turck BL67 Series - Page 14

14 /1105 Hans Turck GmbH & Co.KG • Witzlebenstraße 7 • D-45472 Mülheim an der Ruhr • Tel. +49 208 4952-0 • Fax +49 208 4952-264 • www.turck.com
CANopen
A BL67 station can be comprised of the gateway for CANopen and a maximum of 32
modules (corresponding to a station length of approx. 1 m)
NOTE:
The maximum number of modules is
dependent on the respective system
configuration. The maximum number may
be limited as the maximum current
consumption on the module bus may not
exceed 1.5 A (refer to the rated current
consumption table, page 18). A limitation
may also result if modules with extensive
process, parameter and diagnostic data
are used. The I/O-ASSISTANT takes this
fact into consideration and issues a
warning message if appropriate
.
BL67-Station – Maximum System Extension
Digital inputs, 4 DI/DO
Digital inputs, 8 DI/DO
Digital outputs, 16 DO
Analogue inputs, 2 AI
Analogue inputs, 4 AI
Analogue inputs, 2 AI-PT
Analogue inputs, 2 AI-TC
Analogue outputs, 2 AO-I
Analogue outputs, 2 AO-V
128
256
512
64
124
64
64
64
50
32
32
32
32
31
32
32
32
25
Module type Channels
Max. no./station
Modules
Max. no./station
• Open fieldbus standard according
to EN 50325-4
• Transmission medium:
cable, 2 x 2 wires, twisted
shielded, for data transmission
and for power supply (24 V)
• Transmission technology: CAN
• Bus topology: Line structure
(bus termination on both ends)
with drop lines
• Bus access mode:
Multi-master system
with CSMA/CA access mode,
network-wide multi/broadcasting
• Max. 127 nodes (incl. repeaters)
• Addressing via coding switches
• Use of repeaters in order to
extend the length of the trunk and
drop line
• Configuration/parameterisation of
the devices via standardised EDS
files (Electronic Data sheets)
The CAN user layer CANopen consists of
device profiles, which standardise the data
contents of the respective device
categories, and of communication profiles.
The communication profile determines the
method of data exchange between the
devices. In this context one differentiates
between real time data (process data
objects – PDO) and parameter data
(service data objects – SDO).
CANopen defines different communication
modes for the transmission of the process
data (PDOs):
• Event-controlled: Messages are sent as
soon as the contents has changed.
Therefore, the process image/mapping
is not transferred permanently; only the
modifications are transmitted.
• Cyclic synchronous mode: The modules
are requested to accept the output data
received and to send new input data via
a SYNC telegram.
• Request-controlled: The modules are
triggered to send their input data via a
CAN data request message.
BL67 components are suited for all I/O
communication modes.
CANopen devices are parameterised via
SDOs. These are primarily used to transfer
parameters during device configuration
and to transmit longer data fields.
Due to effective usage of the bus band-
width CANopen offers short system
response times at a relatively low
transmission speed (max. 1 Mbps).
Configuration/Parameterisation
Module addresses ranging from 1...99 are
adjusted via two decimally coded rotary
switches. The system speed corresponds
to the transmission rate set via the master.
The transmission speed is automatically
detected by the BL67 modules (auto
baud).
The manufacturer provides EDS files (EDS
= Electronic Data Sheet) for configuration
of the individual CANopen nodes. TURCK
additionally offers the I/O-ASSISTANT,
a helpful software tool for configuration,
parameterisation and set-up of the
individual modules.
Transmission speed Bus trunk line (max.) No. of nodes (max.)
10 kbps 5000 m 127
20 kbps 2500 m 127
50 KBit/s 1000 m 127
125 kbps 500 m 127
250 kbps 250 m 127
500 KBit/s 100 m 127
800 kbps 50 m 127
1000 kbps 25 m 127
System data CANopen
Number of I/O stations 127 (incl. repeaters)
Number of I/O points depending on control system
Transmission medium shielded twisted copper cable, at least 2 x 2 x 0.21 mm²
BL67 and CANopen (Overview)