40
5.1.4 Define the First Station (PLC1) ..................................................40
5.1.5 Define Station 2 (IO2).................................................................44
5.1.6 Define the Communication Pathways ........................................45
5.1.7 Set CANopen Options ................................................................48
5.1.8 Transfer the Data to the PLC .....................................................53
5.1.9 Read the Project Configuration ..................................................56
5.1.10 Test the Communication ..........................................................57
5.1.11 Monitor the Bus Status via KUBES ..........................................58
5.2 Applying the Configuration Data ..................................................65
5.2.1 Select a Global Configuration File..............................................65
5.2.2 Configuration Settings ................................................................66
5.2.3 Export the CANopen Data into the KUBES Project ...................67
5.2.4 Select a KUBES Project .............................................................68
5.2.5 COBES Updates the KUBES Files.............................................69
5.2.6 Applicable Variants of CanControl 691 I/O ................................70
6 Kuhnke Control Units and CANopen .......................................................71
6.1 Services........................................................................................71
6.1.1 Configuration Manager...............................................................71
6.1.2 NMT Master (NMT = Network Management).............................72
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Table of Contents
6.1.3 PDO Manager.............................................................................72
6.1.4 SDO Manager.............................................................................73
6.1.5 Sync Manager ............................................................................73
6.1.6 Monitoring Services....................................................................73
6.2 KUBES Modules for CANopen.....................................................74
6.2.1 Read Emergency Messages (CO_EMY_R)...............................74
6.2.2 Write Emergency Message (CO_EMY_W) ................................75
6.2.3 Read Kernel Error Stack (CO_KSTAT)......................................76
6.2.4 Run NMT Services (CO_NMT)...................................................77
6.2.5 Read Object Dictionary (CO_SDO_R) .......................................79
6.2.6 Write Object Dictionary (CO_SDO_W).......................................81
6.2.7 Write Object Dictionary (CO_TRIG) ...........................................83
6.3 CANopen Manager.......................................................................85
7 CANopen Basics......................................................................................87
7.1 Overview.......................................................................................87
7.2 Data Exchange Methodology .......................................................87
7.2.1 Bus Allocation by Bit-wise Arbiting .............................................88
7.3 CANopen Object Dictionary .........................................................89
7.4 Mechanisms of Communication ...................................................90
7.4.1 Service Data Objects (SDO) ......................................................90
7.4.2 Process Data Objects (PDO) .....................................................90
7.4.3 Network Management (NMT).....................................................91
7.4.4 Emergency Messages................................................................92
7.4.5 Monitoring of Devices.................................................................93
7.5 Identifier Distribution.....................................................................94
7.5.1 PDO Mapping .............................................................................96
7.6 Device Description EDS and DCF ...............................................97
8 Appendix..................................................................................................99
8.1 References ...................................................................................99
8.1.1 Kuhnke Manuals.........................................................................99
8.1.2 CANopen Specifications (English Only).....................................99
8.2 Abbreviations..............................................................................100
8.3 Sales & Service ..........................................................................101
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Table of Contents
8.3.1 Main Factory in Malente ...........................................................101
8.3.2 Customer Service.....................................................................101
8.4 Index...........................................................................................102
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1 Introduction
Introduction
Next to the PROFIBUS technology CAN has turned into a
networking medium with an ever-expanding international
user database. However, previous profiles were not standardised
so that every manufacturer developed their own
CAN bus.
This applies to Kuhnke, too, who successfully used their
own bus profile, the so-called Kuhnke CAN, for various
customer projects.
CANopen for Vendor Independence
In the meantime, an open communication profile has been
established that was introduced in October 1996 by the
CiA (CAN in Automation), the manufacturers' and users'
association, under the name of CANopen. Among other
things, the profile defines the configuration stage, the realtime
transfer of process data and the synchronised data
exchange between network stations. The core benefit is
that CANopen allows the combination of products supplied
by different manufacturers.
Currently there are CiA device profiles of digital and/or
analogue I/Os, drives, operating units, sensors and regulators,
programmable controllers and encoders. Further
profiles are under way.
All member organisations of CiA (CAN in Automation), the
manufacturers' and users' association, are allowed to
show the association's logo.
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Introduction
1.1 CANopen ® Features
There are many ways in which industrial automation
benefits from the serial data bus system:
� Standardisation
International standard (layer 1/2),
DIN ISO 11898 and DIN ISO 11519-1
� Manageability and ease of use
Simple configuration of new CAN networks and extension
of existing ones due to object-oriented information
exchange
� Speed
Max. transfer rate of 1 Mbit/s through a 40 m bus;
network extendable to up to 1000 m at reduced data
rates down to 50 kbaud; priority assignment to message
frames to ensure very short delays of a couple
of milliseconds only for the transfer of major messages.
� Cost-efficiency
Availability of low-cost logging and
transceiver modules as well as of microcontrollers
with their own CAN interface because this bus is
widely used in the automotive sector.
� Safety
Very safe data transfer even when EMC conditions
are tough.
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1.2 Bus Location
Introduction
The serial bus system specifically excels when it comes to
the networking of "intelligent" input/output units as well as
sensors and actuators within a system or machine with
but a small footprint. Textile machine manufacturers were
among the CAN pioneers. In 1990 already, a manufacturer
equipped his weaving looms with modular control
systems that used a CAN network for realtime communication.
The control requirements of packaging machines
and machines for paper production and processing are
similar to that of textile machines.
By continuously adding device profiles, CiA paves the way
for an ever-growing family of devices that can be operated
via the CANopen bus system.
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Introduction
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2 Reliability, Safety
2.1 Target Group
2.2 Reliability
Reliability, Safety
This instruction manual contains all information necessary
for the use of the described product (control device, control
terminal, software, etc.) according to instructions. It is
written for the personnel of the construction, project planning,
service and commissioning departments. For proper
understanding and error-free application of technical descriptions,
instructions for use and particularly of notes of
danger and warning, extensive knowledge of automation
technology is compulsory.
Reliability of Kuhnke controllers is brought to the highest
possible standards by extensive and cost-effective means
in their design and manufacture.
These include:
� selecting high-quality components,
� quality agreements with our suppliers,
� measures for the prevention of static charge during
the handling of MOS circuits,
� worst case planning and design of all circuits,
� inspections at various stages of fabrication,
� computer-aided tests of all assembly groups and their
interaction in the circuit,
� statistical assessment of the quality of fabrication and
of all returned goods for the immediate taking of appropriate
corrective actions.
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Reliability, Safety
2.3 Notes
2.3.1 Danger
2.3.2 Attention
2.3.3 Note
Despite the measures described in chapter 2.2 , the occurrence
of faults or errors in electronic control units -
even if most highly improbable - must be taken into consideration.
Please pay particular attention to the additional notes
which we have marked by symbols in this instruction
manual. While some of these notes make you aware of
possible dangers, others are intended as a means of orientation.
They are described further down below in descending
order of importance.
This symbol warns you of dangers which may cause
death or grievous bodily harm if operators fail to implement
the precautions described.
This symbol draws your attention to information you must
take a look at to avoid malfunctions, possible material
damage or even dangerous states.
This symbol draws your attention to additional information
concerning the use of the described product. It may also
indicate a cross reference to information to be found
elsewhere (e. g. in other manuals).
2.3.4 Under Construction
This symbol tells you that the function described was not
or not fully available at the time this document went to
press.
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2.3.5 Instruction
Reliability, Safety
Wherever you see these symbols in the left margin, you
will find a list of steps instructing you to take the appropriate
computer or hardware actions.
They are intended as a means of orientation at places
where steps of procedures and background information
alternate (e. g. in beginner's manuals).
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Reliability, Safety
2.4 Safety
Our products normally become part of larger systems or
installations. The information below is intended to help
you integrate the product into its environment without
dangers to humans or material/equipment.
To achieve a high degree of conceptual safety in planning
and installing an electronic controller it is essential to
exactly follow the instructions given in the manual because
wrong handling could lead to rendering measures
against dangers ineffective or to creating additional dangers.
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2.4.1 Project Planning and Installation
Reliability, Safety
� 24 V DC power supply: Generate as electrically
safely separated low voltage. Suitable devices are,
for example,split transformers constructed in compliance
with European Standard EN 60742 (corresponds
to VDE 0551).
� In case of power breakdowns or power fades: the
program is to be structured in such a way as to create
a defined state at restart that excludes dangerous
states.
� Emergency switch-off installations must comply with
EN 60204/IEC 204 (VDE 0113). They must be effective
at any time.
� Safety and precautions regulations for qualified applications
have to be complied with.
� Please pay particular attention to the notes of warning
which, at relevant places, will make you aware of
possible sources of dangerous mistakes or faults.
� Relevant standards and VDE regulations are to be
complied with in every case.
� Control elements are to be installed in such a way as
to exclude unintended operation.
� Control cables are to be layed in such a way as to
exclude interference (inductive or capacitive) which
could influence controller operation or its functionality.
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Reliability, Safety
2.4.2 Maintenance and Servicing
� Precautions regulation VBG 4.0 must be observed,
and section 8 (Admissible deviations when working
on parts) in particular, when measuring or checking a
controller in a power-up condition .
� Repairs must be carried out by specially trained Kuhnke
staff only (usually in the main factory in Malente).
Warranty expires in every other case.
� Spare parts:
� Only use parts approved of by Kuhnke. Only genuine
Kuhnke modules must be used in modular controllers.
� Modular systems: Always plug or unplug modules in
a power-down state. You might otherwise damage
the modules or (possibly not immediately recognisably!)
inhibit their functionality.
� Always dispose of any batteries and accumulators as
hazardous waste.
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2.5 Electromagnetic Compatibility
2.5.1 Definition
2.5.2 Noise Immunity
Reliability, Safety
Electromagnetic compatibility is the ability of a device to
function satisfactorily in its electromagnetic environment
without itself causing any electromagnetic interference
that would be intolerable to other devices in this environment.
Of all known phenomena of electromagnetic noise, only a
certain range occurs at the location of a given device. It is
defined in the relevant product standards.
The international standard regulating construction and
degree of noise resistance of programmable logic controllers
is
IEC 1131-2 which, in Europe, has been the basis for
European Standard
EN 61131-2.
� Electrostatic discharge, ESD
in acc. with EN 61000-4-2, 3rd degree of sharpness
� Irradiation resistance of the device, HF
in acc. with EN 61000-4-3, 3rd degree of sharpness
� Fast transient interference, burst
in acc. with EN 61000-4-4, 3rd degree of sharpness
� Immunity to damped oscillations
in acc. with EN 61000-4-12 (1 MHz, 1 kV)
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Reliability, Safety
2.5.3 Interference Emission
Interfering emission of electromagnetic fields, HF
in acc. with EN 55011, limiting value class A, Group 1
If the controller is designed for use in residential areas,
then high-frequency emissions must comply with limiting
value class B as described in EN 55011.
Fitting the controller into an earthed metal cabinet and
equipping the supply cables with filters may be appropriate
means of maintaining the relevant limiting values.
2.5.4 General Notes on Installation
As component parts of machines, facilities and systems,
electronic control systems must comply with valid rules
and regulations, depending on their field of application.
General requirements concerning the electrical equipment
of machines and aiming at the safety of these machines
are contained in Part 1 of European Standard EN 60204
(corresponds to VDE 0113).
For safe installation of our control system please observe
the following notes (� 2.5.5 and following).
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Reliability, Safety
2.5.5 Protection against External Electrical Influences
Connect the control system to the protective earth conductor
to eliminate electromagnetic interference. Ensure
practical wiring and laying of cables.
2.5.6 Cable Routing and Wiring
Lay power supply circuits separately, never together with
control current loops:
� DC voltage 60 V... 400 V
� AC voltages 25 V ... 400 V
Joint laying of control current loops is allowed for:
� shielded data signals
� shielded analogue signals
� unshielded digital I/O lines
� unshielded DC voltages < 60 V
� unshielded AC voltages < 25 V
2.5.7 Location of Installation
2.5.7.1 Temperature
2.5.7.2 Dirt
Make sure that there are no impediments due to temperatures,
dirt, impact, vibration and electromagnetic interference.
Consider heat sources such as general heating of rooms,
sunlight, heat accumulation in assembly rooms or control
cabinets.
Use suitable casings to avoid possible negative influences
due to humidity, corrosive gas, liquid or conducting dust.
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Reliability, Safety
2.5.7.3 Impact and Vibration
Consider possible influences caused by motors, compressors,
transfer lines, presses, ramming machines and vehicles.
2.5.7.4 Electromagnetic Interference
Consider electromagnetic interference from various
sources near the location of installation: motors, switching
devices, switching thyristors, radio-controlled devices,
welding equipment, arcing, switched-mode power supplies,
converters / inverters.
2.5.8 Particular Sources of Interference
2.5.8.1 Inductive Actuators
Switching off inductances (such as from relays, contactors,
solenoids or switching magnets) produces overvoltages.
It is necessary to reduce these extra voltages to a
minimum.
Reducing elements may be diodes, Z-diodes, varistors or
RC elements. To find the best adapted elements, we recommend
that you contact the manufacturer or supplier of
the corresponding actuators for the relevant information.
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Network Configuration (Hardware)
3 Network Configuration (Hardware)
The CANopen network is a bit-serial field bus. It is based
upon a line topology. Every network has exactly one NMT
master which uses the NMT slaves on the bus to determine
the status.
3.1 Data Transfer Methodology
CANopen transfers data in a similar way RS 485 does but
at a different bus signal level. Suitable applications are all
areas requiring high transfer rates and a simple, costefficient
hardware installation method. A twisted, shielded
copper pair cable with two core wires is used (�3.3 Bus
Cable).
The RS 485 data transfer mechanism is easy to handle.
You do not need to be an expert to install the twisted cable.
The bus structure supports a non-feedback connecting
and disconnecting of stations or a step-by-step startup
of the system. Stations already connected to the bus
are not influenced by later extensions to the system.
Transfer speeds can be set between 10 kbit/s and
1 Mbit/s. The speed you choose when you set up the system
applies to all bus stations.
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Network Configuration (Hardware)
ProfiControl 680V I/O 691
Other
CanControl 691 Other
CANopen Network
CanControl 691 I/O CanControl 691 I/O
DriveControl 684
All devices are attached to a line architecture. Every
segment can be made up of up to 127 stations. Branch
lines are not allowed.
Every segment of the bus needs to be terminated at the
beginning and the end (�3.5 Bus Termination).
3.2 Notes on Installation
Other
When connecting up the bus stations, make sure not to
confuse the data lines. Use a shielded data line whenever
possible to achieve a high level of immunity to electromagnetic
interference. Connect the shield to both sides of
the protective earth conductor, using cable clips with a
large surface to ensure that the connection conducts well.
Ensure that the data line is laid away from all cables that
conduct high power.
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3.3 Bus Cable
3.3.1 Material
Network Configuration (Hardware)
ISO 11898 sets the following parameters that the bus cable
must comply with to ensure that it provides the set
transfer properties
Charact. impedance : 95 – 140Ω (120Ω)
Earthed capacitance max. 60 nF/km
Conductor resistance (loop) 70 mÙ/m
Shield: Copper mesh shield
or mesh shield plus foil
shield.
3.3.2 Transfer Rates and Line Lengths
3.3.3 Shielding
The length of the line that still allows reliable communication
shortens as the transfer rate increases. The table below
lists some approximate values which must not be regarded
as set limits, though:
Transfer rate Lead length Time for one bit
1 Mbit/s 30 m 0.001 ms
800 kbit/s 50 m 0.00125 ms
500 kbit/s 100 m 0.002 ms
250 kbit/s 250 m 0.004 ms
125 kbit/s 500 m 0.008 ms
62.5 kbit/s 1000 m 0.020 ms
20 kbit/s 2500 m 0.050 ms
10 kbit/s 5000 m 0.100 ms
EN 50 170 leaves it up to the operator whether a shielded
or an unshielded cable is to be used. Unshielded cables
are allowed for non-interference environments.
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Network Configuration (Hardware)
For the following reasons, we recommend that you always
use shielded cables, though:
� Non-interference environments may exist inside of
shielded switching cabinets if at all. However, as
soon as these cabinets house relays, they can no
longer be classified as non-interference environments.
� The use of unshielded cables requires you to install
additional means to protect the bus signal inputs
against overvoltages.
In highly EMI-contaminated environments use lines with a
double shielding. To provide optimal protection, use an
earthing clip-ring to connect both the outer (mesh) shield
and the inner (foil) shield to protective earth at both ends
of the line.
When using a shielded bus cable we recommend that you
establish a low-inductance connection to protective earth
at both ends of the line. This ensures optimal EMC characteristics.
One exception would have to be made for separated potentials,
e.g. in refineries. These applications usually allow
earthing at only one end of the line.
3.3.4 Connecting up Bus Stations
When connecting up the bus stations, make sure not to
twist the data lines. In CiA Draft Standard 301, the CiA
has set the pin wiring of the most commonly used system
connectors.
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3.4 Line Interfacing
3.4.1 D-Sub Socket
1
2
3
4
5
6
7
8
9
Network Configuration (Hardware)
Tip: Make a basic all-time decision as to which colour
core is to be used for the data lines.
Our recommendation:
CAN_L: red or white (lighter colour)
CAN_H: green or brown (darker colour)
The pin wiring and connector systems of CANopen networks
have been defined by the CiA and are also published
by this organisation.
The controllers provided by Kuhnke GmbH make use of
two differrent CANopen connector systems.
The devices of the ProfiControl 680V series interface with
CANopen via the 9-pin D-Sub socket labelled bus2.
Pin Function
1
2 CAN_L
3 CAN_Gnd
4
5
6
7 CAN_H
8
9
Housing Earth
CiA Draft Standard 301
version 3.0
Connect the cable shield to the plug casing.
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Network Configuration (Hardware)
3.4.2 M12 Plug-and-Socket Connector
2
1
5
3
4
Pin Function
1...3 -
4 CAN_H
5 CAN_L
3.5 Bus Termination
CiA Draft Standard 301
version 3.0
Both ends of a CANopen network need to carry a terminating
resistor to minimise line reflexion and, consequently,
to improve the safety of data communication.
Terminating resistance: 120Ω / ¼ W
Station 1
CAN_H
120Ω 120Ω
CAN_L
Station n
If you enconter problems when first starting the bus, the
first thing you should do is to measure the resistance
between CAN_L and CAN_H. The resistance should be
approx. 60 Ω. If it is out by too much check whether the
termination resistors have been put in properly.
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Network Configuration (Hardware)
The bus is to be terminated at its last station connected.
This is achieved either by an extra resistor inside the connector
or by a special connector equipped with its own
termination resistor. The latter are commercially available
for the different connector systems.
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Network Configuration (Hardware)
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Network Configuration (Software)
4 Network Configuration (Software)
A CANopen network is made up of several network stations
which are to communicate with each other. To be
able to fulfill this task, the network needs to be configured
and the resulting network configuration data need to be
transferred to the master(s) in suitable form.
4.1 Configuration Tool
Tasks
� Define network stations
� Define communication pathways
� Define CANopen manager and configuration master
(NMT master)
� Set data transfer rate
Sources of supply
There are various vendors who supply suitable configuration
tools. It is up to you which one you choose as long as
the tool creates a separate DCF file for every station. To
find a list of vendors and dealers go to the CiA home page
(CAN in Automation) at: headquarters@can-cia.org
Refer to chapter 5.1 Project Setup Example to find an
example configuration created with ProCANopen, the
configuration tool supplied by Vector Informatik GmbH.
Transfer of configuration data to the stations
The NMT master's job is to transmit the network configuration
data to the other bus stations when the network is
started. Or rather it does at least transmit these data to
the non-programmable stations such as decentralised
I/Os.
Kuhnke provides separate software for the transfer of configuration
data to Kuhnke controllers. It is called COBES.
Refer to the next section to find some details about it.
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COBES
4.2 COBES - Configuration Data Interface
Tasks
4.2.1 Installing COBES
� Transfer configuration data to the Kuhnke controllers
in the network
� Enter process data objects and operands for status
and emergency messages into the symbol table
� Transfer network management information to NMT
master
COBES is on the "SOFTWARE & INFORMATION" CD-
ROM distributed by Kuhnke.
To order COBES
Part number: E 627 D / GB
Medium: CD-ROM
Contents of package: COBES software, EDS files,
bitmaps, instruction manuals
Install COBES by going to the COBES folder and running
the file SETUP contained in it. The software will install itself
fully automatically and will be available when the DCF
file of the configuration tool you use for your projects
needs to be transferred to the Kuhnke controllers.
Depending on your configuration tool you may or may not
be able to directly access the COBES interface. For instructions
on this step please refer to the operating instructions
of you CANopen configurator.
If you use ProCANopen to configure your network make
sure to copy COBES.exe to folder x:\PCO\EXEC. You will
then be able to directly run the application via the Pro-
CANopen environment.
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4.2.2 Using COBES
Network Configuration (Software)
Instead of directly transferring the configuration data to
the control unit COBES enters them into the KUBES project
files.
Therefore, prior to running COBES you should make sure
that the project is actually on your PC.
4.2.2.1 Running COBES via Windows
• Open the program folder you specified during installation
and click on the COBES icon
• Or run Windows Explorer and double-click on file
COBES.EXE
In both cases you will see the following error message
because the Run command did not reference a DCF file:
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COBES
• Click on "Yes"
• Drop down the list next to "Find in:" and select the
folder containing the DCF files for your network
• Double-click on the appropriate file (the name of a
DCF file contains the node number).
• Go to section 4.2.2.2
A faster method is to start COBES as follows:
• Start menu
• Run...
• Enter: "COBES
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• OK
• Go to section 4.2.2.2
4.2.2.2 Selecting a KUBES Project
A dialogue box will pop up:
Network Configuration (Software)
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COBES
• Select a KUBES project:
• and click on OK.
4.2.2.3 COBES Updates the KUBES Files
COBES will load the configuration data from the DCF file
you specified as well as from the DCF files of the stations
connected to the master.
You should make sure that all relevant DCF files are
stored in the same folder.
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4.2.2.4 Further Functions
Network Configuration (Software)
After that COBES will add the configuration data to the
KUBES project and supplement the symbol table. The following
address ranges will be created for Line B (standard):
� Process data objects (CNIxx.yy, CNOxx.yy)
� Status messages (CSOxx.yy)
� Emergency messages (CEOxx.yy).
The first 8 characters of the name defined in the configurator
will be used as the symbol, whereas the remaining
characters will serve as a comment.
The corresponding address ranges, but starting with the
letter D, will be created for Line A.
� Process data objects(DNIxx.yy, DNOxx.yy)
� Status messages (DSOxx.yy)
� Emergency messages (DEOxx.yy).
Click on the following buttons to control further functions:
� Run KUBES
Launches KUBES with the project you selected.
This is a useful function if you wish to modify the project
you selected or create a KUBES project in the
first place, for example.
� Configuration of KUBES project
This function allows you to delete the configuration
stored in a KUBES project so that you can define a
different one.
� Advanced
COBES always generates a header file for C task
programming. Run this function to set the path to this
file.
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COBES
4.2.2.5 Running COBES Directly via the Configurator
Some configuration tools provide a function for directly
starting COBES (� ProCANopen example5.1.8.2). The
prerequisite is that the configuration tool supports popup
menus:
• Right-click on the station
• Select "Export to KUBES"
• Go to section 4.2.2.2
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5 Setting up Projects
Project Setup
Setting up projects would normally include the use of a
configuration tool to create the set of network data. We
produced our example with ProCANopen, a configuration
tool supplied by Vector. However, you can use any other
tool that is capable of creating DCF files.
As an alternative, if you have no such configuration tool,
you can also use the set configuration files available for
Kuhnke devices.
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Project Setup
5.1 Project Setup Example
5.1.1 Task Description
PLC1
This tutorial covers the entire process of setting up a
CANopen network right down to testing it by means of the
control system connected.
A ProfiControl 680V-C is to communicate with a CanControl
691 I/O via a CANopen bus. We will make the minimum
settings required for producing an operative system.
We used Vector's ProCANopen application for configuration.
However, you can use any other tool that is capable
of creating DCF files.
CANopen
Station 1 Station 2
Unit 680V-C CanControl 691 I/O
Name PLC1 IO2
Device ID 1 2
Function
PLC
CANopen manager
Remote I/O
Data
channels
PLC1 � IO2 IO2 � PLC1
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IO2

5.1.2 Start ProCANopen
Project Setup
ProCANopen is the configuration tool supplied by Vector
Informatik GmbH.
• In Windows, open the program group into which the
ProCANopen icon was placed during installation.
• Click on the ProCANopen icon to launch the configuration
tool displaying its network editor:
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Project Setup
5.1.3 Create a Project Folder
For safety reasons, please create a project folder at this
early point even though you have no data to store in it yet.
This is the only way to ensure that you can save the configuration
data after every step of setting up your project.
Specify a name that you will later be able to relate to your
KUBES program.
• Select Save as from the File menu. The dialogue
popping up lets you set the path to the project data
files.
Example: c:\pco\E615
• Click on OK to return to the network editor screen.
5.1.4 Define the First Station (PLC1)
• Right-click on the ID ? icon.
• Select Configuration from the popup menu to display
the following dialogue box:
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Project Setup
• Specify a name and station number (node ID) for
Station1:
Name: PLC1
Node ID: 1
Enter a Name that is unique in the entire network. Various
dialogues of the program will address this node by the
name you specify at this point.
The address is the node address(same as the node ID)
as specified by CANopen. This address is mandatory because
the software uses it to access the physical unit in
the CAN network. The address, too, is to be unique in the
network.
• Click on the Device Type button to display another
dialogue box.
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Project Setup
The list in this box contains all the device types that you
can choose from. The folders with company names are
containers for the EDS files (Electronic Data Sheet) of the
available devices.
• Click on Kuhnke; the panel on the right will display a
list of Kuhnke's CANopen devices whose EDS files
have been installed on your PC:
• Double-click on file KU680V.eds
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Project Setup
This will close the "Electronic Data Sheet EDS" window
and refresh the information shown in the "Node
Configuration" dialogue:
All other entries into this dialogue (such as short name, information
etc.) are optional and intended to make for a
clearer topology picture.
• Click on OK to accept and confirm the entries. This
will close the dialogue box. The network editor will
graphically display Station1:
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Project Setup
5.1.5 Define Station 2 (IO2)
• Select New Node from the Edit menu to make the
icon for a new station appear:
• Proceed as described for Station 1 (� 5.1.4). Station
1 and Station 2 differ in their name, address and type
of device:
Name: IO2
Node ID: 2
Type of device: Ku_691_8di8do
The network editor displays this as follows:
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5.1.6 Define the Communication Pathways
Project Setup
You now have to define the communication pathways.
For the purposes of our example we want to set two
channels, i.e. from PLC1 to IO2 and vice versa:
• Right-click on the icon of PLC1, then select
Graphical Connection from the popup menu. A
question mark will appear next to the mouse pointer.
• Click on IO2. The "Graphical Connection" editor will
appear immediately:
• Click on the Insert PDOs button. The following
dialogue is displayed:
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Project Setup
• Change the Prefix item (see highlighted entry
above) into IO2_ to document the allocation to the
I/O unit.
• Confirm by clicking on OK. The Graphical Connection
dialogue shows two new connections:
• Click on OK to finish off this step.
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Project Setup
Two double arrows in the Network Editor tell you about
the connections between the two units:
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Project Setup
5.1.7 Set CANopen Options
It takes a couple of basic settings to allow the network to
work properly.
5.1.7.1 Global Configuration
• Select Global Configuration from the Project
menu.
The following dialogue is displayed:
• Fill in the form as illustrated above:
Baud rate 500
Network number 1
CANopen manager PLC1
Configuration manager ���� (Station1)
Sync ���� (No)
Vector ProCANopen node ID 127
Network name (optional)
Info (optional)
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Project Setup
Network Name and Info are optional. Anything you enter
into these boxes will be used for printing out and exporting
the project documentation.
• Click on OK to confirm your entries and close the
dialogue box.
5.1.7.2 Define the CANopen Manager
• Right-click on the icon of PLC1, then select Device
Access from the popup menu. A dialogue box will be
displayed:
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Project Setup
• Click on tab CANopen manager:
• Type in your entries as follows:
Device is NMT master ����
Start all nodes at boot-up ����
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The information in the window will be updated:
• Pick IO2 from the list box
• Then click on the button labelled Change:
• Type in your entries as follows:
Restart Guarding after guard error ����
Set operational after guard error ����
Project Setup
Guard time 100 [ms]
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Project Setup
Retry Factor 2
• Click on OK to confirm.
The window now looks as follows:
• Click on the two buttons labelled Apply to Slaves
and Add to OD. These clicks are mandatory to ensure
that the entries will actually take effect.
• Click on Accept.
• Finally, click on OK to close the dialogue window.
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5.1.8 Transfer the Data to the PLC
Project Setup
The next thing you need to do is to transfer the data to the
configuration master and the CANopen manager. In our
case, ProfiControl 680V (PLC1) fulfills both tasks.
If you are working with Kuhnke control units running
KUBES programs, you will first of all stay offline to copy
the data files to the KUBES project folders where KUBES
will pick them up to transfer them into the control unit.
Skip chapter "Prepare the KUBES Project" if the KUBES
project for this PLC already exists (5.1.8.1).
5.1.8.1 Prepare the KUBES Project
• Start KUBES
• Create a project for Profi Control 680V and name it
PLC1.
5.1.8.2 Copy the CANopen Data to the KUBES Project
• Go back to ProCANopen and load the network project
called PLC1.
• Right-click on the icon of PLC1 and select Export to
KUBES from the menu:
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Project Setup
• Make your selections as illustrated above:
KUBES project, drive C, project PLC1
• Click on OK to confirm.
5.1.8.3 Prepare the Devices
• Answer the prompt with Yes to have the project's
symbol table overwritten.
Following data transfer to the KUBES project the dialogue
box will close automatically.
The PLC now hosts a complete set of CANopen data.
• Set the coding switch of Can I/O:
2 = on (node ID 2),
9 = on (500 kbit/s)
• Supply power to the devices.
• Connect the two devices with a CAN cable: bus2 of
ProfiControl 680V with bus in of CanControl 691 I/O.
• Be sure to terminate the bus at both ends (bus termination
resistor in the connector).
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Write a Test Program for the PLC
; Running light for IO2 (PLC1 � IO2)
Project Setup
• Go back to KUBES and load the project called PLC1
• Write the following test program (e.g. in the ORG
module):
L T00.01 ; 100 ms clock marker
= IO2_WRIT CNO00.00 ; (IO2_WriteDigitalOutputBlock1)
; Show IO2 input data at PLC1 outputs
L IO2_READ CNI00.00 ; (IO2_ReadDigitalInputBlock1)
C8T1 SO01.00 ; Outputs SO01.00...07 1
• Transmit the project into the control unit and run it
1 Use the outputs of an output module if your control unit only features 4 slots
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Project Setup
5.1.9 Read the Project Configuration
In KUBES, pick About CANopen from the Help menu to
be shown the current CANopen configuration of the
KUBES project.
CANopen Bus 1
Configuration of CANopen Bus 1 if your network has one
(CanControl 691), including station addresses, the baud
rate and names.
CANopen Bus 2
Configuration of CANopen Bus 2, including station
addresses, the baud rate and names.
The last line of the window displays the path to the configuration
file to be able to retrace your steps to the original
configuration.
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5.1.10 Test the Communication
Project Setup
Look at the status LEDs of the outputs to test if the communication
works.
PLC1
CANopen
5.1.10.1 Data from PLC1 to IO2
The outputs of CanControl 691 I/O (IO2) output a running
light.
5.1.10.2 Data from IO2 to PLC1
• Connect simultor switches to the inputs of Can I/O
691 (IO2) and supply them with 24 V.
• Switch the inputs on and off.
The outputs set in the program (� Program 5.1.8.3) for
ProfiControl 680V (PLC1) will be actuated accordingly.
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IO2

Project Setup
5.1.11 Monitor the Bus Status via KUBES
Status of stations
(0)...127:
Status of (your
own) CANopen
kernel
The objective of this exercise is to use the functionality of
KUBES to monitor the network connections and detect
any errors in the CANopen manager environment. We will
rely on function Display Address Range which allows
you to monitor up to 256 operands at the same time.
Prerequisites
� The network is still on
� There is communication on the bus
� KUBES is up and running
� Project PLC1 is open
� There is an online connection
� The program has been adjusted
Start the Display Address Range
• Press to open the Display Address Range;
choose operand range CSO...
• Set the Display to Dynamic On:
� You will see the CANopen status map.
The messages will be explained on the next couple of
pages.
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5.1.11.1 Analyse Messages
Project Setup
Operands CSO08.08...CSO15.15 (not marked in the
illustration above) are for internal use only and must not
be overwritten by the program.
5.1.11.1.1 Status Map of Stations 1...127
Every one of the operands CSO00.01 to CSO07.15 represents
the status of a specific bus station. The following
messages may appear:
Status Explanation
0 No guarding (monitoring) of this station: the
station has either not been defined or is
unkown to the CANopen manager
1 OK! Guarding of station is on
2 Error! Response missing from that station
3 Error! No response from that station and "Life
Time" is out
4 Error! "Toggle" fault
5 Change of status
6 Error! No heartbeat signal form that station
7 Boot-up message received
(network configuration)
8 End of configuration stage; cyclic operation
can be started.
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Project Setup
The current display is:
� Station 2 is being monitored (see circle)
� None of the other stations is being monitored
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Project Setup
5.1.11.1.2 CANopen Kernel Status of the CANopen Manager
Operands CSO08.00 to CSO08.07 indicate the status of
the CANopen kernel. Their output stands for the following:
Operand Bit Value
Explanation
CSO08.00
Kernel status code:
0 0 Channel 1 online
1
1 Channel 1 bus off
0 Channel 1 error active
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1
Channel 1 error passive (error
frames encountered)
2 0 Channel 1 no overrun
1 Channel 1 overrun
3 Not used
4 Not used
5 Not used
6
0 Channel 1 operational
1 Channel 1 not operational
7 Not used
CSO08.01 Own node ID
CSO08.02 Number of emergency frames
CSO08.03 Number of kernel errors
CSO08.04 Baud rate (LB) [kbit/s]
CSO08.05 Baud rate (HB) [kbit/s]
CSO08.06 Config counter (LB)
CSO08.07 Config counter (HB)

Project Setup
The current display is:
� CSO08.00 = 0: Channel 1 online
The bus is on and no error occurred
� CSO08.01 = 1: Own node ID is 1
The station address set in ProCANopen
� CSO08.02 = 2: Number of emergency frames
May have been sent during network boot-up. Just
mind that their number no longer increases. In
KUBES, you can run KUBES module CO_MY_R to
read the number of frames (see 6.2.1 Read Emergency
Messages (CO_EMY_R).
� CSO08.03 = 3f: Number of kernel errors
May have occurred during network boot-up. Just
mind that their number no longer increases. In
KUBES, you can run KUBES module CO_MY_R to
read the number of kernel errors (see 6.2.1 Read
Emergency Messages (CO_EMY_R).
� CSO08.04 = Baud rate low byte
CSO08.05 = Baud rate high byte
In this case: 1F4h = 500 kbit/s
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Project Setup
� CSO08.06 = Config counter low byte
CSO08.07 = Config counter high byte
In this case: 0Bh = 11 modifications have been made
so far using the CAN configuration tool.
Operand CSO09.14 indicates the state of the CAN-chip. It
has the following meaning:
Operand Value Bedeutung
CSO09.14 0 CAN-Chip overflow
In case of high traffic on the CAN bus or at a high interrupt exploitation
of the PLC it can come to telegram loss.
This fact is shown by the flag CSO09.14 unequal zero. The flag
can be reset by the PLC programme on zero.
The avoidance of this behaviour can be made by reduction of the
baud rate.
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5.2 Applying the Configuration Data
Project Setup
There are various vendors who supply suitable network
configuration tools. If you possess no such tool you have
the alternative option of using the global configuration provided
by Kuhnke.
The relevant folders and files are copied to C:\PCO during
installation of COBES. They apply to Kuhnke controllers
and Kuhnke I/O modules with a CANopen interface only.
5.2.1 Select a Global Configuration File
Refer to the table below to find the global configuration file
matching the target number of stations and the baud rate.
If the number of stations in the network is not the same
as the station number in the table go to the folder with the
next higher number of stations.
Number of stations
(incl. NMT master)
4
8
16
24
32
Baud rate
[kbit/s]
Folder
125 CO_125_4
500 CO_500_4
500 CO_500_8
125 CO_125_8
125 CO_125_16
500 CO_500_16
125 CO_125_24
500 CO_500_24
125 CO_125_32
500 CO_500_32
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Project Setup
5.2.2 Configuration Settings
The table below lists all settings used when creating the
global DCF files. The settings apply to a baud rate of both
125 kbit/s and 500 kbit/s. The heartbeat function is used to
monitor the stations and maintain a small load on the bus
for this function.
Function
4 to 16
stations
Consumer Heartbeat Time [ms] 200 500
Producer Heartbeat Time [ms] 100 250
Configuration manager Station 1
Device is NMT master �
Start all nodes at boot-up �
Restart Guarding after guard error �
Set operational after guard error �
24 to 32
stations
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5.2.3 Export the CANopen Data into the KUBES
Project
Project Setup
This section describes how to use the global configuration
files for Kuhnke devices in a KUBES project.
Before you start exporting any CANopen data to the
KUBES project, make sure that the target KUBES project
already exists on your PC.
• Open the Windows Start menu, locate the COBES
icon in program folder ProfiSoft and click it to run the
application.
The COBES dialogue will be displayed:
• Click on "Browse", find the folder containing the
global configuration files and choose file "D001.DCF"
from it.
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Project Setup
For notes on which folder is to be selected please refer to
section 5.2.1 Select a Global Configuration File.
You will always pick file "D001.DCF" from the folder because
this file contains the configuration for the NMT master.
All other DCF files have been set to Kuhnke's I/O modules.
5.2.4 Select a KUBES Project
• Select a KUBES project:
Refer also to the information provided in section
5.1.8.2 Copy the CANopen Data to the KUBES Project
• Click on "OK".
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5.2.5 COBES Updates the KUBES Files
T2: Bus 2
08: Station 08
I0...I3: Input range
Project Setup
COBES will load the configuration data from the DCF file
you specified as well as from the DCF files of the stations
connected to the master.
After that COBES will add the configuration data to the
KUBES project and supplement the symbol table by the
names of the process data objects (CNIxx.yy, CNOxx.yy)
or, for BUS1 (DNIxx.yy, DNOxx.yy), the status messages
(CSOxx.yy) or, for BUS1 (DSOxx.yy) and emergency
messages (CEOxx.yy) or, for BUS1 (DEOxx.yy). The first
8 characters of the name defined in the configurator will
be used as the symbol, whereas the remaining characters
will serve as a comment.
The first 2 characters of the global configurations are indicative
of the bus that the stations have been configured
for. Characters 4 and 5 represent the station number,
whereas characters 7 and 8 represent the station's input
or output range.
Every station configured is made up of 4 inputs and 4 outputs.
This covers all variants of the CanControl 691 I/Oseries
I/O modules which you can therefore use without
having to reconfigure them.
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Project Setup
5.2.6 Applicable Variants of CanControl 691 I/O
� CanControl 691 I/O DI16
16 digital inputs
� CanControl 691 I/O DI8DO8
8 digital inputs, 8 digital outputs
� CanControl 691 I/O DI8DIO8
8 digital inputs plus 8 channels which can be set to
acting either as digital inputs or digital outputs
� CanControl 691 I/O DO24 Sub-D
24 digital outputs for actuating one of Kuhnke's MPPtype
valve islands
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Kuhnke Control Units
6 Kuhnke Control Units and CANopen
6.1 Services
The Kuhnke devices below currently feature a CANopen
interface. All of them are programmable logic controllers
(PLCs):
� ProfiControl 680V-C
modular PLC which may also have a PROFIBUS interface
on board
� CanControl 691
PLC with IP65 protection
Special feature: 2 CANopen lines
Apart from their usual function as a communicating station
the above controllers can render a couple of further
CANopen network services:
6.1.1 Configuration Manager
The CANopen manager keeps a binary record of the configuration
data of all network stations.
You can separately say for every station whether or not it
is to be automatically configured at boot-up. This option is
mandatory for all stations that have no separate memory
for configuration data (e.g. remote I/Os such as CanControl
691 I/O 691).
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Kuhnke Control Units
6.1.2 NMT Master (NMT = Network Management)
6.1.3 PDO Manager
All services specified in DSP-301 V2.0 (� 8.1.2) are supported.
The access method is a SDO access to the master's
own object dictionary (� 6.1.4). The following services
are available:
� NMT startup
Allows you to define a unit as the master and specify
whether a "Start all Nodes" command is to be sent after
boot-up.
� Slave assignment
Defines which nodes are slaves. Also sets the guarding
options.
� Request NMT
The status of all nodes can be changed individually or
globally (Prepared, Operational, ResetNode, Reset-
Communication, PreOperational).
� Request Guarding
Starts / stops the Guarding service for individual or all
nodes.
Whereas there is basically no limit to the number of PDOs
their maximum number is set by means of a macro. The
granularity of mapping is limited to 8. Consequently, the
Vector software does not support any bit mapping.
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6.1.4 SDO Manager
6.1.5 Sync Manager
Kuhnke Control Units
The SDO manager has access to all object dictionaries in
the network including its own. The dictionaries are accessed
with the help of KUBES modules:
� CO_SDOWR
Write object dictionary
� CO_SDORD
Read object dictionary
The SDO manager function must only be provided by the
node that is also the NMT master.
The Sync Manager can be set to act as the sender or recipient
of the Sync object. You can also define the Sync
ID. Further configurable parameters are: "Communication
Cycle Period" and "Synchronous Windows Length". However,
there is no monitoring as to whether all stations respond
within the set time window.
6.1.6 Monitoring Services
The monitoring services are rendered with the help of
KUBES modules in the user program.
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Kuhnke Control Units
6.2 KUBES Modules for CANopen
6.2.1 Read Emergency Messages (CO_EMY_R)
Puts all incoming emergency messages on the error
stack. The error stack stores the 128 most recent
emergency objects in a ring buffer.
KUBES module CO_EMY_R allows you to retrieve the error
messages from the ring buffer for analysis.
Name: ............................................................CO_EMY_R
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Read emergency messages
Program code:
Parameters:
Input
JPK CO_EMY_R ,
BUS -|¯¯¯¯¯|- DEVICEID
| |- KERN_ERR
|_____|- EMY_ERR
Function Symbol Type
Par00 Selection of bus BUS B1
Output
Range of values
0 � Bus2
1 � Bus1
Function Symbol Type
Range of values
Par01 Station address DEVICEID B8 [1...127]
Par02 Kernel error KERN_ERR B16 See device data
Par03 Emergency error EMY_ERR BX See device data
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Kuhnke Control Units
6.2.2 Write Emergency Message (CO_EMY_W)
Run KUBES module CO_EM_W to transmit an emergency
message via the bus. Parameters you need to set
is the bus line and the error number. Every message
transmitted is also added to the error register (index
1001h).
Name: ............................................................CO_EMY_W
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Write emergency message
Program code:
Parameters:
Input
JPK CO_EMY_W ,
BUS -|¯¯¯¯¯|
EMY_ERR -|_____|
Function Symbol Type
Range of values
Par00 Selection of bus BUS B1
0 � Bus2
1 � Bus1
Par01 Emergency error EMY_ERR BX See device data
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Kuhnke Control Units
6.2.3 Read Kernel Error Stack (CO_KSTAT)
The KUBES module described below allows you to read
an error message put on the stack of kernel errors. The
error stacks works like a ring buffer and stores the 64
most recent messages.
Name: ............................................................CO_KSTAT
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Read kernel error message
Program code:
; JPK CO_KSTAT ,
; BUS -|¯¯¯¯¯|- KERN_ERR
; |_____|
Parameters:
Input
Function Symbol Type
Par00 Selection of bus BUS B1
Output
Range of values
0 � Bus2
1 � Bus1
Function Symbol Type
Range of values
Par01 Kernel error KERN_ERR B16 See device data
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6.2.4 Run NMT Services (CO_NMT)
Kuhnke Control Units
The CO_NMT module allows you to execute NMT services
either on one of the bus stations or on the controller
itself. If the station address is set to 128 the NMT service
will be executed on all stations.
The following scope of NMT services is available:
NMT service Parameter value
Enter Prepared 4
Enter Operational 5
Reset Node 6
Reset Communication 7
Enter Preoperational 127
Name: ............................................................CO_NMT
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Run NMT service
Program code:
JPK CO_NMT ,
BUS -|¯¯¯¯¯|- KERN_ERR
DEVICEID -| |
TRANS_ST -|_____|
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Kuhnke Control Units
Parameters:
Input
Function Symbol Type
Range of values
Par00 Selection of bus BUS B1
0 � Bus2
1 � Bus1
Par01 Station address DEVICEID B8 [1...128]
Par02 NMT service TRANS_ST B8 4,5,6,7,127
See table
Output
Function Symbol Type
Range of values
Par03 Kernel error KERN_ERR B16 See device data
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6.2.5 Read Object Dictionary (CO_SDO_R)
Kuhnke Control Units
CO_SDO_R lets you read the data of an object dictionary.
Information you have to provide is the target station, the
index and sub-index, and the data volume defined. Index
0 refers to the controller's own object dictionary.
Name: ............................................................CO_SDO_R
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Read object
dictionary
Program code:
; JPK CO_SDO_R ,
; BUS -|¯¯¯¯¯|- CONFIRMA
; DEVICEID -| |- KERN_ERR
; INDEX -| |- SDO_ERR
; SUB_IND -| |- DATA
; DATA -| |- LNG_DATA
; MAX_DATA -| |
; ENABLE -|_____|
Parameters:
Input
Function Symbol Type
Range of values
Par00 Selection of bus BUS B1
0 � Bus2
1 � Bus1
Par01 Station address DEVICEID B8 [1...127]
Par02 Index INDEX B16 See device data
Par03 Sub-index SUB_IND B8 See device data
Par04 Maximum data volume MAX_DATA B16 See device data
Par05 Enable ENABLE B1
0 � disabled
1 � enabled
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Kuhnke Control Units
Output
Function Symbol Type
Range of values
Par06 Confirmation CONFIRMA B1
0 � not confirmed
1 � confirmed
Par07 Kernel error KERN_ERR B16 See device data
Par08 SDO error SDO_ERR BX See device data
Par09 Data DATA BX See device data
Par10 Data volume LNG_DATA B16 See device data
The module is to run with all the parameters remaining
unchanged and Enable = 1 until Confirmation turns 1. The
result will be output until Enable returns to 0 again.
ENABLE
CONFIRMA
While the SDO transfer is being carried out you cannot
run another SDO Write or SDO Read service with different
parameters. If you do you will produce kernel error
KBST_SDO_BUSY (0x80).
SDO transfer will be aborted if Enable turns 0 before a
Confirmation has been received. If you encounter
CIA405_CANopen_Kernel_Error = 1 this is indicative of a
SDO error whose error code can be retrieved from the
CIA405_SDO_Error.
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6.2.6 Write Object Dictionary (CO_SDO_W)
Kuhnke Control Units
CO_SDO_W lets you write data to an object dictionary. Information
you have to provide is the target station, the index
and sub-index, and the data volume defined. Index 0
refers to the controller's own object dictionary.
Name: ............................................................CO_SDO_W
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Write object
dictionary
Program code:
; JPK CO_SDO_W ,
; BUS -|¯¯¯¯¯|- CONFIRMA
; DEVICEID -| |- KERN_ERR
; INDEX -| |- SDO_ERR
; SUB_IND -| |
; DATA -| |
; LNG_DATA -| |
; ENABLE -|_____|
Parameters:
Input
Function Symbol Type
Range of values
Par00 Selection of bus BUS B1
0 � Bus2
1 � Bus1
Par01 Station address DEVICEID B8 [1...127]
Par02 Index INDEX B16 See device data
Par03 Sub-index SUB_IND B8 See device data
Par04 Data DATA BX See device data
Par05 Data volume LNG_DATA B16 See device data
Par06 Enable ENABLE B1
0 � disabled
1 � enabled
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Kuhnke Control Units
Output
Function Symbol Type
Range of values
Par07 Confirmation CONFIRMA B1
0 � not confirmed
1 � confirmed
Par08 Kernel error KER_ERR B16 See device data
Par09 SDO error SDO_ERR BX See device data
The module is to run with all the parameters remaining
unchanged and Enable = 1 until Confirmation turns 1. The
result will be output until Enable returns to 0 again.
ENABLE
CONFIRMA
While the SDO transfer is being carried out you cannot
run another SDO Write or SDO Read service with different
parameters. If you do you will produce kernel error
KBST_SDO_BUSY (0x80).
SDO transfer will be aborted if Enable turns 0 before a
Confirmation has been received. If you encounter
CIA405_CANopen_Kernel_Error = 1 this is indicative of a
SDO error whose error code can be retrieved from the
CIA405_SDO_Error.
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6.2.7 Write Object Dictionary (CO_TRIG)
Kuhnke Control Units
Kubes module CO_TRIG puts user-defined data into a
high-priority queue from which it is output to the bus as
quickly as possible.
Name: ............................................................CO_TRIG
Controller .......................................................ProfiControl 680V
CanControl 691
Function .........................................................Write object
dictionary
Program code:
; JPK CO_TRIG ,
; BUS -|¯¯¯¯¯|
; |_____|
Parameters:
Input
Function Symbol Type
Par00 Selection of bus BUS B1
Procedure
Range of values
0 � Bus2
1 � Bus1
Enter the frame to be transmitted into the appropriate
memory range.
Address Explanation
C/D SO10.00 Frame selection byte
C/D SO10.01 Do not use
C/D SO10.02 Frame 0 ID low byte
C/D SO10.03 Frame 0 ID high byte
C/D SO10.04 Do not use
C/D SO10.05 Length of data
C/D SO10.06 Data 1
C/D SO10.07 Data 2
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Kuhnke Control Units
C/D SO10.08 Data 3
C/D SO10.09 Data 4
C/D SO10.10 Data 5
C/D SO10.11 Data 6
C/D SO10.12 Data 7
C/D SO10.13 Data 8
C/D SO10.14 Frame 1 ID low byte
C/D SO ........ ......................
C/D SO15.15 Queue capacity usage
(0x19EAFF)
The frame selection (memory range C/D SO10.00) defines
which of the 7 possible frames is to be put in the
queue by running the module:
Bit 0 = 1 => frame 0
Bit 1 = 1 => frame 1
Bit 2 = 1 => frame 2
Bit 3 = 1 => frame 3
Bit 4 = 1 => frame 4
Bit 5 = 1 => frame 5
Bit 6 = 1 => frame 6
Running program module CO_TRIG will put the frame in
the queue from where it will be sent to the bus with high
priority.
The data structure also indicates how much of the queue
capacity has been used. The queue can have up to 7
high-priority frames in it.
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6.3 CANopen Manager
Kuhnke Control Units
The CANopen manager has various specific tasks:
� Configuration manager (optional)
� NMT Master (NMT = Network Management)
� Monitoring services
You can have different bus stations fulfill these tasks if required.
However, to keep things clear, you should have
only one unit act as a CANopen Manager.
The Kuhnke control units described earlier are all well
suited to fit this purpose. Apart from that, all of these units
can also act like normal network stations without any
management functions.
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Kuhnke Control Units
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7 CANopen Basics
7.1 Overview
CANopen Basics
CANopen is a network concept (protocol) based on the
CAN protocol defined by Bosch in the middle of the 80s.
The CAN specification describes the framework of data
communication mainly referring to the data security layer,
i.e. the physical data transfer.
CAL, on the other hand, describes the application layer
making powerful communication mechanisms and device
definitions available for high-end process automation.
The CANopen network concept combines the serial CAN
bus system and the CAL application layer. CANopen also
specifies which service is used to transport which data
type and what significance a data type has for every device
classification. Both definitions together make up the
profile, i.e. the defined interface of every class of devices.
CANopen profiles thus describe the specific abilities
and/or parameters of every class of devices. Currently
there are CiA device profiles of digital and/or analogue
I/Os, drives, operating units, sensors and regulators, programmable
controllers and encoders. Further profiles are
under way.
7.2 Data Exchange Methodology
Data exchange via CAN does not address stations but
marks the contents of a message by an identifier that is
unique throughout the network. All stations look at that
identifier to verify whether or not the message is relevant
to them.
Whenever several stations of a CANopen network try to
transmit data at the same time, the urgency (or priority) of
the message decides which piece of information is transferred
first.
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CANopen Basics
7.2.1 Bus Allocation by Bit-wise Arbiting
Message A
Message B
Message C
Fast data transfer via a serial bus demands fast bus allocation
mechanisms to decide which one of several parallel
transfer requests is served first. In the case of CAN, the
identifier of a message is the means to provide this
mechanism. The identifier with the lowest number to it has
the highest priority. The priorities are defined by setting
the appropriate binary values at the system design stage;
these values cannot later be changed dynamically.
How bus conflicts are avoided
Conflicts on the bus are avoided by bit-wise arbiting and
the identifiers in that every station monitors the bus signal
level with every bit. The dominant status (0) overwrites the
recessive status (1). All stations transmitting at a recessive
signal level while monitoring the bus at a dominant
level will lose the fight and automatically turn into recipients.
This simple mechanism ensures that the message
with the highest priority will be automatically transferred
across the bus.
Example:
Identifier Data
10 9 8 7 6 5 4 3 2 1 0
Messages A and B will be denied access to the bus because
message C has higher priority (identifier). The relevant
slaves will turn into recipients.
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7.3 CANopen Object Dictionary
CANopen Basics
The CANopen communication profile is based on an object
dictionary.
Index (hex) Object
0001-001F Simple data types
0020-003F Pre-defined complex data types
0040-005F Vendor-specific complex data types
0060-007F Simple data types specific to a device profile
0080-009F Complex data types specific to a device profile
00A0-0FFF Reserved for extensions
1000-1FFF Range of the communication profile
2000-5FFF Vendor-specific range
6000-9FFF Range of the standardised device profile
A000-FFFF Reserved
The index range from 0001 to 025F is used for the definition
of data types. A differentiation is made between simple
and complex data types as well as data types defined
specifically with regard to vendors or profiles.
The index range from 0100 to 1FFF covers the general
properties of a device as well as all parameters specific to
communication. The specifications for this range are
therefore the same for all CANopen units.
The index range from 2000 to 5FFF allows for vendorspecific
options and extensions of the standardised basic
functions.
The index range from 6000 to 9FFF covers all device data
and/or device functions of a standardised class of devices
to meet the demand of open interchangeability of devices.
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CANopen Basics
7.4 Mechanisms of Communication
7.4.1 Service Data Objects (SDO)
Service data objects are used for changes to the object
dictionary and for status requests. The underlying protocol
supports the transfer of any amount of data; large volumes
of data may have to be sent as several CAN messages
(segmentation). The transfer of every SDO will be
confirmed, that is to say, the recipient of a message will
acknowledge that it has received the message.
7.4.2 Process Data Objects (PDO)
Process data objects are the mechanism provided for the
transfer of process data. Every CANopen device either
producing or consuming process data therfore has at least
one PDO available to it. The underlying protocol provides
8 data bytes for user process data in every CAN message.
The transfer of PDOs is not confirmed (unacknowledged).
There are various ways of transferring process data:
� Event
An internal event sets off the sending of a PDO. Applicable
events may be the change of signal level of a
digital input or the completion of a time count made
by this unit.
� Request
In this case, another bus station requests the process
data by sending a Remote Transmission Request
message.
� Synchronous
Synchronous transfer means that a bus station sends
synchronisation frames (messages without any data)
that cause a PDO producer to transfer the process
data.
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7.4.3 Network Management (NMT)
CANopen Basics
Every CANopen network only has one single NMT master;
all other stations are NMT slaves. The NMT master
controls the slaves and is the only network station that
can actively change the status of the NMT slaves. A slave
can be in one of the following states.
� Initialization
Every unit is in that state after switching on. At that
stage, the device application and the device communication
are initialised. Upon completion, the node will
automatically turn itself Pre-perational.
� Pre-Operational
Every node in this state supports SDO communication.
The node is not capable of PDO communication
and does not transmit any emergency messages either.
� Operational
In that state, the CANopen node is ready to operate
and can itself transfer messages (PDOs, emergency
messages).
� Prepared
A node that is "prepared" no longer supports any
network communication, be it PDO or SDO communication.
However, the appropriate network command
(e.g. Start Node) can change the network state of that
node.
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CANopen Basics
7.4.4 Emergency Messages
Whenever a fault or error occurs in a CANopen unit, the
device will transmit a high-priority 8-byte alert object
(emergency message). The frame contains a code that
identifies the problem.
Code (hex) Explanation
00xx No error
10xx Undefined type of error
20xx Power error
21xx Power error at input
22xx Power error in unit
23xx Power error at output
30xx Voltage error
31xx Supply voltage
32xx Internal supply voltage
33xx Bad output voltage
40xx Temperature error
41xx Ambient temperature
42xx Device temperature
50xx Hardware problem
60xx Software problem
61xx Internal software problem
62xx User software problem
63xx Bad parameters selected
70xx Add-on modules
80xx Communication
90xx External error
FF00 Device-specific
The table lists a couple of error codes defined in the
communication profile.
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7.4.5 Monitoring of Devices
7.4.5.1 Node Guarding
CANopen Basics
CANopen provides two mechanisms to ensure that the
bus stations are fully functional.
This mechanism is controlled by the NMT master to cyclically
check if the NMT slaves are still able to communicate.
It involves the NMT master sending out messages to
the NMT slaves that the slaves must respond to by returning
their communication status within the set timeout. This
enables the NMT master to realise if a unit fails. On the
other hand, a NMT slave realises if the NMT master has
not requested its devices status for longer than its Life
Time.
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CANopen Basics
7.4.5.2 Heartbeat Message
This mechanism involves a node cyclically transmitting a
so-called heartbeat message containing its
communication status. The message can be received by
one or several stations thus enabling them to monitor the
sending station. They will detect a fault if the heartbeat
message is not transmitted.
This mechanism reduces the load on the bus because the
status request message is not required.
7.5 Identifier Distribution
As a rule, communication via a CANopen network is
handled by means of identifiers of a length of 11 bit
(standard frames). The so-called pre-defined connection
set sub-divides the available amount of possible identifiers
into various ranges. The identifiers are distributed such
that every CANopen network is made up of a maximum of
128 devices: one NMT master and up to 127 NMT slaves.
The 7 low-significant bits of the identifier are used to distinguish
the 127 devices. The remaining 4 bits identify 11
different communication functions.
11-bit identifier (standard frames)
10 9 8 7 6 5 4 3 2 1 0
Function code Device identifier (0, 1-127)
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CANopen Basics
The table below summarises the identifiers allocated in
compliance with the preset matrix of identifiers for the
messages defined.
Communication object
Broadcast
Peer-to-peer messages
Function code COB-ID
dec. bin dec.
NMT commands 0 0000 0
Sync message 1 0001 128
System time 2 0010 256
Alert object 1 0001 128 + device ID
Transmit PDO 1 3 0011 384 + device ID
Receive PDO 1 4 0100 512 + device ID
Transmit PDO 1 5 0101 640 + device ID
Receive PDO 1 6 0110 768 + device ID
Transmit PDO 1 7 0111 896 + device ID
Receive PDO 1 8 1000 1024 + device ID
Transmit PDO 1 9 1001 1152 + device ID
Receive PDO 1 10 1010 1280 + device ID
Transmit SDO 11 1011 1408 + device ID
Receive SDO 12 1100 1536 + device ID
NMT error 14 1110 1792 + device ID
Please note that the synchronisation message has the
highest priority in the system, directly followed by the system
time and the alert messages. The next priority group
is made up of the first Transmit PDO and Receive PDO
frames.
Communication through the SDO channels has a comparatively
low priority.
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CANopen Basics
7.5.1 PDO Mapping
The functionality of a device equipped with a CANopen interface
is described by the application object. Application
objects are device parameters that can be either read or
written, including but not limited to input and output values,
speeds or further states.
Every process data object can carry up to 8 bytes. Consequently,
you need to define the positions within a PDO's
data array. This definition or allocation is called a PDO
mapping. It allows you to generate messages containing
specific sets of information of a CANopen device. The
communication profile range of the object dictionary contains
the information about the PDO structure so that the
structure is available via the network. If the allocation of
application objects to a process data object permanently
changes you would refer to it as dynamic mapping.
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7.6 Device Description EDS and DCF
CANopen Basics
EDS and DCF are standardised descriptions of CANopen
devices in the shape of a so-called Electronic Data Sheet
(EDS) or a Device Configuration File (DCF) respectively.
The EDS lists all objects, the baud rates supported, the
manufacturer and many other details. However, the EDS
is only like a template for the unit because the actual values
of an object are not contained in it.
The DCF has the same structure as the EDS plus that it
contains the values of every object.
Both description files imitate the Windows *.ini format
making it easy for users to add new devices to the network:
connect the hardware and upload the EDS or DCF
file to the master. That's all it takes to get the unit ready
for action.
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CANopen Basics
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8 Appendix
8.1 References
8.1.1 Kuhnke Manuals
Title / Subject Number
Appendix
Programming Manual - Kuhnke PLC systems E 417 GB
KUBES - Programming software for Kuhnke's PLC systems
E 327 GB
ProfiControl 680V E 598 GB
CanControl 691 E 623 GB
CanControl I/O 691 E 622 GB
CD-ROM Software & Information E 627 D/GB
8.1.2 CANopen Specifications (English Only)
Source
CAN in Automation
Am Weichselgarten 26
D-91058 Erlangen
Fax: 0049-9131-69086-79
E-mail: headquarters@can-cia.org
Web: http://www.can-cia.org
Title / Subject Number
Application Layer and Communication Profile DS 301 V4.01
Framework for Programmable CANopen Devices DSP 302 V3.0
Device Profile for Generic I/O Modules DS 401 V2.0
Device Profile Drives and Motion Control DSP 402 V1.1
Device Profile Human Machine Interfaces DSP 403 V1.0
Device Profile for IEC 1131 Programmable Devices DSP 405 V1.0
Device Profile for Encoders DSP 406 V2.0
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Appendix
8.2 Abbreviations
CAN Controller Area Network
CANopen Controller Area Network of CiA
CiA CAN in Automation - CAN user association
EDS Electronic Data Sheet; technical brief of a unit
DCF Device Configuration File; configuration of a unit
DI Digital Input
DO Digital Output
ID Identifier, unique identification
I/O Input / Output
NMT Network Management
PDO Process Data Objects
SDO Service Data Objects
OV Object dictionary
PDO mapping Copying of process data to the communication range
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8.3 Sales & Service
Sales & Service
Please visit our Internet site to find a comprehensive
overview of our sales and service network including all the
relevant addresses. You are, of course, always welcome
to contact our staff at the main factory in Malente:
8.3.1 Main Factory in Malente
Kuhnke Automation GmbH & Co. KG
Lütjenburger Straße 101
23714 Malente
Telefon (0 45 23) 402-0
Telefax (0 45 23) 402 247
E-Mail sales@kuhnke.de
Internet www.kuhnke.de
8.3.2 Customer Service
Kuhnke Automation GmbH & Co. KG
Lütjenburger Straße 101
23714 Malente Deutschland
Telefon +49 (0)4523 402 200
E-Mail service@kuhnke.de
Internet www.kuhnke.de
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Appendix
8.4 Index
address ....................................41
attention ...................................12
bus termination ........................26
cable routing and wiring...........19
CAL ..........................................88
CANopen ...................................7
network.................................21
CANopen manager ..................86
characteristic impedance .........23
CiA .............................................7
COBES ....................................29
conductor resistance................23
danger......................................12
DCF..........................................98
device description ....................98
Device ID .................................38
device monitoring.....................94
dirt ............................................20
D-Sub socket ...........................25
earthed capacitance ................23
EDS..........................................98
electromagnetic compatibility...17
electromagnetic interference ...20
emergency ...............................93
general notes on installation....18
heartbeat..................................95
identifier ...................................95
impact and vibration.................20
inductive actuators...................20
initialization ..............................92
installation................................15
instruction ................................13
interference emission...............18
KUBES modules ......................74
limiting value class...................18
line architecture .......................22
line length ................................23
location of installation ..............19
M12 connector .........................26
maintenance ............................16
material ....................................23
network management ..............92
NMT .........................................92
node address ...........................41
node guarding..........................94
node ID ....................................41
noise immunity.........................17
note..........................................12
notes ........................................12
object dictionary.......................90
operational ...............................92
PDO .........................................91
PDO manager..........................72
PDO mapping ..........................97
pin wiring..................................25
pre-operational.........................92
prepared ..................................92
ProCANopen............................39
process data objects................91
project planning .......................15
reliability...................................11
RS 485.....................................21
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safety .......................................14
SDO .........................................91
SDO manager..........................73
service data objects .................91
servicing...................................16
shield........................................23
shielding...................................24
Index
target group .............................11
temperature .............................19
terminating resistor ..................26
transfer rate .............................23
under construction ...................12
working steps...........................13
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