Beijer Electronics G Series Manuel utilisateur

Page 1 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

CANopen network adapter

GN-9261

User manual

GN-9261 User Manual

Page 2 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

DOCUMENT CHANGE SUMMARY

REV.

PAGES

REMARKS

DATE

Editor

1.00

New Document

2018/7/30

1.01

First release

2019/01/29

NJL

GN-9261 User Manual

Page 3 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

Contents

1. Important Notes............................................................................................................................................................. 5

1.1.1 Symbols.............................................................................................................................................................. 6

1.1.2 Safety Notes.................................................................................................................................................... 6

1.1.3 Certification..................................................................................................................................................... 6

3.1 GN-9261 Specification........................................................................................................................................ 8

3.2 GN-9261 Wiring Diagram..................................................................................................................................... 9

3.3 GN-9261 LED Indicator.......................................................................................................................................10

3.3.1 LED Indicator.................................................................................................................................................10

3.3.2 MOD(Module Status LED)......................................................................................................................10

3.3.3 RUN(Module Status LED).......................................................................................................................10

3.3.4 ERROR(CANopen Error LED).................................................................................................................10

3.3.6 Field Power, System Power LED(Field Power, System Power Status LED)...................11

3.3.7 Indicator states and flash rates..........................................................................................................11

3.4. GN-9261 Electrical Interface............................................................................................................................12

3.4.1 5pin Open Connector...............................................................................................................................12

3.4.2 Dip Switch ......................................................................................................................................................12

3.4.4 RS232 Port for MODBUS/RTU, Touch Panel or I/O Guide ..................................................13

4. Dimension........................................................................................................................................................................14

4.1 GN-9261....................................................................................................................................................................14

5. Communication..............................................................................................................................................................15

5.1 Device Model.........................................................................................................................................................15

5.1.1 Structure of the device model ............................................................................................................15

5.2 PDO (Process Data)...........................................................................................................................................15

5.2.1 Introduction...................................................................................................................................................15

5.2.2 PDO Mapping...............................................................................................................................................16

5.2.3 PDO Identifier ..............................................................................................................................................16

5.2.4 PDO Communication Type ....................................................................................................................17

GN-9261 User Manual

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5.3 SDO (Service Data).............................................................................................................................................19

5.3.1 Introduction...................................................................................................................................................19

5.4 Emergency (Error Message)..........................................................................................................................20

5.5 NMT (Network Management).........................................................................................................................20

5.5.1 Network Start-up........................................................................................................................................20

5.5.2 Boot-up Message .......................................................................................................................................21

5.5.3 Node Guarding............................................................................................................................................21

5.5.4 Life Guarding ................................................................................................................................................23

6. Object Directory.............................................................................................................................................................26

6.1 Communication Profile Area.........................................................................................................................26

6.2. Manufacturer Specific Profile Area...........................................................................................................33

6.3 Standard Device Profile Area – DS401.....................................................................................................35

7. MODBUS Interface.......................................................................................................................................................39

7.1 MODBUS Interface Register/Bit Map.........................................................................................................39

7.2 Supported MODBUS Function Codes......................................................................................................39

7.2.1 8(0x08)Diagnostics ....................................................................................................................................40

7.2.2 Error Response.............................................................................................................................................41

7.3 MODBUS Special Register Map.....................................................................................................42

7.3.1 Adapter Identification Special Register (0x1000, 4096) .......................................................42

7.3.3 Expansion Slot Information Special Register (0x2000, 8192).......................................43

APPENDIX A..................................................................................................................................................................48

A.1 Product List...........................................................................................................................................................48

A.2 Glossary..................................................................................................................................................................50

APPENDIX B..................................................................................................................................................................51

GN-9261 User Manual

Page 5 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

1. Important Notes

Solid state equipment has operational characteristics differing from those of electromechanical equipment.

Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls describes some

important differences between solid state equipment and hard-wired electromechanical devices.

Because of this difference, and also because of the wide variety of uses for solid state equipment, all

persons responsible for applying this equipment must satisfy themselves that each intended application of

this equipment is acceptable.

In no event will CREVIS be responsible or liable for indirect or consequential damages resulting from the use

or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many

variables and requirements associated with any particular installation, CREVIS cannot assume responsibility

or liability for actual use based on the examples and diagrams.

If you don’t follow the directions, it could cause a personal injury, damage to the equipment or

explosion

Do not assemble the products and wire with power applied to the system. Else it may cause an electric

arc, which can result into unexpected and potentially dangerous action by field devices. Arching is

explosion risk in hazardous locations. Be sure that the area is non-hazardous or remove system power

appropriately before assembling or wiring the modules.

Do not touch any terminal blocks or IO modules when system is running. Else it may cause the unit to

an electric shock or malfunction.

Keep away from the strange metallic materials not related to the unit and wiring works should be

controlled by the electric expert engineer. Else it may cause the unit to a fire, electric shock or

malfunction.

If you disobey the instructions, there may be possibility of personal injury, damage to equipment

or explosion. Please follow below Instructions.

Check the rated voltage and terminal array before wiring. Avoid the circumstances over 55℃of

temperature. Avoid placing it directly in the sunlight.

Avoid the place under circumstances over 85% of humidity.

Do not place Modules near by the inflammable material. Else it may cause a fire.

Do not permit any vibration approaching it directly.

Go through module specification carefully, ensure inputs, output connections are made with the

specifications. Use standard cables for wiring.

Use Product under pollution degree 2 environment.

Warning!

Caution!

GN-9261 User Manual

Page 6 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

1.1. Safety Instruction

1.1.1 Symbols

Identifies information about practices or circumstances that can cause an explosion

in a hazardous environment, which may lead to personal injury

or death property damage, or economic loss

Identifies information that is critical for successful application and understanding of

the product

Identifies information about practices or circumstances that can lead to personal

injury, property damage, or economic loss.

Attentions help you to identity a hazard, avoid a hazard, and recognize

the consequences

1.1.2 Safety Notes

The modules are equipped with electronic components that may be destroyed by

electrostatic discharge. When handling the modules, ensure that the environment

(persons, workplace and packing) is well grounded. Avoid touching conductive

components, G-BUS Pin.

1.1.3 Certification

c-UL-us UL Listed Industrial Control Equipment, certified for U.S. and Canada

See UL File E235505

FCC, Reach, RoHS- II, China RoHS

CE Certificate

EN 61000-6-2; Industrial Immunity

EN 61000-6-4; Industrial Emissions

GN-9261 User Manual

Page 7 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

2. Environment Specification

Environment Specification

Operating Temperature

-40

℃

~70

℃

UL Temperature

-20

℃

~60

℃

Storage Temperature

-40

℃

~85

℃

Relative Humidity

5% ~ 90% non-condensing

Operating Altitude

2000m

Mounting

DIN rail

General Specification

Shock Operating

IEC 60068-2-6

Vibration resistance

Based on IEC 60068-2-6

Sine Vibration

5 ~ 25Hz : 1.6mm

25 ~ 300Hz : 4g

Sweep Rate : 1 Oct/min, 20 cycles

Random Vibration

10 ~ 40Hz : 0.0125g²/Hz

40 ~ 100Hz : 0.0125 → 0.002g²/Hz

100 ~ 500Hz : 0.002g²/Hz

500 ~ 2000Hz : 0.002 → 1.3 x 10-⁴g²/Hz

Test time : 1hrs for each test

EMC resistance burst/ESD

EN 61000-6-2 : 2005

EN 61000-6-4/ALL : 2011

Installation Pos. / Protect. Class

Vertical and horizontal installation is available.

Product Certifications

CE, UL

GN-9261 User Manual

Page 8 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

3. General Description

3.1 GN-9261 Specification

Interface Specifications, GN-9261

Adapter Type

Slave node (CANopen, CiA 301)

Max. PDO Number

32 TPDO / 32 RPDO

Max. SDO Number

1 Standard SDOs

PDO Mapping Method

Auto Mapping : CiA 301 (default), Sequential

Manual Mapping (Reference to Index : 0x20F0, Sub Index : 6)

Max. Expansion Module

63 slots

Max. Input size

252 bytes

Max. Output size

252 bytes

Nodes

1~99

Baudrate

10, 20, 50, 100, 125, 250, 500, 800, 1000 Kbps(default 1000Kbps)

Interface Connector

5pin Open Connector

Other Serial Port

RS232 for MODBUS/RTU(Touch Panel, I/O Guide ...)

Serial Configuration (RS232)

Node : 1 (Fixed)

Baud Rate : 115200 (Fixed)

Data bit : 8 (Fixed)

Parity bit : No parity (Fixed)

Stop bit : 1 (Fixed)

Indicator

6 LEDs

1 Green/Red, Module Status (MOD)

1 Green, Network Status(RUN)

1 Red, Error Status (ERROR)

1 Green/Red, Expansion I/O Module Status (IOS)

1 Green, System Power Status

1 Green, Field Power Status

Module Location

Starter module left side of G-Series system

Field Power Detection

About 14Vdc

General Specification

System Power

Supply voltage : 24Vdc nominal

Supply voltage range : 15~32Vdc

Protection : Output current limit (Min. 1.5A)

Reverse polarity protection

Power dissipation

70mA typical @ 24Vdc

Current for I/O module

1.5A @ 5Vdc

Isolation

System power to internal logic : Non-isolation

System power I/O driver : Isolation

Field Power

Supply voltage : 24Vdc typical(Max. 32Vdc)

* Field Power Range is different depending on IO Module series.

Refer to IO Module`s Specification.

Max. Current Field Power Contact

DC 10A Max

Weight

162g

Module Size

54mm x 99mm x 70mm

Environment Condition

Refer to ‘2. Environment Specification’

GN-9261 User Manual

Page 9 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

3.2 GN-9261 Wiring Diagram

Pin No. Signal Description Signal Description Pin No.

0 System Power, 24V System Power, Ground 1

2 System Power, 24V System Power, Ground 3

4 F.G F.G 5

6 Field Power, Ground Field Power, Ground 7

8 Field Power, 24V Field Power, 24V 9

GN-9261 User Manual

Page 10 of (52)

-series GN-9261 CANopen Rev. 1.01.docx

3.3 GN-9261 LED Indicator

3.3.1 LED Indicator

3.3.2 MOD(Module Status LED)

Status

LED

To indicate

Not Powered OFF Not power is supplied to the unit.

Normal Operational Green The unit is operating in normal condition.

Unrecoverable Fault Red The device has an unrecoverable fault.

- Memory error or CPU watchdog error.

3.3.3 RUN(Module Status LED)

Status LED To indicate

Not Powered OFF Module is either not getting power, or it is NOT_ACTIVE status.

Module is initializing.

Stopped Single flash Green Module is stopped

Pre-Operational Blinking Green Module is in PRE-OPERATIONAL

Operational Green Module is in OPENRATIONAL

3.3.4 ERROR(CANopen Error LED)

Status LED To indicate

Not Powered OFF Module is not getting powered or No error.

Warning limit reached Single flash

At least one of the error counters of the CAN controller has

reached or exceeded the warning limit.

Error control Event Double flash

A guard event (NMT-Slave or NMT-Master) or a Heartbeat event

has occurred.

Sync. Error Triple flash

The SYNC message has not been received within then

configured communication cycle period time out (see index

0x1006)

Bus Off ON The CAN controller is bus off.

LED No. LED Function / Description LED Color

MOD Module Status Green/Red

RUN CANopen Status Green/Red

ERROR CANopen Error Status Red

I.O Extension Module Status Green/Red

Field Power Field Power Enable Green

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