Bus System BS 4590 CANopen Baureihe / Series

Bus System BS 4590 CANopen Baureihe / Series
Installation and operating instructions
Bus System BS 4590 CANopen
4590-8360
Baureihe / Series / Séries
BS 4590
INDEX
1
1.1
1.2
1.3
1.4
2
3
SAFETY NOTICES
Area of application
Short description
Start-up (Electronic connection)
Warning notices
TRANSPORT AND STORAGE
GENERAL INFORMATION ABOUT FIELD BUS SYSTEMS
2
2
Fehler! Textmarke nicht definiert.
2
2
2
3
3.1
3.2
Basic characteristics
Bus access and communication of the BS4590 CANopen
3
3
4
SETTING THE COMMUNICATION PARAMETERS
3
4.1
4.2
4.3
4.4
5
5.1
6
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
6.10
7
7.1
7.2
7.3
7.4
7.5
7.6
7.6.1
7.6.2
7.6.3
8
9
9.1
9.2
01/2010
Manual communication parameter settings
Setting bit rate on the DIP-switch:
Setting node address via CANopen:
Setting bitrate via CANopen:
CAN-IDENTIFIER /-MESSAGES
PDO Mapping Control and notifier command addresses
COMMUNICATION CAN OPEN
Build up and wiring
Communication profile
Configuration
Process data objects
PDO-Mapping
Error processing
Network Boot-Up
Life Guarding
Heartbeat
Heartbeat Producer
FUNCTION OF THE BS 4590 CANOPEN
CANopen status transitions
Power on
PRE-OPERATIONAL
OPERATIONAL
STOPPED
Emergency Telegramm
Error Code
Manufacturer-specific Error Code
Error Register
THE BS4590 CANOPEN OBJECT INDEX
CONNECTION BS4591
View BS 4591
View BS 4591
3
4
4
4
4
5
5
5
5
6
6
6
Fehler! Textmarke nicht definiert.
7
7
8
8
9
9
9
9
9
9
9
10
10
10
11
12
12
12
Installation and operating instructions
1
1.1
4590-8362
Safety notices
Area of application
RTK actuators are intended for the operation of industrial fittings, like e.g. valves. The manufacturer is not liable for other applications and
possibly resulting damages. The applicant carries the sole risk. The adherence to this instruction manual is also part of proper and intended
use.
1.2
Short description
The actuators ST 51xx are driven by an electric motor and digitally controlled via the Bus interface BS4591 CANopen. The Bus interface is
built into the motor. The following drives are available with the CANopen Bus interface BS4591.
x ST5112
3KN
linear actuator
x ST5113
6KN
linear actuator
x ST5114/15
10KN linear actuator
x ST5106
15KN linear actuator
x ST5143
2,5KN damper actuator
The measurement probe NI 1321/-22 (level sensor) is supplied with 24V DC and transfers data via the Bus interface BS4592 CANopen.
1.3
Start up (Electro connection)
During the operation of electrical devices certain parts are obligatorily under dangerous voltage. Work on electrical units or equipment may
only be performed by an electrician or a trained person under instruction and supervision of an electrician according to the electro-technical
rules.
1.4
Warning notices
In case of non-adherence to the warning notices massive injuries or material damages may occur. Accordingly qualified personnel must be
familiar with all details of this warning according to this instruction manual. Smooth and safe operation requires proper transport, proper
storage, set up, assembly, and careful start up. In order to emphasize safety-relevant processes in this operation manual the following safety
notices are valid, whereas every notice is marked with an according pictogram.
+ This sign means: Notice!
„Notice” marks activities or processes that have an essential influence on the proper operation. In case of non-adherence possible
consequential damages may occur.
l This sign means: Electrostatic hazardous components!
If this sign is attached to the board there are components there that may be damaged or destroyed through electro static discharges. If
components must be touched during setting, measurement, or replacement of boards, discharge is to be provided directly in advance by
touching a grounded, metallic surface (e.g. on the casing).
a This sign means: Warning!
„Warning” indicates activities or processes that may cause a safety risk for people or material values if not conducted properly.
2
x
x
x
x
x
x
01/2010
Transport and Storage
.Transport to the place of set up in firm packaging.
.Do not fix lifting devices on the hand wheel.
.Storage in well-ventilated, dry room.
.Protection against ground moisture through storage on a shelf or on a wooden grid.
.Protection against dirt and dust.
.Treat blank surfaces with an adequate corrosion protection agent.
Installation and operating instructions
3
4590-8363
General information about the field bus systems
Today, mainly serial field busses are used as communication system for the exchange of information among the automation systems as well
as with the connected decentral field devices. In many thousands of successful applications is was impressively proven that the use of field
bus technology can achieve cost savings of up to 40% in cabling, start up and maintenance compared to conventional technology. Over only
two wires all relevant data like input and output data, parameters, and diagnosis data for the field devices can be transmitted. While in the
past often manufacturer-specific, among each other incompatible field busses were used, almost exclusively open, standardized systems
are used today. This makes the user independent from individual suppliers and he can select the best and most price-effective product from
a large product palette. The area of application includes the manufacturing, process, and building automation.
3.1
Basic characteristics
CANopen determines the technical and functional characteristics of a serial field bus system with which the distributed digital automation
devices can be linked to each other. CANopen is designed for fast data exchange in the field level (up to 1 Mbit/s) according to ISO 11898.
Here the central control units, like e.g. SPS or PC, communicate over a fast, serial connection with decentral field devices like input/output
devices, drives, or sensors. The data exchange with these decentral devices is done asynchronically. Every bus participant can access the
bus and transmission messages. The processing of the messages is regulated by priorities.
+ The description BS4590 is generally applicable to CANopen devices of the company Regeltechnik Kornwestheim GmbH.
Special functions in 2 device types are differentiated:
1. BS4591 for actuators of the series ST51xx
2. BS4592 for sensors of the series NI13xx
3.2
x
x
x
x
Bus access and communication of the BS4590 CANopen
CANopen interface after Full- CAN-2.0B passive with 11 Bit Identifier
Device profile after CiA DSP401
Communication profile after CiA DS301 V4.01
CAN-Bus driver for the support of up to 100 CAN-nodes
4
Setting the communication parameters
4.1
Manual communication parameter setting
The Bus interface BS4590 can be manually configured with DIP switches (no full functionality). The setting of the node address (NodeID)
and the setting of the bit rate are possible via the DIP switches with limitations.
The BS4590 is delivered as standard with the node address (NodeID) 1E h (30 decimal). With help of the DIP-switches DIP1 to DIP4 on the
module this basic node address can be admitted with an offset in the range from 30 to 44 decimal. The absolute node address is derived as
follows:
NodeID = 1Eh + DIP1*2 0 + DIP2*2 1 + DIP3*2 2 + DIP4*2 3
with DIPx=1 with closed switch (position ON) and DIPx=0 with open switch.
Example: With closed switch DIP1 and DIP4 the following node address is derived:
NodeID = 1E h + 1*2 0 + 0*2 1 + 0*2 2 + 1*2 3
NodeID = 1E h + 1*1 + 1*8
NodeID = 1E h + 1 + 8
NodeID = 27 h
also address 39 decimal
+The setting 0FH on DIP 1..DIP4 is reserved to set back the BS4590!
Table node address over DIP-switch
Node address
1E h
01/2010
decimal
30
DIP-Switch
DIP4
OFF
DIP3
OFF
DIP2
OFF
DIP1
OFF
Installation and operating instructions
1F h
20 h
21 h
22 h
23 h
24 h
25 h
26 h
27 h
28 h
29 h
29 h
2B h
2C h
Reserved
4.2
31
32
33
34
35
36
37
38
39
40
41
42
43
44
general RESET
4590-8364
OFF
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
ON
ON
ON
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Setting bit rate on the DIP-switch:
The setting of the bit rate is done with the help of the DIP-switch DIP5 and DIP6 on the module. The following bit rates are possible:
Bit rate
kBit/s
20
250
500
1000
4.3
DIP5
DIP6
ON
OFF
OFF
ON
OFF
OFF
ON
ON
Setting the node address over CANopen:
The BS4590 may receive an optional node address in the range from 1...127 (01H..07FH) via LSS-service (Layer Setting Services to
Protocol, CiA DSP 305) via CANopen. After that the settings of a of a node address on a DIP-switch are no longer relevant. The adjustment
of the NodeID via LSS results in a restoration of the OD with default values.
+Default setting:
4.4
1E h (30 decimal)
Setting the bit rate over CANopen:
The BS 4590 may receive a bit rate over CANopen via LSS- service (Layer Setting Service and Protocol, CiA DSP-305). After that the
settings of a bit rate on the DIP switch are no longer relevant.
The bit rate 800kBit/s is not supported.
Index in LSS Timing Table
Bit rate kBit/s
0
1000
2
500
3
250
4
125
5
100
6
50
7
20
8
10
+Default setting:
250Kbit/s
5
CAN-Identifier /-Messages
For every CAN-message with process data (process-data-object,PDO) a specific CAN-Identifier is assigned according to CiA Draft
Standard 301 V4.x. The CAN-Identifiers for input and output data are derived from the node address.
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Installation and operating instructions
5.1
4590-8365
PDO Mapping Control and notifier command addresses
A PDO can transport a maximum of 8 Bytes. The assignment of variables to PDO’s is defined over the following Mapping Tables.
The BS 4590 uses only 1 byte for digital inputs and outputs, as well as for analogous values.
BS 4591 for ST51xx drives
Object
Signal
Resulting COB-ID hex
Resulting COB-ID
decimal
EMERGENCY
1.Tx PDO
1.Tx PDO
2.Tx PDO
01H+Module-ID
180H+Module-ID
180H+Module-ID
280H+Module-ID
128-254
384-510
384-510
640-766
11111110
11111101
0-255
00000000
00000001
00000010
Status
Final position open reached
Final position close reached
Analogue value
Potentiometer
Drive “STOP”
Drive “OPEN”
Drive “CLOSE”
1.Rx PDO
1.Rx PDO
1.Rx PDO
^
BS 4592 for NI1321 level measurement probe
Object
Signal
200H+Module-ID
200H+Module-ID
200H+Module-ID
512-639
512-639
512-639
Resulting COB-ID hex
Resulting COB-ID
decimal
EMERGENCY Status
2.Tx PDO
Analogue value NI1321
01H+Module-ID
280H+Module-ID
128-254
640-766
6
6.1
Usage data
decimal
1 byte
Usage data
decimal
byte1
0-255
Communication CAN open
Build up and wiring
A drilled, shielded double-wire line is used as CAN-Bus-cable that is closed on both ends with 120ohm.
The shield is to be lain one-sidedly on PE. The wave resistance of the cable shall be 120ohm. The diameter is based on the line length.
Line length [m]
Max. bit rate [kBit/s]
0 ... 40
1000
40 ...100
500
100 ... 500
100
500 ...1000
20
Recommended line parameters
6.2
Specific resistance [m./m]
70
<60
<40
<26
Line diameter [mm²]
0,25 ... 0,34
0,34 ... 0,60
0,50 ... 0,60
0,75 ... 0,80
Communication profile
The interface between application and device is clearly defined by a uniform communication profile. The communication profile describes the
different communication objects and services and the available modes of the trigger for sending messages. The communication model
supports the transmission of the synchronous and asynchronous sending. Network wide, coordinated data exchange is possible with the
means of synchronous message transmission. The synchronous transmission is initiated with the pre-defined object SYNC-message.
Asynchronous messages can be transmitted anytime.
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Installation and operating instructions
6.3
4590-8366
Configuration
Service data objects
The network management accesses the communication and device profile of the network participants. Service data objects (SDO) are
available for these accesses. The SDO pose to be a dot-to-dot connection for the access to the object index of the network node. The
access takes place according to the Multiplexed Domain Protocol, whereas the index and sub index of the addressed object are used as
Multiplexor. This protocol is based on receipt operation. Messages that are shorter than 5 byte can be transmitted with one sending/receipt.
The owner of the object index is the SDO-server. The reading and writing accesses over SDO´s are supervised by the CANopen device and
checked for validity. There are a number of access restrictions like read only, write only, no pdo mapping. Error messages give detailed
information about access conflicts.
SDO’s mainly serve configuration purposes.
6.4
Process data objects
The data exchange does not require a Bus master. The process data exchange in real-time between the nodes takes place over process
data objects (PDO) directly and without protocol overhead. A PDO is a CAN-message whose data content, identifier, inhibit time,
transmitting type, and event timer can be configured over entries in the object index via SDO´s. The entries for receipt objects are under
index
[1400H] and under [1800H] for sending objects. CANopen allows cyclic and event-controlled communication.
The transmitting type states the manner of reaction to the SYNC-message, the inhibit time is the minimum time that must go by between two
sending of the PDO. This way it is possible to reduce the Bus load to a minimum and achieve a high data flow rate. The event timer is used if
a device is to send a PDO in regular, even intervals. The inhibit time is not considered in this transmission type. Further there is the option of
inquiring PDO´s over remote frames. A simple device usually supports four PDO’s. These are initialised with pre-set identifiers. Further
PDO´s can be intended on the device, but be set invalid to avoid conflicts. This is done by setting the MSB (Bit 31) in the identifier of the
PDO. The identifier can be reached in the object index under the entry communication parameter, sub index 1. Bit 30 states 0 as the value
that remote requests are allowed for this PDO. Bit 29 on 0 stands for 11-Bit Identifier.
Bit
31
11-Bit ID
0/1
29-Bit ID
0/1
Structure of the COB-Identifiers
30
0/1
0/1
29
0
1
28-11
000000000000000000
29-Bit Identifier
10-0
11-Bit Identifier
The transmission types on Sub index 2 can be set in the range from 0 to 255. The values 0 to 240
mean that the transmission of the PDO stands in relation to the SYNCMessage. 0 means that probed input values are only sent in case of
change upon receipt of the SYNC, between 1 and 240 means that the PDO is sent after the receipt of the according number of SYNC. The
values 241 to 251 are reserved. The types 252 and 253 are only intended for remote objects. At 253 the data is updated upon receiving the
remote request. 254 and 255 stand for asynchronous PDO, whose triggering is manufacturer or device specific. The inhibit time is saved in
100µs - steps as unsigned16-value on sub index 3. Sub index 4 states the CMS- priority group. This mechanism is omitted with the
introduction of the CiA DS301 V4.x. The sub index 4 is maintained for compatibility reasons and is marked as reserved. The entry has no
influence on the function. Sub index 5 contains the event timer. It is saved in 1ms steps as unsigned16-value.
In dependency of the supported sub indexes sub index 0 must be set to the according value (5). The following rules are valid for PDO's in
the I/O Profile:
The first sending and receipt-PDO is used for the exchange of digital data, the second sending and receipt PDO for the exchange of
analogous data. If a device does not support digital in or outputs, the first sending and receipt PDO shall remain unused. On devices without
analogous interface components the second sending and receipt PDO shall not be used.
6.5
PDO-Mapping
Every communication parameter entry of a PDO includes a Mapping entry that is located higher in the object index 200H. This mapping table
corresponds to the content of the data of the PDO. The basis for the mapping is that there are variables in the object index that are
mappable, for example digital entries on index [6000H] and digital outputs on Index
[6200H]. Of course, these values can be set and read over SDO. To use the advantages of the CAN-busses, the variables are shown in
PDO. This happens as follows:
The entries in the mapping table are four bytes in size. The number of mappable objects is written on sub index 0.
On every following sub index a reference to the index and sub index of the variable and its length in bit is saved, for example 60000108H for
a reference to index [6000H], sub index 1, length 8 Bit. In this case the value of the digital input is shown on the first byte of a sending PDO.
01/2010
Installation and operating instructions
4590-8367
In most devices, the mapping is done with a granularity of 8, meaning there is a maximum of 8 possible entries to one byte of the mapping
table. Sometime it may make sense to exclude areas from the mapping.
For example, a device should only evaluate the 5th byte of a PDO. In this case 2 unsigned16 Dummy-objects can be entered in the
mapping, insofar supported by the device. With help of the mapping table the PDO to be sent is coded or the received PDO is decoded
according to the set communication parameters.
6.6
Error processing
Every node in the net is able to signal errors insofar they are recognized by the hardware and software. The emergency software is used for
this purpose. Internal fatal error conditions are coded in error codes and sent to the other nodes only once. If further other errors occur, the
node remains in the error condition and sends a new emergency object. If the error is eliminated, the node sends an error notice with the
code "No Error". The emergency-messages consist of 8 bytes,
whereas the first and second byte are additional information that can be found in the device profile. The third byte is the content of the error
register, and the remaining 5 bytes are manufacturer-specific. The Emergency Error Code is saved in object [1003H], the
Pre-Defined-Error-Field. It is an error logbook, the errors are sorted by time. The oldest error is on the highest sub index.
Byte
Content
0
1
Emergency
Error Code
Structure of the Emergency-message
2
Error Register,
Object [1001H]
3
4
5
Manufacturer Specific Error Field
6
7
6.7
Network Boot-Up
The NMT-Master is responsible for the booting of the network. The booting is done in several steps. Depending on the type of connected
devices the identifiers on minimum devices are defined over pre-defined settings. The pre-defined settings for the identifiers for Emergency,
PDO’s and SDO’s are calculated from the node address that may lie between 1 and 127, added to a basis identifier that determines the
function.
Bit
COB-Identifier
10
0
0
Function code
Determination of the COB-Identifier from the node address
Object
Resulting COB-ID hex
Nodeguard/
Heartbeat/
Bootup
700H+Module-ID
Module-ID
Resulting COB-ID
decimal
1792-1918
The configuration data can be loaded onto the device with the pre-defined SDO. After the device was set to the NMT status
"OPERATIONAL" with the NMT-service Start_Remote_Node from the NMT-status "PRE-OPERATIONAL" , PDOs can be sent. The
minimum device also supports the services
Stop_Remote_Node, Enter_Pre-Operational_State, Reset_Node, Reset_Communication. After turning on and initialisation the device
automatically goes into the status "OPERATIONAL". With Reset_Node the device is set back completely,
Reset_Communication effects a reset of the communication parameters.
6.8
Life Guarding
The optional node supervision is achieved through the so-called Life Guarding. The NMT-Master sends a cyclic Lifeguard-message to the
device. It answers with a message that contains its current NMT-status and a bit changing between two messages. Upon lack of answer or
unexpected NMT-status of the device the NMT-Master application is informed. Further the device can detect the failure of the Master. The
Life Guarding is started with the
first sending of the Master.
01/2010
Installation and operating instructions
4590-8368
+In the BS4591 the drives are driven to closing position in case of error (e.g. Bus failure)
6.9
Heartbeat
The Heartbeat is, analogous to Life Guarding, a supervision service that however does not need a NMT-Master.
The tasks of Producer and Consumer can be conducted by all CANopen devices that support this service.
6.10
Heartbeat Producer
The Heartbeat Producer sends a cyclic Heartbeat message. The Producer Heartbeat Time (unsigned 16 -time value in ms) set on the index
[1017H] is used as interval time. If this time expires, a message with the following structure is sent:
11-bit CAN Identifier
1 Byte usage data
700H+NodeID
Producer state
Table 13 : Structure of the Heartbeat-message
The used COB-ID is the 0700H + node number. The Heartbeat-Producer states his NMT status (producer state) in the first byte of the
message. It can assume the following values:
00H BOOTUP
04h STOPPED
05h OPERATIONAL
7Fh PRE-OPERATIONAL
+The Heartbeat-Producer is deactivated if the value zero is entered as Producer Heartbeat Time!
01/2010
Installation and operating instructions
7
7.1
4590-8369
Function of the BS 4590 CANopen
CANopen Status transitions
The NMT-message for changing the device status has the following structure:
11-bit CAN Identifier
0
cs
2 Byte usage data
NODE_ID
NODE_ID Node address ;
NODE_ID = 0 addresses all components (Broadcast)
Cs
Command
The Table summarizes all NMT-Master telegrams for status control of the CANopen device.
Command
Cs
1 (01H)
Designation
Starts the device and the PDO-transmission
releases outputs
2 (02H)
Stopp_Remote_Node Stops PDO-transmission turns off outputs
128 (80H)
Enter_Pre_Operational Stops the PDO-transmission,
_State
SDO still active
129 (81H)
Reset_Node
Conducts a reset of the device;
Cold start
The device is set back to its default values
130 (82H)
Reset_Communication The communication parameters are set back
to their default values
NMT- Master telegrams for status control
7.2
Start_Remote_Node
Function
NMT-Status after
performance
OPERATIONAL
STOPPED
PREOPERATIONAL
PREOPERATIONAL
PREOPERATIONAL
Power on
After "Power-On" the device conducts the required initialisations and switches to status "OPERATIONAL".
+ Should there be no Bus connection to the Master the faulty behaviour is activated in the BS4591. The drive goes to closed
position.
BY sending the Start_Remote Signals the respective slave can then be set to „Operational“ status again.
7.3
PRE-OPERATIONAL
In this status no process-data-objects (PDO‘s) are active. The Default-Identifiers for the Service-Data-Objects (SDO‘s) are available. All
necessary configurations can be conducted over SDO. After completion of the configuration the device can be set to the status
"OPERATIONAL". This is done by the NMT-Master or by the user via a network configurator.
7.4
OPERATIONAL
In the status "OPERATIONAL" process data objects can be exchanged. An access via SDO‘s is also possible.
7.5
STOPPED
The communication is stopped in whole in the status "STOPPED". This is not applicable for a possible activated node guarding, it is still
functional. Further this status can be used to bring the application into a
„Safety status“. In this condition no PDO-,SDO-, SYNC- and Emergency- communication functions. The status can be left again via an NMTMessage.
7.6
Emergency Telegram
The status of the CANopen Chip164 is transmitted via high priority emergency telegrams in case of error. These
01/2010
Installation and operating instructions
4590-83610
telegrams have data length of 8 Bytes and contain error information. The Emergency Telegram is transmitted as soon as one of the
signalised errors occurred. The specific Emergency Telegram is always only transmitted once, even if the telegram occurs over a longer
period of time. If all error reasons are eliminated, an Emergency Telegram with content 0 (error eliminated) is again transmitted. The
structure of the Emergency Telegram (8 Byte data) is illustrated hereafter:
Byte
0
1
Error Code
2
Error Register,
Object [1001H]
3
4
5
Manufacturer specific Error Code
6
7
Emergency Telegram (Byte-Field)
7.6.1
Error Code
The Error Code (Byte field 0+1, LSB, MSB) shows whether an error is present, or whether the error is already eliminated (no error).
The following error codes may occur:
0000H
1000H
6100H
6101H
6102H
8110H
8120H
8130H
no error
global error
internal software error
internal Tx Puffer overflowed (Bus load too high, or message priority is too low)
internal Rx Puffer overflowed (Bus load too high)
CAN-message lost upon receipt (Bus load too high)
Device is in error passive mode
Lifeguard or Heartbeat error Upon Heartbeat Consumer-error the node address of the failed device is transmitted in the
manufacturer specific part (Byte 3).
8140H Device had recognized CAN-BUSOFF
0FF00H Device specific error (see Chapter 7.8)
7.6.2
Manufacturer specific Error Code
The manufacturer specific Error Code is shown in Byte 3.
0
1
2
3
4
5
6
7
no error
EEPROM-error (hardware error during reading/writing or the configuration in the non-volatile memory)
Watchdogtimer triggered (software or RAM/ROM-error)
Error during DefineVariable (Software or RAM- error)
Error during PutObj (Software or RAM- error)
Error during processing of the OD-access rights (Software or RAM- error)
false configuration
false node address
7.6.3
Error Register
The Error Register (Byte field 2) can take on the following values:
81H:
11H:
01H:
00H:
01/2010
a manufacturer specific error occurred.
CAN-Communication error
a general error occurred
there no longer is an error – error reset
Installation and operating instructions
8
Index
[hex]
1000
1001
1003
1005
1007
1008
1009
100A
100C
100D
1010
1011
1014
1016
1017
1018
Index
[hex]
1200
1201
1400
4590-83611
The BS4590 CANopen Object Index
Object
Name
Data type
Available
Var
Array
Array
Var
Var
Var
Var
Var
Var
Var
Array
Array
Var
Array
Var
Record
Object
Device Type
Error Register
Error Message
Identifier SYNC-message
SYNC window length
Device designation
Hardware Version
Software Version
Var Guard Time
Life Time Factor
User-Parameter save
Default-Parameter reload
Identifier Emergency
Consumer Heartbeat Time
Producer Heartbeat Time
Identity Object
Name
Unsigned32
Unsigned8
Unsigned32
Unsigned32
Unsigned32
String
String
String
Unsigned16
Unsigned8
Unsigned32
Unsigned32
Unsigned32
Unsigned32
Unsigned16
Identity
Data type
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
BS4591/92
Available
Record
Record
Record
1 st Server SDO Parameter
2 nd Server SDO Parameter
RxPDO1 Communication parameter
Digital Output
RxPDO1 Mapping parameter
Digital Output
TxPDO1 Communication parameter
Digital Input
SDO Parameter
SDO Parameter
PDOComPar
BS4591/92
BS4591/92
BS4591
(Relay)
BS4591
(Relay)
BS4591(final
position
message)
BS4591/92
(Analogue
values)
BS4591(final
position
message)
BS4591/92
(Analogue
values)
BS4591/92
BS4591
BS4591
BS4591/92
BS4591/92
BS4591/92
1600
Record
1800
Record
1801
Record
TxPDO2 Communication parameter
Analogue Input
PDOComPar
1A00
Record
TxPD01 Mapping parameter
Digital Input
PDOMapping
1A02
Record
TxPD02 Mapping parameter
Analogue Input
PDOMapping
2000
Var
I/O Configuration
6000
Array
PDO Digital Input
6200
Array
PDO Digital Output
6206
Array
Error Mode Digital Output
6207
Array
Error State Digital Output
6401
Record
PDO Analogue Input
Object indexes (Object Dictionary of the BS4590)
01/2010
PDOMapping
PDOComPar
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Unsigned8
Integer16
Installation and operating instructions
9
9.1
4590-83612
Connection BS4591
View BS 4591
Node ID
12345678
BS 4591 CANopen
Motor
CAN-Bus
Power
- +
GND C_L 24V C_H 71 70 63 62 61
9.2
0% 100%
N
K6 K5 K4 Z3 Z2 Z1
L
N
View BS 4591
ST51 13/14/15/06
1
2
POT 1
3
21
20
ST51 14/15
20
17
ST5113
F4
F3
0%
M
ST5112
A1
A2 A3
K4
K5 K6
100%
61
62
63
N
ST5112
Z3 Z2 Z1
BS 4591
RTK actuator
inside
Customer
PE
N
L
Power supply
GND
C_L
24V
CANopen interface
Technische Änderung vorbehalten/ Subject to technical alteration/ Sous réserve de modifications techniques
01/2010
C_H
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