Performance and flexibility

Automation and control Machines & installations with CANopen Performance and flexibility Catalogue October 05 Telemecanique, catalogues for Autom...
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Automation and control Machines & installations with CANopen

Performance and flexibility Catalogue October

05

Telemecanique,

catalogues for Automation and control Motion control Lexium 17D Automation and control Motion control Lexium 17D

Catalogue April

05

p p p p p p p p p p p p

Catalogue April

05 Networks & communication

N° 813350 MKTED205101EN

Detection

Operator dialog

Automation

Motor control

!

!

!

!

!

Global Detection Electronic and electromechanical sensors N° 54752 - MKTED203031EN

Modicon Momentum distributed I/O and control N° 807861 - MKTED205061EN

Automation and relay functions N° 70455 - MKTED204011EN

Control and signalling components N° 805911 - MKTED205021EN

!

Motor starter solutions Control and protection components N° 814711 - MKTED205103EN

Plug-in relays Electronic timers Control relays Counters Smart relays

Control and signalling units Cam switches Beacons and indicator banks Control and pendant stations Controllers Front panels, mounting kits Emergency stops Foot switches

Limit switches Proximity sensors Photo-electric and ultrasonic sensors Pressure switches Rotary encoders Software Safety mat configuration software

Automation platform Modicon Quantum and Unity - Concept Proworx software N° 802621 - MKTED204071EN

! Automation platform Modicon Premium and Unity - PL7 software N° 802625 - MKTED204072EN

Software PLCs and safety controllers programming software

! Automation platform Modicon TSX Micro and PL7 software N° 70984 - MKTED204012EN PLCs, PC based control Distributed I/O Communication

Not all products shown in this catalogue are available in every country. Check individual country’s web site or Sales Office for product availability. See on: www.schneider-electric.com

! Human/Machine interfaces N° 96949 - MKTED2040401EN Operator interface terminals, industrial PCs, Web servers, HMI and SCADA PC-based software Software Operator terminal software

Contactors Circuit-breakers, fuse carriers Thermal relays Combinations, motor controllers Mounting solutions Motor starter mounting kits

! Soft starters and variable speed drives N° 802660- MKTED204091EN Software, Variable speed drives Software Motor control programming software

Simply Smart ! p p p p p p p p

all Automation & Control functions

Software tools

Operator dialog

Networks & communication

Motion control

Automation

Motor control

Interfaces & I/O

Power supply

Detection Mounting systems

Motion control

!

Machine safety

Interfaces & I/O

AS-Interface

!

Motion control Lexium 17D N° 806381 - MKTED205031EN

This catalogue contains Automation and Control function products relating to Safety

!

!

Twin Line Motion control N° 061233 DIA7ED2030902EN

Safety solutions using Preventa N° 67341 - MKTED203111EN

Plug-in relays Analog converters Discrete interfaces Pre-wired interfaces IP67 Splitter boxes

Servodrives and brushless motors Motion control modules Modicon Premium and Modicon Quantum

Safety monitors and controllers on AS-Interface

Connectors Cable ends, terminal blocks

IP20/IP67 interfaces, cables, repeaters, addressing and adjustment terminals

!

Control stations, keypads, beacons & indicator banks

Software Software for drives and motors

Switches, light curtains, mats Emergency stops, control stations, enabling switches, foot switches, beacons & indicator banks Optimum and universal controllers

Power supplies

! Interfaces, I/O splitter boxes and power supplies N° 70263 - MKTED203113EN Switch mode power supplies Filtered rectified power supplies and transformers

Switch disconnectors, thermal-magnetic motor circuit breakers, enclosed D.O.L. starters

Interfaces, I/O splitter boxes and power supplies N° 70263 - MKTED203113EN

IP 20 distributed inputs/ outputs Advantys STB N° 804818 - MKTED204101EN Modules for automation island Network interface, power distribution, digital I/O, analogs and application-specific

Networks & communication

This catalogue contains Automation and Control function products relating to the AS-Interface cabling system

!

!

Embedded Web services

AS-Interface cabling system N° 804961 - MKTED204121EN

Ethernet communication services

Master modules for PLCs AS-Interface power supplies Motor controllers, enclosures, variable speed drives

Ethernet TCP/IP and Web tecnologies Transparent Ready N° 809201 - MKTED205102EN

Connecting Ethernet devices Transparent Ready partners

! CANopen in machines & installations N° 813350 - MKTED205101EN CANopen implementations Telemecanique devices Infrastructure, wiring system CANopen partners

Software Software to design and install AS-Interface system, safety monitors and controllers on AS-Interface programming software STB configuration software

Contents

CANopen in machines and installations

1

Presentation b Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 4 b CANopen in automation architectures . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 4 b CANopen benefits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 5

CANopen implementations b Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 8 b Compact Evolutive Optimized implementation . . . . . . . . . . . . . . . . . . . . page 10 b Compact Evolutive Performance implementation . . . . . . . . . . . . . . . . . . page 12 b Distributed CANopen Optimized implementation . . . . . . . . . . . . . . . . . . page 14 b Distributed CANopen implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . page 17

Telemecanique products b Twido programmable controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 20 b Modicon TSX Micro and Premium automation platforms . . . . . . . . . . . . page 21 b Modicon Premium configurations and TSX Micro packs . . . . . . . . . . . . . page 22 b Preventa XPS MC safety controllers for monitoring . . . . . . . . . . . . . . . . page 24 b Advantys OTB distributed I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 26 b Advantys STB distributed I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 27 b Advantys FTB IP 67 monobloc I/O splitter boxes . . . . . . . . . . . . . . . . . . page 29 b Advantys FTM IP 67 modular I/O splitter boxes . . . . . . . . . . . . . . . . . . . page 31 b Tego Power for motor power-starter . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 33 b Altivar 31 variable speed drive for asynchronous motors . . . . . . . . . . . . page 34 b Altivar 71 variable speed drive for asynchronous motors . . . . . . . . . . . . page 36 b PowerSuite motor control software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 38 b Lexium 05 servo drive for servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . page 40 b Lexium 17D servo drive for servo motors . . . . . . . . . . . . . . . . . . . . . . . . page 42 b Twin Line servo drive for servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . page 44 b Osicoder Ø 58 mm encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 46

Infrastructure and wiring system b Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 48 b Wiring system, implementation examples . . . . . . . . . . . . . . . . . . . . . . . . page 49 b References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 52

2

CANopen partners b CAN in Automation (CiA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 54 b Berger Lahr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 55 b Festo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 56 b IXXAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 57

Services b System User’s Guides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 60 b Technical information v CAN presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 62 v CANopen presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 64 v Conformance Classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 66 b Product references index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 68

3

Introduction, CANopen

CANopen

1

in machines and installations Presentation

Introduction Company environments are continuously changing due to the pressure of competition and the need for profitability. It is vital to take advantage of opportunities quickly. The challenge of today's world is finding the appropriate solution for the customer's needs. Schneider Electric's CANopen products, based on common international standards, meet this requirement for both machines and installation systems. The rigid systems built in the past were restricted when it became necessary to adapt e.g. new functions required or due to a changing environment. To overcome the restrictions of a closed system the use of networks is becoming more and more popular. CANopen is such a network that is open and designed to an international standard. With CANopen your machine or installation system will be flexible and future proof so that it can be adapted to a changing environment as well as to new functionality. On top of this versatility, CANopen also provides the right technical performance based on a combination of cost effectiveness and network power.

CANopen in Automation Architectures Automation architectures are implemented according to the requirements of the end user and the constructor of the automation system. The selection of the network, the controller and the other components conform to these requirements. The network CANopen has proven its versatility and reliability for more than 10 years in several application domains such as: medical equipment, trains, lifts and a variety of machines and installations. Schneider Electric has selected CANopen for machines and installations due to its technical features and the resulting benefit of this to the automation world. The broad acceptance of CANopen has pushed this decision as more and more CANopen products are used in automation architectures. The expected growth of CANopen in 2005 with more than 20% is, once more, a confirmation of Schneider Electric's choice (1). Altivar

Premium, TSX Micro, Twido

Tego Power Lexium

Twin Line Advantys

(1) Source: CAN in Automation survey 2004.

4

CANopen

Benefits

1

in machines and installations Presentation

What are the benefits CANopen provides? CANopen is an open standard CANopen is an open network that is supported by over 400 companies world wide and promoted by CAN in Automation. CANopen is standardized in the EN50325-4 and in ISO15745-2 for its device description. Schneider Electric works close with CAN in Automation. This collaboration allows Schneider Electric to offer a really open network using the existing standards defined by all the members of CAN in Automation. Being an active member, Schneider Electric brings the customer and system requirements into the standards so that other companies also implement the same behavior and the same functions. This is the best guarantee for the openness and interoperability of our systems and products. Schneider Electric is strongly involved in the working groups that are relevant for machine and installation architectures, systems and products. Schneider Electric holds the chair position for: b Motion & Drives profile b Conformance testing.

Client Application

CANopen General Reference Server Interface Backend

CANopen General Reference Client Interface

CANopen General Reference Server Interface

Modbus

Modbus

MEI Transport (FC 43.13)

MEI Transport (FC 43.13)

Network Interface

Network Interface

Network

CANopen gives you the transparency to Ethernet CAN in Automation and Modbus-IDA have worked closely together to issue a standard that allows transparency between CANopen and Modbus TCP/IP. This collaboration resulted in the specification CiA DSP309-2, providing a standard definition for communication between a Modbus TCP/IP and a CANopen network. The specification defines mapping services so that CANopen devices can communicate over a Modbus TCP/IP network via a gateway device. Access to the informations of a CANopen device is supported on both a read and write basis, along with a variety of device control functions. This specification is the first standard allowing the implementation of an open communication standard between Modbus TCP/IP and CANopen. It will guide the Schneider Electric network solution towards a better integration, diagnostic and configuration in distributed applications. It enables machines and installations to be seamlessly connected to an Ethernet plant floor combining the advantages of each network in its own specific area.

CANopen allows you to select a smaller cabinet This is not because of the smaller size of the products. It is because of CANopen's very robust EMI capabilities. This allows a machine or installation to perform accurately even when the interference is high. The short frames of CANopen and the “CAN ground” connection that provides the same potential for any device connected to the network, protect against EMI.

CANopen provides you a reliable transmission The network access on CANopen is non destructive. Should any one CANopen device transmit its data, the system automatically generates, and takes into account, the priority of the message. A telegram loss by means of a collision is impossible and wasting time until the next idle state of the network is avoided. CANopen provides an absolutely reliable transmission of data. This is one of the reasons why CANopen networks are used in medical equipment and as a basis for safety networks. S O F

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Resulting CAN frame

0

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Data Field

Listing only 0

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CANopen

Benefits (continued)

in machines and installations Presentation

127

CANopen 2

3

1 4

CANopen increases the uptime of the machine Breakdowns are always time consuming and costly. CANopen is well suited to increase the uptime as much as possible. With its Hamming Distance of 6 CANopen has a very good error detection and correction mechanism. With a probability of one undetected error in 1.000 years (1) the network is the most reliable network for machines and installations. In the case that the network has an error condition, the watchdog is the first possibility to monitor the device status. Furthermore CANopen provides clear diagnostic information. Each diagnostic message contains the source and the reason for the fault, which allows a fast reaction and a reduction in the shutdown time. Additional diagnostic information is implemented to improve the diagnosis of complex CANopen devices and to support those responsible for maintaining the network. In addition, to aid in detecting random faults, an error history is also available. CANopen gives you all: Performance and Flexibility The main reason for using a network is the performance and the flexibility to adapt the network exactly to the requirements of the application. CANopen provides a unique feature for the adaptation of the data transmission. Based on the producer/consumer model, CANopen allows for a data transmission broadcast, peer-to-peer, change-of-state and cyclic communication. This means it transmits data only when required or on a specified time base. Process data objects can be individually configured. Parameters can be changed at runtime. What about the performance? Although CANopen is very flexible, the response of the network is fast. Within less than 1 ms 256 digital I/O points can be serviced at 1 Mbps (2). A Profibus DP typically needs around 2 ms at 12 Mbps for the same amount of data. In addition to the fast response, the prioritization of the messages can be easily changed. So CANopen provides the capabilities to adapt the data transmission to the application requirements. CANopen provides best cost relation CANopen combines ease of installation with inexpensive devices. CANopen provides an integrated equipotential bounding in the cable. Therefor, an additional cable or stranded copper ribbon to achieve the same potential on all network devices is not necessary. Installation costs are heavily reduced. Furthermore, the chips and components for CANopen are produced in very high quantity. This leads to price optimized chips and components. Schneider Electric gives this cost advantage to its customers. A cost advantage of 10 to 20 % can be expected compared to other fieldbusses in the machine.

(1) 1 bit error each 0.7 s at 500 kbps; 8 h a day; 365 days a year. (2) Source: Grid Control.

6

1

CANopen

Benefits (continued)

1

in machines and installations Presentation

Performance

Effectiveness

CANopen: The best choice In machines and installations other networks, besides CANopen, are available on the market. The two best known are Profibus DP and DeviceNet. For an application however the technical fit is more important than the popularity of the network.

Tools

Diagnosis

EMI

Error detection

Costs Flexibility CANopen DeviceNet

Performance

Effectiveness

Tools

Diagnosis

EMI

Error detection

Costs

CANopen and DeviceNet CANopen and DeviceNet are both based on CAN. This is the reason why there are only a few, but important, differences when talking about machines and installations. DeviceNet is designed for sensors and actuators with a limited versatility. The advantages of CANopen are clearly the: b Performance, due to its higher bit-rate, b Flexibility, due to its unique network adaptation features, b Diagnostics, due to detailed error messages, b Costs, due to being the natural interface for drives.

CANopen and Profibus DP CANopen and Profibus DP are based on different physical characteristics and have a different history. CANopen was, from the beginning, developed for machines and installations where as Profibus DP was developed as a general purpose fieldbus. These two different approaches give CANopen the advantage for: b Effectiveness, due to the data rate and message overhead, b EMI behavior, due to its physical implementation, b Flexibility, due to its unique network adaptation features, b Error detection, due to its better detection and correction capabilities, b Costs, due to being the natural interface of drives and the integrated equipotential bounding in the CANopen cable. This all makes CANopen “The best choice for machines and installations”. CANopen provides the right technical performance and flexibility for machines and installations. It is a real vendor independent network solution that guaranties the best for openness and interoperability of systems and products.

Flexibility CANopen Profibus DP

IT system

Scada Ethernet TCP/IP

HMI

Premium CANopen

HMI Advantys STB

IcLA

ATV 31

IcLA

ATV 71 Advantys FTB

TeSys model U

7

CANopen

Introduction

1

in machines and installations Implementations

Presentation This chapter presents 4 typical implementations of CANopen, in different machines and installations. Each implementation allows to address a set of machines and installations with a common set of values and performances in term of: b Performance b Installation b Cost PICCS b Constraint b Size..

}

HMI

Twido TWD NCO1M

Analysis with PICCS leads to typical implementation CANopen

ATV 31

Combination of products meeting the requirements

Machine with a set of requirements

Target requirements for CANopen based systems Schneider Electric has selected a generic approach for different machines and installations with the same initial requirements. This generic approach is a first answer to customer needs and can be seen as a “kick starter” for up to 80% of the customer's requirements. Twido TWD NCO1M

One set of machines and installations: one set of requirements and one implementation

HMI

CANopen

ATV 31

ATV 31

From simple to high requirements

SCADA IT system

Ethernet TCP/IP

HMI Premium

CANopen

HMI Advantys STB TeSys model U

8

ATV 31

ATV 71

IcLA

IcLA Advantys FTB

Introduction (continued)

CANopen

1

in machines and installations Implementations

Presentation of the implementations Schneider Electric has layed out several implementations allowing to address a common set of customer requirements. In the case of machines and installations Schneider Electric has defined 4 implementations using CANopen that are described in this catalog: b Compact Evolutive Optimized b Compact Evolutive Performance b Distributed CANopen Optimized b Distributed CANopen. These implementations defined for CANopen cover three types of machines and installations: b Compact b Modular b Distributed.

For the “Compact Machines & Installations” two implementations have been selected for CANopen: b Compact Evolutive Optimized b Compact Evolutive Performance. Both implementations have the same value for the customer, but different sets of requirements with different product combinations to meet exactly the customer's requirements. For “Modular and Distributed Machines & Installations” two implementations have been selected for CANopen: b Distributed CANopen Optimized. b Distributed CANopen. All these implementations are described in this catalog with possible applications, the set of requirements and some examples. A product finder should help to simplify the product choice for each implementation. Therefore, each implemantation has a specific pictogram that is reported in the product section. Icon analogy Icon

Name of the associated implementation Compact Evolutive Optimized

Compact Evolutive Performance

Distributed CANopen Optimized

Distributed CANopen

9

CANopen

Presentation, value, applications, requirements

1

in machines and installations Implementation: Compact Evolutive Optimized

Introduction Twido TWD NCO1M

Compact Evolutive Optimized implementation is dedicated to compact machines and installations. The CANopen network is designed as a machine bus to increase the flexibility and the attractiveness of the machine or installation.

HMI

Value

CANopen

Compact Evolutive Optimized implementation provides a communication system that is as simple to design and used as a traditional cabling system. However, it provides new features to improve time to market, the attractiveness and the flexibility of your machine or installation. ATV 31

ATV 31

Schneider Electric delivers a standard and consistent offer. The interoperability of the components has been checked and proven by Schneider Electric. This reduces costs during commissioning of the machine or installation. The cabling costs are reduced due to the use of CANopen. This implementation is based on an integrated software offer that is easy to understand and use. The diagnostic functions are excellent in making maintenance as simple as possible and in case of a device fault it can be easily exchanged without changing the application program. A back-up function is provided using memory modules.

Applications Compact Evolutive Optimized implementation has in its main focus the industry sector. Some examples of typical application segments for the Compact Evolutive Optimized implementation are: b Assembling with applications for e.g.: labeling, filling, etc b Material handling with applications for e.g.: palletizer, conveying, etc b Packaging with applications for e.g.: labeling, blistering, filling, dosing, etc b Textile with applications for e.g.: winding, unwinding etc b Refuse collection vehicles b Pumping stations b Water treatment (closed system).

Set of requirements Performance The performance is determined by the number of I/Os, the cycle time of the controller and the number of drives. For this implementation the performance requirements are: b 40...80 I/O points b Controller cycle time: 50...100 ms b Up to 4 frequency converters b Graphic HMI directly connected on PLC and push buttons. Costs The costs are an addition of several aspects. Compact Evolutive Optimized implementation influences one of the axes that is the reduction of the cabling costs. Size The size of a compact machine or installation is a few square meters. Automation products are located in a cabinet or in the body of a machine. Constraints This implementation is restricted to IP 20 products that are placed in a cabinet or integrated into the equipment. A safety function is typically required which depends on the safety level requirement of the machine or installation.

10

Requirements (continued)

CANopen

1

in machines and installations Implementation: Compact Evolutive Optimized

Installation CANopen is used to achieve the flexibility and to keep the easiness of the machine or installation. The configuration of the network and the programming is part of one tool that can be used with a minimum system knowledge. The configuration is following a logical approach. The HMI device can be directly connected to the PLC. Product Finder Compact Evolutive Optimized implementation provides an easy evolution and adaptation of the machine or installation as well as the possibility of using a memory module to duplicate applications on several machines or installations in a fast and easy way. It is proposed to use the CANopen network for frequency converters and a hard wired solution for I/Os. Compact Evolutive Optimized Devices Twido + TWD NCO1M Altivar 31 Altivar 71 (for high power drive)

Page 20 34 36

Example The following pictures show some applications that have been realized with Compact Evolutive Optimized implementation. Textile: winding

Material handling: palletizer

11

CANopen

Presentation, value, applications, requirements

in machines and installations Implementation: Compact Evolutive Performance

Introduction HMI

Premium

Compact Evolutive Performance implementation is dedicated to compact machines and installations. The CANopen network is designed as a machine bus to increase the performance and flexibility of the machine or installation.

Value CANopen

ATV 31

Compact Evolutive Performance implementation provides a communication system that is as simple to design and use as a traditional cabling system. However, it provides new features to improve time to market, the performance and the flexibility of your machine or installation. Schneider Electric delivers a standard and consistent offer. The interoperability of the components has been checked and proven by Schneider Electric. This reduces costs during commissioning of the machine or installation. The cabling costs are reduced due to the use of CANopen.

Lexium 05 Lexium 17D

Lexium 17D

This implementation is based on an powerful software offer that is easy to understand and use. The diagnostic functions are excellent in making maintenance as simple as possible and in case of a device fault it can be easily exchanged without changing the application program.

Applications Compact Evolutive Performance implementation has in its main focus in the industry sector. Again, independent of the pre-selection made in this catalog, the implementation may fit to other applications that have not been considered so far. Typical application segments for Compact Evolutive Performance implementation are: b Assembling with applications for e.g.: testing, etc b Automotive b Packaging with applications for e.g. bagging b Printing b Wood b Water treatment.

Set of requirements Performance For this implementation the typical performance requirements are: b 80...200 I/O points b Controller cycle time: 10...50 ms b frequency converters up to 55 kW b simple motion functions with upper level through Modbus/TCP as option b HMI: graphic HMI directly connected to PLC and push buttons. Costs Compact Evolutive Performance implementation optimizes the cabling and its related costs. Size The size of a compact machine or installation is few square meters. Automation products are located in a cabinet or in the body of a machine. Constraint The constraints for this implementation are IP20 products that are either mounted in a cabinet or integrated in the body of the equipment. A safety function is typically required and depends on the safety level requirement of the machine or installation. Compact Evolutive Performance implementation is designed with the safety module or controller integrated in the PLC. Installation As with Compact Evolutive Optimized implementation CANopen is used to achieve the flexibility of the machine or installation. However, the software package is allowing a higher performance level and a fine tuning of network and device configuration. The HMI device can be directly connected to the PLC.

12

1

Requirements (continued)

CANopen

1

in machines and installations Implementation: Compact Evolutive Performance

Product finder Compact Evolutive Performance implementation provides an easy evolution and adaptation of the machine or installation as well as the possibility to use a memory module to duplicate applications on several machines or installations in a fast and easy way. It also provides libraries and functions blocks that handle complex programming functions to simplify the application programming. It is proposed to use the CANopen network for frequency converters and a hard wired solution for I/Os. The programming environment provides the right combination for programming with function blocks to improve the system performance. Compact Evolutive Performance Devices TSX Micro + TSX CPP 110 Premium + TSX CPP 110 Altivar 31 Altivar 71 Lexium 05 Lexium 17D Twin Line

Page 21 and 22 21 and 22 34 36 40 42 44

Example The following pictures show some applications that have been realized with Compact Evolutive Performance implementation. Packaging: bagging machine

Bread machine

Assembling line

13

CANopen

Presentation, value

1

in machines and installations Implementation: Distributed CANopen Optimized

Introduction The implementation Distributed CANopen Optimized is dedicated to modular machines and installations. The performance requirement is not very high. The CANopen network supports an easy extension to meet the requirements of the modularity.

Value Distributed CANopen Optimized implementation requires only minimum experience in the use of automation equipment combined with easy implementation of the system. The CANopen capabilities make it easier and cheaper than a conventional system. Schneider Electric delivers products at reasonable cost. The openness of the implementation allows for a non-proprietary system. The interoperability of the components is achieved through the standardization of CANopen as a network. The use of CANopen also reduces the cabling and the related costs. With the easy and simple to use configuration and programming tools the implementation is done quickly. What about the operation and maintenance of the machine or installation? Multi-language human machine interfaces offer operation on an international level and maintenance can be carried out by people with limited automation experience.

CANopen

Twido TWD NCO1M

ATV 31

TeSys model U r

CANopen

Advantys OTB

Advantys OTB

Advantys OTB TeSys model U r

r: TeSys model U, available later

14

Advantys FTB

Advantys FTB

Advantys FTB

Applications, requirements

CANopen

1

in machines and installations Implementation: Distributed CANopen Optimized

Applications Although dedicated to a certain set of applications, some of the applications mentioned could just as easily fit the set of requirements of another implementation. Distributed CANopen Optimized implementation focuses on the industry and the building sector. Independent of the pre-selection made in this catalog, the implementation may also fit other applications that have not been considered so far. Typical applications or sub-applications for Distributed CANopen Optimized implementation are in the following market sectors: b v v v v v

Industry Lift high speed and more than 20 floors Machinery automation systems, with low complexity Refuse handling high level Railway industry Light rail vehicles.

b v v v

Building / services Lighting, heating, ventilation, air conditioning Maritime electronics as a sub system Access, control and surveillance management.

Set of requirements Performance For this implementation the typical performance requirements are: b up to 80 I/O points b Controller cycle time: 50...100 ms b easy mix of up to 4 frequency converters and motor starters b HMI: Graphic directly connected on the PLC and push buttons b sensors simple to integrate Costs The costs are an addition of several aspects. Distributed CANopen Optimized implementation reduces the cabling costs. Size The size of a modular machine or installation depends on the number of modules and the type. For Distributed CANopen Optimized implementation, the network length is a limitation for the overall size of the machine or installation and depends on the performance required. The network length should not exceed 250 m at 250 kbps bit rate (see page 64). The cabinets used for the automation equipment are as small as possible. Also products with a higher protection class than IP20 could be directly mounted on the machine or installation. Constraints In this implementation typically only one human machine interface is used. Installation The configuration of the network and the programming is part of one tool that can be used with a minimum system knowledge. The configuration is following a logical approach. It is proposed to use the CANopen network to interconnect the modules of the machine or installation. I/Os and other products, such as frequency converters, can be connected on the same network. The HMI device can be directly connected to the PLC.

15

Requirements (continued)

CANopen

1

in machines and installations Implementation: Distributed CANopen Optimized

Product finders Distributed CANopen Optimized implementation provides a quick connection of products with pre-manufactured cables. Products with a high protection implementation are used and are mounted directly on the machine. Distributed CANopen Optimized Devices Twido + TWD NCO 1M Advantys OTB Advantys FTB Tego Power Altivar 31 Altivar 71 (for higher power drive)

Example The following pictures show some applications that have been realized with Distributed CANopen Optimized implementation. Wood planning

16

Page 20 26 29 33 34 36

CANopen

Presentation, value

1

in machines and installations Implementation: Distributed CANopen

Introduction The Distributed CANopen implementation is dedicated to distributed machines and installations. The integration in an Ethernet based plant environment and the optional remote access to the machine or installation is part of the implementation definition. CANopen is used as the network to connect the required devices and to provide flexibility for adaptations.

Value The Distributed CANopen implementation provides simpler design and commissioning with high features by the integration of transparency and standard IT hardware. This functionality leads to a maximized productivity of during engineering and installation. Schneider Electric supports the manufacturer of the machine or installation in reducing his engineering costs due to integrated, standardized interfaces at the plant level. The large device catalog and the partner program support new solutions. Schneider Electric vouches for the interoperability of its products but the manufacturer is responsible for the data access from the plant level. Versatile software tools allow for programming in an easy way and, due to its subsidiaries and a global support network, Schneider Electric is able to react quickly on customer requests. CANopen is the best guarantee for a simple installation and adaptations during the commissioning phase. Furthermore the network allows distributed human machine interfaces as well as secured remote access and transparency to the machine or installation. Remote diagnostic, as well as direct diagnostic at the machine or installation, is detailed and enables even people with the most basic education in automation equipment to reduce the number of shutdowns. The memory back-up functionality, in many cases, avoids PC equipment and allows efficient maintenance.

IT system

SCADA Ethernet TCP/IP

HMI

Premium CANopen

HMI IcLA Advantys STB

ATV 31

IcLA

ATV 71 Advantys FTB

TeSys model U

17

Applications, requirements

CANopen in machines and installations Implementation: Distributed CANopen

Applications Each implementation is dedicated to a set of possible applications. However, some of the applications listed may well fit the set of requirements for another implementation. Distributed CANopen implementation has two focuses, the industry and the building sector. The list of applications given here is not exhaustive and there are many other applications which may fit into this implementation. Typical applications or sub-applications for Distributed CANopen implementation are in the following market sectors: b Industry: v Modular machines or installations (wood, packaging,…) v Conveying. b Building / services: v Hotel automation access v Heating and air conditioning management.

Set of requirements Performance For this implementation the typical performance requirements are: b 100...400 I/O points b Controller cycle time: 10...50 ms b Up to 15 frequency converters/drives and up to 8 axis b Web interface for maintenance b HMI (directly connected to PLC or to distributed I/O) Costs The costs are an addition of several aspects. Distributed CANopen implementation reduces the cabling costs. Size The size of a distributed machine or installation is variable. For Distributed CANopen implementation, the maximum network length 250 m is recommended. Longer distances are possible, but a reduction in performance has to be accepted (see page 64). Constraints The network length limits the overall size of the machine or installation and depends on the performance required. Installation Several small cabinets are used in combination with products directly mounted on the machine body or onto the installation.

18

1

Requirements (continued)

CANopen

1

in machines and installations Implementation: Distributed CANopen

Product finder The Distributed CANopen implementation takes the requirements of the customers for installation and commissioning into account. The installation is based on modules or cabinets connected to CANopen and therefore distributed over the machine or installation. CANopen as a standardized network is easy to use and to configure. All products with a CANopen interface can be directly used to improve the machine functionality. Distributed CANopen Devices Premium + TSX CPP 110 TSX Micro + TSX CPP 110 Advantys OTB Advantys STB Advantys FTB Advantys FTM Tego Power Altivar 31 Altivar 71 Lexium 05 Lexium 17D Twin Line

Page 21 and 22 21 and 22 26 27 29 31 33 34 36 40 42 44

Example The following pictures show some applications that have been realized with Distributed CANopen implementation. Wood cutting

Conveying line

19

Presentation, description, characteristics, references

CANopen

1

in machines and installations Twido programmable controller CANopen master module

Presentation Master module TWD NCO1M for the CANopen bus allows Twido programmable controllers version ≥ 3.0 - compact controller models TWD LCpA 24DRF or TWD LCAp 40DRF and all modular controllers - to act as CANopen master. The bus consists of a master station, the Twido controller and slave stations. The master is in charge of configuration, exchanges and diagnostics on the slaves.

532659

The CANopen bus is a communication type bus and allows management of various slaves such as: b Discrete slaves, b Analogue slaves, b Variable speed drives, b Motor starters, b ….

5 2 1

The Twido CANopen master controls up to 16 slaves, each with an input PDO (Process Data Object) and an output PDO. If a slave has more than one PDO, the maximum number of slaves managed is reduced by that number.

Description 3 4

CANopen bus master module TWD NCO1M comprises: 1 An earthed, 3-way, c 24 V supply connector. 2 A PWR LED, indicating module power ON or OFF. 3 A 9-way SUB-D connector for connection to the CANopen bus. 4 An earth screw. 5 A connector for connection to the Twido controller or to another I/O expansion module.

Characteristics Twido CANopen features

Structure

CANopen communication

Conformance class Standard Specials Physical interface Data rate Medium Operating temperature Degree of protection Relative humidity LED indicators Product certification Number of modules per base controller Max. number of Slaves Channels

kbps °C

TWD NCO1M M10 DS 301 V4.02, DR 303-2 – 9-way male SUB-D 125, 250 and 500 Shielded dual twisted pairs 0...+ 55 IP 20 30...95% (without condensation) Power – 1 16 slaves max. 16 TPDO (Transmit PDO) et 16 RPDO (Receive PDO)

References Designation

External supply

Twido CANopen bus master c 24 V module

TWD NCO1M

20

Reference TWD NCO1M

Weight kg 0.100

CANopen

Presentation, description, characteristics

1

in machines and installations Modicon TSX Micro and Premium PLCs CANopen master module

Presentation The TSX CPP 110 module adds support for CANopen communication to the Modicon TSX Micro and Premium platforms. This module is compatible with : b Any device Modicon TSX Micro TSX 37 21/22 b Any device Modicon Premium TSX P57 (except TSX P57 153M/154M) b Any device Atrium TSX PCI or T PCX b Any CANopen device which conforms to the CANopen standard profile. The TSX CPP 110 PCMCIA card supports the V4.02 CANopen standard and in particular the heartbeat network management.

1 2

Description The Modicon TSX Micro/Premium platforms connect to the CANopen bus by means of the TSX CPP 110 type III PCMCIA card inserted in the processor or co-processor communication port slot.

3

The TSX CPP 110 master module CANopen set comprises : 1 A PCMCIA card, type III with fixing screws. 2 A TAP junction equipped with one 9-way SUB-D connector for connecting the CANopen bus. 3 A connection cable length 0.5 m, interdependent of the PCMCIA card and the TAP junction.

Characteristics CANopen master V4.02 PCMCIA card (1) CANopen Conformance class features Standard Specials Physical interface Data rate Medium Communication Operating temperature module Degree of protection LED indicators Product certification Services Structure

No. of module per PLC/PC

TSX Micro TSX 37 21/22 Premium TSX P57 (2)

kbps °C

TSX CPP 110 M00 DS 301 V4.02, DR 303-2 Integration of CANdevices possible 9-way male SUB-D 10, 20, 50, 125, 250, 500, 800 and 1000 Shielded dual twisted pairs 0...+ 55 IP 20 ERR, RUN UL, CSA, e PDO cyclic exchanges Message handling (SDO) Management of bus operating modes 1 1

References CANopen PCMCIA card Description CANopen bus master PCMCIA card

Description

Reference

PCMCIA card type III, TAP with SUB-D 9 pts connector, male, length 0.5 m

TSX CPP 110

Network configuration tool for Unity Pro and PL7 Description Type SyCon V2.9 configuration software licenses

Simple (1 station) Group (3 stations) Team (10 stations) Site (up to 10 stations)

SYC SPU LFU CD29M SYC SPU LFG CD29M SYC SPU LFT CD29M SYC SPU LFF CD29M

Weight kg – – – –

SyCon V2.9 configuration software update

Simple (1 station)

SYC SPU LRU CD29M



SyCon V2.9 configuration software upgrade for previous version

Group (3 stations) Team (10 stations) Site (up to 10 stations)

SYC SPU LUG CD29M SYC SPU LUT CD29M SYC SPU LUF CD29M

– – –

TSX CPP 110

Reference

Weight kg 0.230

(1) Provided with derivation box and cable. (2) Unauthorized on Modicon Premium TSX P57 153M/154M processor.

21

Presentation, description, characteristics, references

CANopen

1

in machines and installations Modicon Premium PLCs

Presentation

1

2

3 4 5

6

Modicon Premium TSX P57 Cp 0244M configurations are constitued by essential elements for the management of a set of PLC station. These configurations are supplied already mounted and their component parts cannot be detached.

Description The TSX P57 Cp 0244M configurations (built around the TSX P57 0244M processor) feature all or some of the following components: 1 A non-extendable 6-slot TSX RKY 6 rack 2 A standard-format c 24 V non-isolated TSX PSY 1610M or a 100…240 V TSX PSY 2600M power supply. 3 A TSX P57 C024M processor with slot no. 1 for the PCMCIA CANopen master V4.02 card, complete with cable and tap junction. 4 A slot (no. 0) for a PCMCIA format memory extension card 5 A 2-channel 40 kHz TSX CTY 2A counter module. This module uses 2 of the 4 application-specific channels provided by the processor. 6 Three single-format slots for any I/O module.

Characteristics Configurations CANopen features

Conformance class Standard Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Degree of protection LED indicators Product certification Premium processor I/O capacity TOR Analog Application-specific channels Capacity memory Integrated On PCMCIA Number of module Bus Network

kbps °C

Kb Kb

TSX P57 Cp 0244M M00 DS 301 V4.02, DR 303-2 – 9-way male SUB-D 10, 20, 50, 125, 250, 500, 800 et 1000. Shielded dual twisted pairs 0...+ 55 IP 20 ERR, RUN – 192 12 4 96 128 1 CANopen, 1 AS-Interface 1

References Designation Ready-assembled TSX P57 02 processor configurations with integrated CANopen port

TSX P57 Cp 0244M

22

Power supply

Reference

a 100...240 V

TSX P57 CA 0244M

Weight kg 2.900

c 24V

TSX P57 CD 0244M

2.940

CANopen

Presentation, description, characteristics, references

1

in machines and installations Modicon TSX Micro PLCs

Presentation Modicon TSX Micro TSX 37 21 pPAK0p packages are constitued by essential elements for the management of a set of PLC station. These configurations are supplied not mounted.

Description 1

2

4

3

The packages TSX 37 21 pPAK0p are composed of the following components: 1 A TSX 37 21 p01 base integrated a 100...240 V or c 24 V power supply (depends on model) 2 A TSX MRP P224K PCMCIA SRAM memory extension card (64 Kwords for PL 7application) 3 A TSX DMZ 28DR discrete I/O module (16 c 24 V inputs and 12 relay 50 VA not protected outputs) 4 A TSX CPP 110 CANopen bus master PCMCIA card (see page 21).

Characteristics Configurations CANopen features Conformance class Standard Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Degree of protection LED indicators Product certification I/O capacity TOR Basic TSX 37 21 PLC configuration Analog (3 slots) Counting Capacity memory Number of communication modules

Bus Network

Power supply

TSX 37 21 0PAK01 TSX 37 21 1PAK02 M00 DS 301 V4.02, DR 303-2 – 9-way male SUB-D kbps 10, 20, 50, 125, 250, 500, 800 et 1000. Shielded dual twisted pairs °C 0...+ 55 IP 20 ERR, RUN – 248 max. 4 half-format modules (4 or 8 inputs, 2 or 4 outputs, 4 inputs/2 outputs 4 half-format modules (1 or 2 x 40 kHz channels, 2 x 500 kHz channels or 1 x 1 MHz SSI channel) Kwords 20 on integrated RAM and 64 on PCMCIA 1 integrated CANopen, 1 AS-Interface 1 Ethernet external module a 100...240 V (integrated c 24 V sensor c 24V non-isolated power supply)

References Designation Micro TSX 37 21 packages with integrated CANopen port

Power supply

Reference

a 100...240 V

TSX 37 21 0PAK 01

Weight kg 2.900

c 24V

TSX 37 21 1PAK 02

2.940

TSX 37 21 pPAK 0p

+

+

23

CANopen

Presentation, description

1

in machines and installation Preventa safety controllers Type XPS MC

Presentation Application The XPS MC device is an electronic safety controller for monitoring safety functions up to safety category 4 according to EN 954-1. It has 10 safety outputs and either 16 or 32 inputs. The functions are configured from an integrated library of various industrial safety functions, such as emergency stop, safety door locking, enabling device, ESPE connection (with muting) etc. A TER Modbus interface is used for configuration and diagnostic purposes by means of a PC, or for transmission of data to another Modbus module (PLC, Terminals, ...). The device includes: b 6 independent semiconductor safety outputs b Two independent relais groups of dual channel positively driven voltage-free contact safety outputs. Each of the four channels has two contacts in series. The XPS MCpp ZC models of the XPS MC device are equipped with a CANopen communication port. Safety functions The configuration of the safety functions is carried out using software XPS MCWIN which is available on the Safety Suite V0 CD-ROM. 30 certified safety functions are available with this software and they are easily assignable to the safety outputs. The safety functions have multiple combination possibilities and various starting conditions. The safety functions are certified in accordance with category 4 of standard EN 954-1. Functions These CANopen parameters (Baudrate, Node-ID) can be adjusted with the XPS MCWIN software. The EDS-file describes the object directory. The PDOs are statically mapped. For all parameters of the XPS MC, there are four PDOs.

Digital inputs Digital outputs Supply UE as per IEC 38 Max. fuse protection Consumption Max. current consumption

9 1

8

2 3

7

4 6 5

XPS MC16ZC XPS MC32ZC 16 32 6 transistor outputs and 4 relay outputs c 24 V ± 20 %, including ripple 16 A gG (gL) y 12 W 8 A including peripherals

Description The controllers XPS MCppZC have the following on the front face: 1 A display block system diagnostic 2 Two LEDs indicating the CANopen status 3 A 9-way SUB-D connector for CANopen bus 4 A terminal for solid-state safety output and “muting” indicator light terminals 5 A terminal for c 24 V power supply and relay safety output 6 One or two terminal(s) for control output for power supply to safety inputs and safety inputs (depends on model) 7 An RJ45 type connector for the TER Modbus interface (diagnostic using a Magelis operator dialogue terminal or a Premium automation platform) 8 RESET button 9 A support plate for fixing the module to a DIN or an AM1 PA plate.In the case the controller is mounted in the TSX RKYpp rack of Premium platform, this support plate must be removed. To be ordered sparately: Removable screw or spring terminals XPS MCTSpp/Cpp.

24

CANopen

Characteristics, references

1

in machines and installation Preventa safety controllers Type XPS MC

Charactéristiques Preventa safety controllers CANopen features Conformance class Standard Profile Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Degree of protection LED indicators

kbps °C

Product certification

XPS MC16ZC XPS MC32ZC S20 DS 301 V4.02, DR 303-3 V1.2.0 DS 401 V2.1 – 9-way male SUB-D 20, 50, 125, 250, 500, 800 and 1000 Shielded dual twisted pairs -40...+ 55 IP 20 PWR (green, power ON), CNF (yellow, configuration), E In and E Ex (red, internal/external error), COM (green, controller communicating via TER connection) R1and R2 (green, relay outputs) ERR (red, CANopen communication status) RUN (green, service mode) 16 inputs, 8 outputs (green) 32 inputs, 8 outputs (green) EN 954-1, IEC 61508, UL 508, CSA 22.2

References Safety controllers (connector not included) Number of inputs

Communication on bus

Reference

16

Number of outputs Relay Solid state 4 (2 x 2) 6

Modbus, CANopen

XPS MC16ZC

0.820

32

4 (2 x 2)

Modbus, CANopen

XPS MC32ZC

0.840

6

Weight kg

Connectors for safety controllers Description

Use with

Reference

Screw connectors (1)

XPS MC16ZC XPS MC32ZC

XPS MCTS16 XPS MCTS32

Weight kg 0.080 0.110

Spring connectors (1)

XPS MC16ZC XPS MC32ZC

XPS MCTC16 XPS MCTC32

0.080 0.110

XPS MC16ZC

Preassembled cordsets Description

XPS MC32ZC

TSX PCX 1031

For use From Preassembled cordsets XPS MCppZC length 2.5 m

XBT Z968 TSX PCX 1031 TSX PCX 3030

Weight kg 0.180 0.170 –

Accessories Description

XPS MCCPC

Reference To Magelis graphic terminal XBT G/GT Serial RS 232D port on a PC terminal USB port on a PC terminal

For use

Reference

Adaptator

- Link between XPS MCppZC and PC - Link between XPS MCppZC and Magelis graphic terminal

XPS MCCPC

Weight kg 0.011

Configuration software for XPS MCppZC controllers

Safety Suite software pack Compatibility with Windows 95, 98, NT®, Me, 2000 and XP

XPS MCWIN

0.520

(1) To be ordered separately.

25

CANopen

Presentation, description, charateristics references

1

in machines and installations Advantys OTB distributed I/O Interface module

Presentation The Advantys OTB distributed I/O solution, which complements the Advantys STB offer, consists of a compact system (network interface and integrated I/O) with the addition of Twido I/O expansion modules. Each base incorporates 20 I/O: b A network interface module (including CANopen) with 12 inputs c 24 V, 6 relay outputs and 2 solid state outputs c 24 V-0.3 A b As an extension, up to 7 discrete or analog I/O expansion modules can be added. This structure, created using IP 20 modules, can thus be used to manage 20 to 244 I/Os per island over a maximum length of 328.7 mm (height 94.5 mm). Twido extension modules allow the addition of further discrete and analog I/Os. For further information, consult our catalogue “Twido controller programmable”.

Description The OTB 1C0 DM9LP CANopen network interface module with integrated I/O has the following on the front panel: 1 A standard connector for the CANopen physical interface. 2 An LED display block. 3 Screw terminals for the c 24 V sensor power supply and for connecting the input sensors (with 1 common). 4 Screw terminals for connecting the output pre-actuators (with 4 commons).

2

3 1

On the right-hand side panel: A connector for TWD Dpp/App I/O expansion modules (7 modules max.).

4

Characteristics I/O distribued module CANopen features Conformance class Standard Profile Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Degree of protection device LED indicators Product certification Conformity to standards Supply voltage Number and type

Connection by

kbps °C

cV Inputs Solid-state outputs Relay outputs

OTB 1C0 DM9LP S20 DS 301 V4.02, DR 303-2 DS 401 V2.1 – 9-way male SUB-D 10, 20, 50, 125, 250, 500, 800 and 1000 Shielded dual twisted pair 0...+ 55 IP 20 Controller status (PWR, RUN, and ERR), I/O (Ip/Qp) cULus, e IEC 61131-2, UL 508 CSA C22.2 No. 213 (Class 1 Division 2 Groups A, B, C, D), e 24 12 E, c 24 V, IEC type 1 2 S, c 24 V, 0,3 A 6 S, c 30 V / a 240 V, 2A Removable screw terminal block

References Description

Usage

Reference

Advantys OTB interface module with digital I/O

12 a 24 V inputs 6 relay outputs 2 c 24 V solid state outputs

OTB 1C0 DM9LP

Advantys Lite (1)

Configuration files, technical manuals and operating instruction

FTX ES 00

OTB 1CO DM9LP (1) See also STB SPU 1ppp Advantys configuration software page 28.

26

Masse kg 0,195



CANopen

Presentation, description, charateristics

1

in machines and installations Advantys STB distributed I/O Network Interface Modules

Presentation The Advantys STB distributed I/O solution is an open, modular I/O system. It can be used to design industrial automation islands managed by a master controller connected to various buses and networks, including CANopen. Each island comprises a set of modules mounted on a DIN rail (32 for standard, 12 for basic) to make up one or more segments in which the power supplies (logic c 5 V, sensors and actuators c 24 V or a 115/230 V) are distributed automatically. This structure created using IP 20 modules thus can be used to manage: b 2 to 512 inputs/outputs per standard island b 2 to 192 inputs/outputs per basic island. Sensors and actuators are connected with removable screw or spring terminals. The Advantys STB configuration software is used to configure the parameters of the numerous I/O module functions (logic of each channel, behavior in the event of a short-circuit or overload, fallback position, reflex functions, etc)

Description 4

1

5 2 6

3

7

The front panel of CANopen network interface module (STB NCO 2212, standard or STB NCO 1010, basic) features the following: 1 A 9-way SUB-D connector used to connect the island to the CANopen bus. 2 Two rotary node addressing selectors on the bus or the network. 3 An external c 24 V power connector for the removable screw-type (STB XTS 1120) or spring-type (STB XTS 2120) connector. 4 A display block with LEDs for the various island states on the bus: power, communication, send/receive data, errors, etc. 5 Locking screw securing the STB Npp module to the DIN rail. 6 A slot for an STB XMP 4440 removable memory card (excluding basic module) 7 - Standard module: cover accessing the port used to connect a PC (for island setup and configuration, can also be used to update the firmware) or an HMI terminal (read/write data), and the Reset button (1). - Basic module: cover accessing the port used to connect a PC (for updating the firmware for the network interface module only) and the Reset button (1).

Characteristics Network interface modules CANopen features Conformance class Standard Profile Specials

Structure

CANopen communication device

Physical interface Data rate Medium Operating temperature Degree of protection LED indicators

Product certification Power supply Max. number of I/O modules per island Number of segments Principal Extension I/O module Discrete inputs Discrete solid state outputs Relay outputs Analog inputs Analog outputs Application-specific

kbps °C

cV

STB NCO 2212 (standard) STB NCO 1010 (basic) S10 DS 301 V4.02, DR 303-2 – Supports CAN bus extension module (for – external CANopen products). Allows hot swapping of Advantys STB I/O modules 9-way male SUB-D 10, 20, 50, 125, 250, 500, 800 and 1000. Shielded twisted pair 0...+ 60 IP 20 Network state (CAN Error, CAN Run) Network state (CAN Error, CAN Run) Module and islands states (POWER, Module and islands states (POWER, RUN RUN, ERROR and TEST) and ERROR) CEI/EN 61131-2, UL 508, CSA 1010-1, FM Classe 1 Division 2, e 24 32 12 1 6 – c 24 V (2, 4, 6 or 16 channels), a 115 V and 230 V (2 channels) c 24 V/0.5 A (2, 4, 6 or 16 channels), c 24 V/2 A (2 channels), a 115…230 V/2 A (2 channels) c 24 V or a 115…230 V 2 “C/O”/2 A, 2 “N/C” + “N/O”/7A - 10 V…+ 10 V, 0…20 mA, multi-range (2 channels) - 10 V…+ 10 V, 0…20 mA (2 channels) Tego Power motor starter 16 inputs, TeSys model U controller-starter 12 inputs 40 kHz 1 channel counter

27

CANopen

Accessories references

1

in machines and installations Advantys STB distributed I/O Network Interface Modules

Accessories The Advantys STB XBE modules allow extending an island. The STB XBE 1000 and STB XBE 1200 are used in pairs. The STB XBE 1000 ends a segment and provides the link to the next segment. The STB XBE 1200 starts a new segment with the link to the STB XBE 1000. The STB XBE 2100 allows connection of standard CANopen devices to the segment (for example the ATV 31 drive, FTB IP 67 monobloc I/O and Festo valve). The Advantys STB configuration software is used to set the parameters of the numerous I/O module functions (logic of each channel, behavior in the event of a short-circuit or overload, fallback position, reflex functions, etc). The multilingual Advantys STB configuration software is compatible with the following operating systems: Windows 98 (second edition SE), Windows NT 4.0 (service pack u 6), Windows 2000 (service pack u 1) and Windows XP. It includes online help and is provided with an STB XCA 4002 cable to connect the NIM to the PC (length 2 m). The STB SPU 1ppp configuration software could be used to set the parametres as well for Advantys OTB, Advantys FTB and Advantys FTM distributed I/Os.

References Description

STB XBE 1000

STB XBE 1200

Use

Reference

CANopen Standard network interface module

Power supply c 24 V

Weight kg STB NCO 2212 0.135

CANopen Basic network interface module

Power supply c 24 V

STB NCO 1010

0.130

"EOS" bus extension module (1)

Installed at the end of the segment STB XBE 1000 (except for the last segment on the island)



"BOS" bus extension module (1)

Installed at the beginning of each STB XBE 1200 extension segment



CAN bus extension module (1)

Optionally installed at the end of STB XBE 2100 the last segment to connect CANopen devices as part of the device configuration tool database



Advantys configuration software With NIM/PC preassembled cordset (lenght 2 m) (2)

Single workstation 3 Users pack 10 Users pack Unlimited site

STB SPU 1000 STB SPU 1003 STB SPU 1011 STB SPU 1100

– – – –

User documentation

Multilinugual on CD-ROM

STB SUS 8800



Preassembled cordset (replacement part)

To connect the PC to the network STB XCA 4002 interface module "NIM" Lenght 2 m



(1) With standard range only. (2) Cordset with SUD-D connector (PC side). For PC with USB port, order in more SR2 CBL06 adaptor.

STB SPU 1000

STB XBE 2100

28

CANopen

Presentation, description, characteristics

1

in machines and installations Advantys FTB IP 67 monobloc I/O splitter boxes

Presentation To meet the needs of machine manufacturers and users, automation system architectures are becoming decentralised, while offering performances comparable to those obtained with a centralised structure. Advantys FTB IP 67 monobloc I/O splitter boxes enable sensors and actuators to be connected in distributed automation systems using pre-assembled cables, thus reducing wiring time and costs, whilst at the same time increasing the operational availability of the installation. These IP 67 protected splitter boxes can also be used within processes or machines in harsh environments (splashing water, oil, dust, etc.). For difficult environments (welding shops etc.), a range of Advantys FTB splitter boxes with a metal housing is available.

1 2 3

Advantys FTB splitter boxes allow distributed connection of sensors and actuators on machines via a CANopen bus. Sensors and actuators are connected by means of standard M12 connectors. Configuration and parametering of the Advantys FTB splitter boxes is carried out using configuration files (e.g., .eds files for CANopen): b either directly within the software workshop of the PLC used b or by using a SyCon type configurator (consult our “Modicon Premium automation platform” catalogue).

9

Description 7 8 4

6 5

10 11

CANopen monobloc I/O splitter boxes FTB 1CN has the following on the front face: 1 Eight M12 female connectors for connection of sensors and actuators (2 channels per connector). 2 Eight channel status indicator lights (00 to 07). 3 Eight channel status indicator lights (10 to 17) or channel diagnostic indicator lights (00 to 07) depending on the splitter box configuration. 4 Two 7/8 connectors for connecting the c 24 V sensor and actuator power supplies: male for PWR IN, female for PWR OUT. 5 One M12 male connector (bus IN) and one M12 female connector (bus OUT) for connection of the CANopen and DeviceNet buses. 6 Access to coding and speed selection wheels. 7 Two bus diagnostic LEDs. 8 Two c 24 V sensor and actuator supply status LEDs. 9 Eight channel marker labels. 10 Two splitter box marker labels. 11 Splitter box functional earth connection (beneath the label).

Characteristics Advantys CANopen features

Structure

Device type

Conformance class Standard Profile Specials Physical interface Data rate Medium Operating temperature Degree of protection LED indicators

Product certification

kbps °C

FTB 1CN S20 DS 301 V4.02, DR 303-2 DS 401 V2.1 – M12 50, 125, 250, 500 and 1000 Shielded dual twisted pair 0...+55 IP 67 2 bus diagnostic LEDs, 2 24 V sensor and actuator supply status LEDs, 8 channel status indicator LEDs, 8 channel status indicator LEDs or channel diagnostic indicator LEDs depending on the splitter box configuration. cULus

29

Characteristics, references

CANopen

1

in machines and installations Advantys FTB IP 67 monobloc I/O splitter boxes

Advantys FTB splitter boxes general characteristics Splitter box type Number of inputs/outputs

FTB

Internal consumption of splitter box Operating voltage Splitter box max. supply current Bus and I/O undervoltage detection Built-in short-circuit protection

mA cV A V mA mA

1pp16Epp 1pp08E08SPp 16 I 16 I/O (8 I + (8 O + 8 I diagnostic) 8 I diagnostic) 120 24 8 < 18 < 100, automatic tripping > 100, reset

1pp12E04SPp 16 I/O (4 I + 4 O + 8 I diagnostic)

1pp16Cpp 16 I/O (8 I/O + 8 I/O diagnostic)

1pp08E08CM0 8 I + 8 I/O (8 I + 8 I/O diagnostic)

16 I Type 2 Yes 24 200 18…30 Positive 1 Yes

8I

12 I

0...16 I

8 I + 0...8 I

– – – – – – – –

8S 4S Transistors c 24 1.6 Yes (suppressor diode) 20 10 0.75/10 m maximum 0.34/5 m maximum

Advantys FTB Input characteristics Number of inputs Conformity to IEC 1131-2 Compatibility with 2-wire/3-wire proximity sensors Input values Nominal voltage Maximum current Sensor power supply Logic Input filtering Protection against reversed polarity

cV mA V ms

Advantys FTB Output characteristics Number of outputs Output type Nominal output values

Voltage Current

Overvoltage protection Maximum switching cycles Maximum lamp load Output connection/cable lengths

V A Hz W mm2

0...16 S

0...8 S

References 521940

108733

Monobloc splitter boxes for CANopen bus Number of I/O

16

Number, type of inputs (1) 8 12 16

16 0...16 configurable

FTB 1CNpppP0

Number, type of outputs (2) 8, transistor 4, transistor –

0...16, transistor

16 of which 8 8 + 0...8 0...8, configurable transistor

Connection by

Housing Reference type

Weight kg

8 x M12 female connectors 8 x M12 female connectors 8 x M12 female connectors

Plastic

FTB 1CN08E08SP0

0.430

Plastic

FTB 1CN12E04SP0

0.450

Plastic Metal

FTB 1CN16EP0 FTB 1CN16EM0

0.440 0.820

8 x M12 female Plastic connectors Metal

FTB 1CN16CP0 FTB 1CN16CM0

0.450 0.820

8 x M12 female Metal connectors

FTB 1CN08E08CM0

0.820

FTB 1CNpppM0

Software (3) Designation Description Advantys Lite

Configuration files, technical manuals and operating instructions

Reference FTX ES 00

(1) c 24 V IEC type 2. (2) c 24 V/1.6 A. (3) See also STB SPU 1ppp Advantys configuration software page 28.

30

Weight kg –

CANopen

Presentation, description

1

in machines and installations Advantys FTM IP 67 modular I/O splitter boxes

Presentation 5 m max. (1)

To meet the needs of machine manufacturers and users, automation system architectures are becoming decentralised, while offering performances comparable to those obtained with a centralised structure. Advantys FTM IP 67 modular I/O splitter boxes enable sensors and actuators to be connected in distributed automation systems using pre-assembled cables, thus reducing wiring time and costs, whilst at the same time increasing the operational availability of the installation.

Segment 2

Segment 1

Segment 3

4 splitter boxes max.

Segment 4

These IP 67 protected splitter boxes can also be used within processes or machines in harsh environments (splashing water, oil, dust, etc.). Advantys FTM splitter boxes allow distributed connection of sensors and actuators on machines via a fieldbus. They communicate on different buses such as: CANopen, DeviceNet and Profibus DP. Sensors and actuators are connected by means of standard M12 and M8 connectors. This modularity makes installation of the splitter boxes within the machine even easier. The configurable I/O splitter boxes also enable the mixing of inputs and outputs and, as a result, reduce the number of product variants. This provides savings in space as well as increasing the flexibility of the installation.

4 splitter boxes max.

4 splitter boxes max.

The topology of the system is a star/line architecture. Each bus module is fitted with four M12 connectors for the connection of Advantys FTM splitter boxes (star architecture). On each “run”, called a segment, it is possible to connect up to 4 splitter boxes on the chaining principle (line architecture). The maximum length of a segment, between the bus module and the last splitter box, must not exceed 5 metres. 4 splitter boxes max.

(1) Maximum distance of 5 m between the bus module and the last splitter box on the same segment.

1 12

2

For one bus module, the maximum number of splitter boxes is: b 4 per segment, i.e. 64 I/O. b 16 for the group of 4 possible segments of the bus module, i.e. 256 digital I/O.

Description

7

6 3

8 9

4

Modular bus module FTM 1CN10 have the following on the front face: 1 One M12 male connector (CANopen bus IN) for connection of the bus. 2 One M12 female connector (CANopen bus OUT) for connection of the bus. 3 One 7/8 male connector for connection of the c 24 V power supplies. 4 Four M12 female connectors for connection of the splitter box inputs/outputs via the internal bus. 5 Four channel marker labels. 6 Two bus module marker labels. 7 Speed selection and bus address switches. 8 One bus power supply status LED. 9 One bus diagnostics LED. 10 One sensor power supply diagnostics LED. 11 One sensor power supply diagnostics and communication status LED. 12 Bus module functional earth connection.

5

10 11 FTM splitter box with cover

FTM splitter box without cover

31

Characteristics, references

CANopen

1

in machines and installations Advantys FTM IP 67 modular I/O splitter boxes

Characteristics Bus module CANopen features

Structure

CANopen communication module

Conformance class Standard Profile Specials Physical interface Data rate Médium Operating temperature Degree of protection LED indicators

FTM 1CN10 S10 DS 301 V4.02, DR 303-2 DS 401 V2.1

Kbps °C

Product certifications Maximum segments number for the bus module Maximum splitter boxes number for 1 segment

M12 125, 250, 500 Shielded dual twisted pair 0...+55 IP 67 1 bus power supply status LED 1 bus diagnostics LED 4 or 8 sensor power supply diagnostics LEDs 4 or 8 sensor power supply diagnostics and communication status LEDs UL/CSA 4 4

Bus module for modular splitter boxes

108745

108739

References Maximum splitter boxes number Connection by

Reference

16

FTM 1CN10

Weight kg 0,420

Reference

Weight

M12 connectors

Modular digital I/O splitter boxes for all bus types Number of I/O 8 FTM 1Dp08C08

108768

109017

FTM 1CN

16

FTM 1Dp08C12 FTM 1Ap04C12p

108741

109018

FTM 1Dp08C08E

Number, Number, type of type of inputs outputs 8, – c 24 V IEC type 2

Connection by

Type

8 x M8 female Compact FTM 1DE08C08 connectors Expandable FTM 1DE08C08E 4 x M12 female Compact FTM 1DE08C12 connectors Expandable FTM 1DE08C12E

kg 0.120 0.120 0.120 0.120

0...8, 0...8, c 24 V transistor IEC type 2 c 24 V/ 0.5 A

8 x M8 female Compact FTM 1DD08C08 connectors Expandable FTM 1DD08C08E 4 x M12 female Compact FTM 1DD08C12 connectors Expandable FTM 1DD08C12E

0.120 0.120 0.120 0.120

16, – c 24 V IEC type 2 0...16, 0...16, c 24 V transistor IEC type 2 c 24 V/ 0.5 A

8 x M12 female Compact FTM 1DE16C12 connectors Expandable FTM 1DE16C12E

0.220 0.220

8 x M12 female Compact FTM 1DD16C12 connectors Expandable FTM 1DD16C12E

0.220 0.220

Modular analogue I/O splitter boxes for all bus types 4

4, – 0...20 mA 4...20 mA 4, – c ± 10 V c 0...10 V – 4, 0...20 mA 4...20 mA 4, c ± 10 V c 0...10 V

4 x M12 female Compact connectors

FTM 1AE04C12C

0.130

4 x M12 female Compact connectors

FTM 1AE04C12T

0.130

4 x M12 female Compact connectors

FTM 1AS04C12C

0.130

4 x M12 female Compact connectors

FTM 1AS04C12T

0.130

Software (1) FTM 1Dp08C12E

Designation

Description

Reference

Configuration files, technical manuals and operating instructions

FTX ES 00

FTM 1DD16C12 Advantys Lite

(1) See also STB SPU 1ppp Advantys configuration software page 28.

32

Weight kg –

CANopen

Presentation, description, charateristics, references

1

in machines and installations Tego Power for motor power-starter

Presentation Tego Power is a modular system which standardizes and simplifies the implementation of motor starters with its pre-wired control and power circuits. Installation of a motor starter is therefore quick, simple, safe and flexible, with no wires needed for connection. In addition, this system enables the motor starter to be customized at a later date, reduces maintenance time and optimizes panel space by reducing the number of terminals and intermediate interfaces and also the amount of ducting. Quickfit technology for TeSys motor starter components with spring terminals is designed for use with model D contactors (9 to 32 A) and with GV2-ME motor circuit-breakers. The motor starters can be connected to CANopen masters with the CANopen bus controllers APP 1CCO0 or APP 1CCO2 and the adapter APP 2CX. 1

2

3

Description Motor starters can be connected to a PLC or a bus in two ways: b By direct connection from the control splitter box 3 with 4 starters 4, using one HE 10 connector (8 inputs/8 ouputs) or two HE 10 connectors (16 inputs and 8 ouputs) b By a APP 1CCOpTego Power module 1 using an APP 2CX adapter plate 2.

The TeSys model U motor starter is connected to a Tego Power communication module APP 1Cp 1 using an adapter plate APP 2CX 2. Information is available on the module for each motor-starter: b 2 outputs: forward and reverse running control, b 2 inputs: sum of faults and position of poles

4

Characteristics Modules Tego Power CANopen features Conformance class Standard Profile Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Degree of protection module LED indicators Product certification No. of inputs/ouputs Inputs Outputs Power supply

Kbps °C

cV

APP 1CCO0 APP 1CCO2 S00 – – – Screw block terminal 125, 250, 500 et 1000 Shielded dual twisted pairs 0...+ 55 IP 40 CAN ERR, RUN, TX, RX, I/O, RUN and I/O ERR – 16 16 + (2 x 8 extern on HE 10) = 32 8 8 + (2 x 8 extern on HE 10) = 24 24

References Description Tego Power communication CANopen modules Adapter for communication module APP 1CCO0p

Number of HE 10 Reference connectors – APP 1CCO0 2 APP 1CCO2 –

APP 2CX

Weight kg 0,530 0,530 0,130

APP 1CCO0

33

Presentation, characteristics

CANopen in machines and installations Altivar 31 Variable speed drives for asynchronous motors Presentation The Altivar 31 drive is a variable speed drive for 3-phase squirrel cage asynchronous motors. The Altivar 31 is robust, compact, easy to use and conforms to EN 50178, IEC/EN 61800-2, IEC/EN 61800-3 standards, UL/CSA certification and to e marking. It incorporates functions that are suitable for the most common applications, including: b Materials handling (small conveyors, hoists, etc) b Packing and packaging machines b Specialist machines (mixers, kneaders, textile machines, etc.) b Pumps, compressors, fans. Altivar 31 drives communicate on Modbus and CANopen industrial buses. These two protocols are integrated as standard into the drive. Altivar 31 drives are supplied with a heatsink for normal environments and ventilated enclosures. Multiple units can be mounted side by side to save space. Drives are available for motor ratings between 0.18 kW and 15 kW, with four types of power supply: b 200 V to 240 V single phase, 0.18 kW to 2.2 kW b 200 V to 240 V 3-phase, 0.18 kW to 15 kW b 380 V to 500 V 3-phase, 0.37 kW to 15 kW b 525 V to 600 V 3-phase, 0.75 kW to 15 kW.

Characteristics Drive CANopen features

Structure

CANopen communication

Conformance class Standard Profile Specials Physical interface Data rate Medium Operating temperature Relative humidity Degree of protection LED indicators Product certification Number of Logic inputs Analog inputs Logic/Analog outputs Relay outputs

34

kbps °C

ATV 31 S20 DS 301 V4.02 DS 402 V2.0 – RJ45 10, 20, 50, 125, 250, 500 and 1000 Shielded dual twisted pairs -10...+ 60 depends on the model 5...95% non condensing or dripping water IP 31 and IP 41 on upper part and IP 21 on connection terminals IP 55 for models State display UL, CSA, NOM 117 and C-Tick 6 2 1 2

1

CANopen

References

1

in machines and installations Altivar 31 Variable speed drives for asynchronous motors Drives with heatsink (frequency range from 0.5 to 500 Hz) Motor Power indicated on rating plate (1) kW

HP

Line supply Line current (2) at U1 at U2 (3) A A

Altivar 31 Apparent Max. Nominal Max. power prospective current transient line Isc (4) 4 kHz current for 60 s

Power Reference (5) dissipated at nominal load

kVA

W

kA

A

A

Weight

kg

Single phase supply voltage: 200…240 V 50/60 Hz, with integrated EMC filters (6)

ATV 31H037M2

0.18 0.37 0.55 0.75 1.1 1.5 2.2

0.25 0.5 0.75 1 1.5 2 3

3.0 5.3 6.8 8.9 12.1 15.8 21.9

2.5 4.4 5.8 7.5 10.2 13.3 18.4

0.6 1 1.4 1.8 2.4 3.2 4.4

1 1 1 1 1 1 1

1.5 3.3 3.7 4.8 6.9 8 11

2.3 5 5.6 7.2 10.4 12 16.5

24 41 46 60 74 90 123

ATV 31H018M2 ATV 31H037M2 ATV 31H055M2 ATV 31H075M2 ATV 31HU11M2 ATV 31HU15M2 ATV 31HU22M2

1.500 1.500 1.500 1.500 1.800 1.800 3.100

3-phase supply voltage: 200…240 V 50/60 Hz, without EMC filters (6) (7)

ATV 31HU40M3X

0.18 0.37 0.55 0.75 1.1 1.5 2.2 3 4 5.5 7.5 11 15

0.25 0.5 0.75 1 1.5 2 3 – 5 7.5 10 15 20

2.1 3.8 4.9 6.4 8.5 11.1 14.9 19.1 24.2 36.8 46.8 63.5 82.1

1.9 3.3 4.2 5.6 7.4 9.6 13 16.6 21.1 32 40.9 55.6 71.9

0.7 1.3 1.7 2.2 3 3.8 5.2 6.6 8.4 12.8 16.2 22 28.5

5 5 5 5 5 5 5 5 5 22 22 22 22

1.5 3.3 3.7 4.8 6.9 8 11 13.7 17.5 27.5 33 54 66

2.3 5 5.6 7.2 10.4 12 16.5 20.6 26.3 41.3 49.5 81 99

23 38 43 55 71 86 114 146 180 292 388 477 628

ATV 31H018M3X ATV 31H037M3X ATV 31H055M3X ATV 31H075M3X ATV 31HU11M3X ATV 31HU15M3X ATV 31HU22M3X ATV 31HU30M3X ATV 31HU40M3X ATV 31HU55M3X ATV 31HU75M3X ATV 31HD11M3X ATV 31HD15M3X

1.300 1.300 1.300 1.300 1.700 1.700 1.700 2.900 2.900 6.400 6.400 10.500 10.500

ATV 31H037N4 ATV 31H055N4 ATV 31H075N4 ATV 31HU11N4 ATV 31HU15N4 ATV 31HU22N4 ATV 31HU30N4 ATV 31HU40N4 ATV 31HU55N4 ATV 31HU75N4 ATV 31HD11N4 ATV 31HD15N4

1.800 1.800 1.800 1.800 1.800 3.100 3.100 3.100 6.500 6.500 11.000 11.000

ATV 31H075S6X ATV 31HU15S6X ATV 31HU22S6X ATV 31HU40S6X ATV 31HU55S6X ATV 31HU75S6X ATV 31HD11S6X ATV 31HD15S6X

1.700 1.700 2.900 2.900 6.200 6.200 10.000 10.000

3-phase supply voltage: 380…500 V 50/60 Hz, with integrated EMC filters (6)

ATV 31HU75N4

0.37 0.55 0.75 1.1 1.5 2.2 3 4 5.5 7.5 11 15

0.5 0.75 1 1.5 2 3 – 5 7.5 10 15 20

2.2 2.8 3.6 4.9 6.4 8.9 10.9 13.9 21.9 27.7 37.2 48.2

1.7 2.2 2.7 3.7 4.8 6.7 8.3 10.6 16.5 21 28.4 36.8

1.5 1.8 2.4 3.2 4.2 5.9 7.1 9.2 15 18 25 32

5 5 5 5 5 5 5 5 22 22 22 22

1.5 1.9 2.3 3 4.1 5.5 7.1 9.5 14.3 17 27.7 33

2.3 2.9 3.5 4.5 6.2 8.3 10.7 14.3 21.5 25.5 41.6 49.5

32 37 41 48 61 79 125 150 232 269 397 492

3-phase supply voltage: 525…600 V 50/60 Hz, without EMC filters (7) 0.75 1.5 2.2 4 5.5 7.5 11 15

1 2 3 5 7.5 10 15 20

8 8 6.4 10.7 16.2 21.3 27.8 36.4

2.4 4.2 5.6 9.3 14.1 18.5 24.4 31.8

2.5 4.4 5.8 9.7 15 19 25 33

5 5 5 5 22 22 22 22

1.7 2.7 3.9 6.1 9 11 17 22

2.6 4.1 5.9 9.2 13.5 16.5 25.5 33

36 48 62 94 133 165 257 335

ATV 31HD15N4A (1) These power ratings are for a maximum switching frequency of 4 kHz, in continuous operation. The switching frequency is adjustable from 2 to 16 kHz. Above 4 kHz, derate the nominal drive current. The nominal motor current should not exceed this value: see catalog “Variable speed drives for asynchronous motors”. (2) Typical value for a 4-pole motor and a maximum switching frequency of 4 kHz, with no additional line choke, for the max. prospective line current. (3) Nominal supply voltages, min. U1, max. U2 (200-240 V; 380-500 V; 525-600 V). (4) If line Isc is greater than the values in the table, add line chokes see catalog “Variable speed drives for asynchronous motors”. (5) To order a drive intended for wire guiding applications, add a T to the end of the reference. (6) The drive can also be ordered complete with potentiometer. In this case add the letter A to the reference for the drive you require. (7) Optional EMC filter, see catalog “Variable speed drives for asynchronous motors” Nota : For more precisions about customisable enclosed drives and Drive kits, refer to catalog “Variable speed drives for asynchronous motors”.

35

CANopen

Presentation, characteristics

1

in machines and installations Altivar 71 Variable speed drives for asynchronous motors

533191

Presentation The Altivar 71 drive is designed to suit all configurations found in communicating industrial installations. It includes Modbus and CANopen communication protocols as standard.

1

2 3

The Modbus protocol can be accessed directly by means of 2 integrated communication ports: b One RJ45 Modbus terminal port 1, located on the drive front panel, for connecting: v the remote graphic display terminal v a Magelis industrial HMI terminal v the PowerSuite software workshop b One RJ45 Modbus network port 2, located on the drive control terminals. It is dedicated to control and signalling by a PLC or other type of controller. It can also be used to connect a terminal or the PowerSuite software workshop. The CANopen protocol can be accessed from the Modbus network port via the CANopen adaptor 3. In this case, terminal port 1 must be used to access the Modbus protocol. The Altivar 71 drive can also be connected to other industrial communication buses and networks using one of the communication option cards: b Ethernet TCP/IP b Modbus/Uni-Telway. This card can offer functions in addition to those of the integrated ports: Modbus ASCII and 4-wire RS 485 b Fipio b Modbus Plus b Profibus DP b DeviceNet b INTERBUS. The option of powering the control part separately enables communication to be maintained (monitoring, diagnostics) even if there is no power supply to the power part.

Characteristics Drive CANopen features

Structure

Conformance class Standard Profile Specials Physical interface

CANopen communication

Data rate Medium Operating temperature Protection

Degree of protection LED indicators

36

kbps °C

ATV 71 S10 DS 301 V4.02 DSP 402 Node guarding, Heartbeat 9-way male SUB-D connector on CANopen adapter. This connects to the Modbus RJ45 network port. 20, 50, 125, 250, 500 and 1000 Shielded dual twisted pairs -10...+ 60 (depends on type of model) IP 00, IP 21 and IP 41 on upper part. IP 20 without cover plate on upper part of cover. IP 30 on the front panel and side parts. IP 31 with accessory. The protection depends on the model type and the accessories: refer to catalog “Variable speed drives: Altivar 71”. RUN et ERROR on integrated 7-segment display terminal UL, CSA, DNV, NOM 117 C-Tick,GOST and e

CANopen

References

1

in machines and installations Altivar 71 Variable speed drives for asynchronous motors References Motor Power indicated on plate (1) kW

HP

Line supply Line current (2) 200 V 240 V A A

Apparent power 240 V kVA

Altivar 71 Max. Maximum Max. transient prospective continuous current for line Isc current (1) 60 s 2s kA A A A

Reference

Weight

kg

533158

Single phase supply voltage: 200…240 V 50/60 Hz

532725

ATV 71HU22M3Z ATV 71HU40N4Z

532724

ATV 71H037M3 ATV 71HU22N4

0,37 0,75 1,5 2,2 3 4 5,5

0,5 1 2 3 – 5 7,5

6,9 12 18,2 25,9 25,9 34,9 47,3

5,8 9,9 15,7 22,1 22 29,9 40,1

2,4 4,1 6,5 9,2 9,1 12,4 16,7

5 5 5 5 5 5 22

3 4,8 8 11 13,7 17,5 27,5

4,5 7,2 12 16,5 20,6 26,3 41,3

4,9 7,9 13,2 18,1 22,6 28,8 45,3

ATV 71H075M3 ATV 71HU15M3 ATV 71HU22M3 ATV 71HU30M3 ATV 71HU40M3 (3) ATV 71HU55M3 (3) ATV 71HU75M3 (3)

3 4,8 8 11 13,7 17,5 27,5 33 54 66 75 88 120 144 176 221 285

4,5 7,2 12 16,5 20,6 26,3 41,3 49,5 81 99 112 132 180 216 264 332 428

4,9 7,9 13,2 18,1 22,6 28,8 45,3 54,5 89,1 109 124 145 198 238 290 365 470

ATV 71H037M3 ATV 71H075M3 ATV 71HU15M3 ATV 71HU22M3 ATV 71HU30M3 ATV 71HU40M3 ATV 71HU55M3 ATV 71HU75M3 ATV 71HD11M3X (4) ATV 71HD15M3X (4) ATV 71HD18M3X (4) ATV 71HD22M3X (4) ATV 71HD30M3X (4) ATV 71HD37M3X (4) ATV 71HD45M3X (4) ATV 71HD55M3X (4) ATV 71HD75M3X (4)

3,000 3,000 3,000 4,000 4,000 5,500 5,500

3-phase supply voltage: 200…240 V 50/60 Hz 0,37 0,75 1,5 2,2 3 4 5,5 7,5 11 15 18,5 22 30 37 45 55 75

0,5 1 2 3 – 5 7,5 10 15 20 25 30 40 50 60 75 100

3,5 6,1 11,3 15 19,3 25,8 35 45 53,3 71,7 77 88 124 141 167 200 271

3,1 5,3 9,6 12,8 16,4 22,9 30,8 39,4 45,8 61,6 69 80 110 127 147 173 232

1,3 2,2 4 5,3 6,8 9,5 12,8 16,4 19 25,6 28,7 33,3 45,7 52,8 61,1 71,9 96,4

5 5 5 5 5 5 22 22 22 22 22 22 22 22 22 35 35

3,000 3,000 3,000 4,000 4,000 4,000 5,500 7,000 9,000 9,000 19,000 19,000 39,000 39,000 39,000 59,000 72,000

Tension d'alimentation triphasée : 380…480 V 50/60 Hz

533249

ATV 71HD37M3X

ATV 71HC28N4

0,75 1 3,7 3 2,4 5 2,3 3,5 3,8 ATV 71H075N4 3,000 1,5 2 5,8 5,3 3,8 5 4,1 6,2 6,8 ATV 71HU15N4 3,000 2,2 3 8,2 7,1 5,4 5 5,8 8,7 9,6 ATV 71HU22N4 3,000 3 – 10,7 9 7 5 7,8 11,7 12,9 ATV 71HU30N4 4,000 4 5 14,1 11,5 9,3 5 10,5 15,8 17,3 ATV 71HU40N4 4,000 5,5 7,5 20,3 17 13,4 22 14,3 21,5 23,6 ATV 71HU55N4 5,500 7,5 10 27 22,2 17,8 22 17,6 26,4 29 ATV 71HU75N4 5,500 11 15 36,6 30 24,1 22 27,7 41,6 45,7 ATV 71HD11N4 7,000 15 20 48 39 31,6 22 33 49,5 54,5 ATV 71HD15N4 9,000 18,5 25 45,5 37,5 29,9 22 41 61,5 67,7 ATV 71HD18N4 9,000 22 30 50 42 32,9 22 48 72 79,2 ATV 71HD22N4 19,000 30 40 66 56 43,4 22 66 99 109 ATV 71HD30N4 26,000 37 50 84 69 55,3 22 79 118,5 130 ATV 71HD37N4 26,000 45 60 104 85 68,5 22 94 141 155 ATV 71HD45N4 44,000 55 75 120 101 79 22 116 174 191 ATV 71HD55N4 44,000 75 100 167 137 109,9 22 160 240 264 ATV 71HD75N4 44,000 90 125 166 134 109,3 35 179 269 295 ATV 71HD90N4 60,000 ATV 71HC11N4 74,000 110 150 202 163 133 35 215 323 355 132 200 239 192 157,3 35 259 388 427 ATV 71HC13N4 80,000 160 250 289 233 190,2 50 314 471 518 ATV 71HC16N4 110,000 200 300 357 286 235 50 387 580 638 ATV 71HC20N4 140,000 220 350 396 320 260,6 50 427 640 704 ATV 71HC25N4 140,000 250 400 444 357 292,2 50 481 721 793 280 450 494 396 325,1 50 550 825 907 ATV 71HC28N4 140,000 315 500 555 444 365,3 50 616 924 1016 ATV 71HC31N4 215,000 355 – 637 512 419,3 50 671 1006 1107 ATV 71HC40N4 225,000 400 600 709 568 466,6 50 759 1138 1252 500 700 876 699 576,6 50 941 1411 1552 ATV 71HC50N4 300,000 (1) These values are for a nominal switching frequency of 2.5 or 4 kHz, depending on the rating, for continuous operation. (2) Typical value for the indicated motor power and for the maximum prospective line Isc. (3) A line choke must be used (see catalog “Variable speed drives: Altivar 71”). (4) Drive supplied without EMC filters. EMC filters are available as an option (see catalog “Variable speed drives: Altivar 71”). Nota : Please refer to the compatibility tables summarizing the possible combinations for drives, options and accessories on catalog “Variable speed drives: Altivar 71”.

37

Presentation

CANopen

1

in machines and installations PowerSuite motor control software

534513_1

Presentation The PowerSuite software workshop is a user-friendly tool designed for setting up control devices for the following Telemecanique brand motors: b TeSys model U controller-starters b Altistart soft start/soft stop units b Altivar variable speed drives b Lexium 05 servo drives. It includes various functions designed for setup phases such as: b Preparing configurations b Start-up b Maintenance In order to simplify the start-up and maintenance phases, the PowerSuite software workshop can use the Bluetooth® wireless link. Equipment management

Functions (1) Preparing configurations

572708

The PowerSuite software workshop can be used on its own to generate the device configuration. It can be saved, printed and exported to office automation software The PowerSuite software workshop can also be used to convert: b An Altivar 28 drive configuration to an Altivar 31 drive configuration b An Altivar 58 or Altivar 58F drive configuration to an Altivar 71 drive configuration. Setup

572706

View of “Simply Start” menu

When the PC is connected to the device, the PowerSuite software workshop can be used to: b Transfer the generated configuration b Adjust b Monitor, this option has been enhanced with new functions such as: v the oscilloscope v the high speed oscilloscope (minimum time base: 2 ms) v the FFT oscilloscope (Fast Fourier Transform) v display of communication parameters b Control b Save the final configuration.. Maintenance In order to simplify maintenance operations, the PowerSuite software workshop can be used to: b Compare the configuration of a device currently being used with a saved configuration b Manage the user’s installed base of equipment, in particular: v organize the installed base into folders (electrical equipment, machinery, workshops, etc) v store maintenance messages v simplify Ethernet connection by storing the IP address.

Connections Modbus communication bus

572707

View of FTT oscilloscope function

The PowerSuite software workshop for PC can be connected directly to the device terminal port or Modbus network port via the serial port on the PC. Two types of connection are possible: b With a single device (point-to-point connection) via VW3 A8 106 connexion kit for PC serial port b With a number of devices (multidrop connection) via XGS Z24, RS 232/RS 485 interface. Ethernet TCP/IP communication network The PowerSuite software workshop for PC can be connected to an Ethernet network. In this case, the devices can be accessed: b Using a VW3 A3 310 communication card for the Altivar 71 drive b Using a 174 CEV 300 20 Ethernet/Modbus gateway. Bluetooth® wireless link

Monitoring control panel (baragraph)

The PowerSuite software workshop for PC can communicate via a Bluetooth® radio link with a device equipped with a Bluetooth® /Modbus VW3 A8 114 adaptor. The adaptor plugs into the device terminal port or Modbus network port, and has a range of 10 m (class 2). If the PC does not have Bluetooth® technology, use the VW3 A8 115 USB/Bluetooth® adaptor. (1) Some functions are bot available for all devices. See table of compatibility page 39.

38

CANopen

References, compatibility

1

in machines and installations PowerSuite motor control software

PowerSuite software workshop 533187

Description

Reference

Weight kg 0.100

PowerSuite CD-ROM

VW3 A8 104 - 1 program for PC in English, French, German, Italian and Spanish - Technical documentation of variables speed drives, starters and servo drives

PowerSuite update CD-ROM (1)

VW3 A8 105 - 1 program for PC in English, French, German, Italian and Spanish - Technical documentation of variables speed drives, starters and servo drives

0.100

Connection kit for PC serial port for Modbus point-to-point connection

- 1 x 3 m cable with 2 RJ45 connectors VW3 A8 106 - 1 RS 232/RS 485 converter with one 9-way female SUB-D connector and one RJ45 connector - 1 converter with 4-way male connector and one RJ45 connector for connecting ATV 11 drives - 1 RJ45/9-way SUB-D adaptor for connecting ATV 38/58/58F drives - 1 RJ45/9-way SUB-D adaptor for connecting ATV 68 drives - 1 converter for the ATV 11 drive, with one 4-way male connector and one RJ45 connector

0.350

RS 232/RS 485 interface for Modbus multipoint connection

1 Modbus multidrop converter for connection to screw terminals. XGS Z24 Requires a 24 V c (20...30 V), 20 mA power supply (2).

0.105

Modbus/Bluetooth® adaptor (3)

- 1 Bluetooth® adaptor (10 m range, class 2) VW3 A8 114 with 1 RJ45 connector - 1 x 0.1 m cable with 2 RJ45 connectors for PowerSuite - 1 x 0.1 m cable with 1 RJ45 connector and 1 mini-DIN connector, for TwidoSoft - 1 RJ45/9-way SUB-D adaptor for connecting ATV 38/58/58F drives

0.155

USB-Bluetooth® adaptor for PC

This adaptor is required for a PC which is not equipped with Bluetooth® technology. It is connected to a USB port on the PC. Range of 10 m (class 2).

0.290

VW3 A8 104

533188

Composition

VW3 A8 114

VW3 A8 115

Compatibility of the PowerSuite software workshop for PC with the following devices (4) Connection

Modbus Ethernet (device equipped with an Ethernet TCP/IP card) Ethernet via Modbus/Ethernet bridge Bluetooth® Compatible devices and/or software versions Incompatible devices and/or software versions

Controller- Soft starter start/soft stop unit TeSys ATS 48 modèle U V1.30

V2.2

V1.50 V2.2

Variable speed drives

Servo drives

ATV 11

ATV 31

ATV 61

ATV 71

Lexium 05

V1.40

V2.0

V2.2 V2.2 V2.2 V2.2

V2.2 V2.2 V2.2 V2.2

V2.2

V2.0 V2.2

V2.2 V2.2

Hardware and software environments The PowerSuite software workshop for PC can operate in the following PC environments and configurations: b Microsoft Windows® 98 SE, Microsoft Windows® 2000, Microsoft Windows® XP b Pentium III, 800 MHz, hard disk with 300 Mb available, 128 Mb RAM b SVGA or higher definition monitor.

(1) Updates a version u V1.40 with the latest available version. For versions < V1.40, you should order the PowerSuite CD-ROM, VW3 A8 104. (2) Can also be used to communicate between a Twido PLC and the TwidoSoft software workshop. (3) Please consult our specialist “Interfaces, I/O splitter box and power supply” catalogue. (4) Software version refer to the current version of commercialized drive.

39

CANopen

Presentation, description

1

in machines and solutions Lexium 05 Servo drive for AC servo motors

Presentation

Lexium 05 servo drive

BSH servo motor

The range of Lexium 05 servo drives that are compatible with BSH servo motors constitutes a compact and dynamic combination for machines across a wide power and power supply voltage range: b Lexium 05 servo drive: v 100…120 V single phase, from 0.4 to 1.4 kW v 200…240 V single phase, from 0.75 to 2.5 kW v 200…240 V 3-phase, from 0.75 to 3.2 kW v 380…480 V 3-phase, from 1.4 to 6 kW b BSH servo motor: v Nominal torque: from 0.5 to 36 Nm v Nominal speed: from 1500 to 8000 min-1 The Lexium 05 range is enhanced by GBX planetary reducers. Easy to mount, lubricated for life and available in 12 reduction ratios: 3:1 to 40:1. Economical, GBX reducers are designed for applications which do not require a very limited play. A complete equipment Lexium 05 integrates functions and components usually found externally, which are used to keep its compact design, making it easier to integrate the drive into control enclosures or machines. The Lexium 05 servo drive is incorporated in the safety system of installations. It integrates the “Power Removal” safety function which prevents accidental starting of the motor. This function is compliant with machine standard EN 954-1 category 3, standard IEC/EN 61508 SIL2 for electrical installations and draft standard IEC/EN 61800-5-2 for power drives Lexium 05 can control BSH motors in accordance with a large number of control modes: b Point-to-point positioning: v relative movement, v absolute movement. b Electronic gear control. b Speed control with position control. b Direct speed control. b Manual operation for easy setup. Control and interfaces Lexium 05 has three control interfaces as standard: b Interface for CANopen, Modbus, or Profibus DP communication network. b Two ± 10 V analog reference inputs to give the speed or current reference, and limit the speed or current. b One RS 422 (A/B) incremental encoder or pulses/direction input. This input can also be configured as an output to emulate an encoder (ESIM). b These interfaces are supplemented by logic inputs and outputs which can be used as source (positive logic) or sink (negative logic) in order to adapt to outputs of controllers that are available on the market.. The PowerSuite software workshop is used to configure, set and debug the Lexium 05 axis in the same way as for all other Telemecanique variable speed drives and starters, see pages 38 and 39. It can be used with a direct connection or a Bluetooth® wireless connection.

1 2

40

Description The Lexium 05 servo drive front side: 1 A hinged door for access to connections (spring terminals, screw terminals and Molex connectors) 1 An integrated 7-segment display terminal which is used to set the drive parameters, display errors and monitor the system. It is also used to control the drive in manual operation.

CANopen

Characteristics, references

1

in machines and solutions Lexium 05 Servo drive for AC servo motors

Characteristics Lexium 05 servo drive CANopen features Conformance class Standard Profile Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Relative humidity Degree of protection DEL indicators Product certification

LXM05 AD S20 DS 301 V4.02 DS 401 V2.1

kbps °C

RJ45 connector or screw terminal 125, 250, 500 and 1000 Shielded dual twisted pairs - 10...+ 55 5 à 85% non condensing IP 20 Yes International standards EN 50178, CEI/EN 61800-3, homologations UL, cUL and e

References (with CANopen bus integrated) Output current Continuous (RMS) at 4 kHz at 8 kHz A A LXM 05AD10F1 LXM 05AD10M2 LXM 05AD10M3X

Transient at 4 kHz at 8 kHz A A

Nominal power at 4 kHz kW

Line current at U1 A

at U2 A

Max. Reference prospective line Isc kA

Weight

kg

Single phase supply voltage: a 110…120 V (1) 50/60 Hz, with integrated EMC filter 4 8 15

3.2 7 13

10 17 28

8.5 15.5 28

0.4 0.65 1.4

7.6 11.5 15.7

7 10.5 14.4

1 1 1

LXM 05AD10F1 LXM 05AD17F1 LXM 05AD28F1

1.100 1.400 2.000

Single phase supply voltage: a 200…240 V (1) 50/60 Hz, with integrated EMC filter

LXM 05AD17F1 LXM 05AD17M2 LXM 05AD17M3X LXM 05AD14N4

4 8 15

3.2 7 13

10 17 28

8.5 15.5 28

0.75 1.2 2.5

8.1 12.7 23

6.7 10.5 19.2

1 1 1

LXM 05AD10M2 LXM 05AD17M2 LXM 05AD28M2

1.100 1.400 2.000

3-phase supply voltage: a 200…240 V (1) 50/60 Hz, without integrated EMC filter 4 8 17

3.2 7 15

10 17 42

8.5 15.5 42

0.75 1.4 3.2

5.2 9 19

4.3 7.5 15.8

5 5 5

LXM 05AD10M3X LXM 05AD17M3X LXM 05AD42M3X

1.100 1.300 1.900

3-phase supply voltage: a 380…480 V (1) 50/60 Hz, with integrated EMC filter

LXM 05AD28F1 LXM 05AD28M2 LXM 05AD42M3X LXM 05AD22N4 LXM 05AD34N4

6 9 15 25

5 7 11 20

14 22 34 57

10.6 19.8 25.5 42

1.4 2 3 6

4.2 6.3 9.7 17.7

3.3 5 7.7 14

5 5 5 22

LXM 05AD14N4 LXM 05AD22N4 LXM 05AD34N4 LXM 05AD57N4

1.400 2.000 2.000 6.500

(1) Nominal power supply voltage, min. U1, max. U2 (110…120 V, 200…240 V, 380…480 V).

LXM 05AD57N4

41

Presentation, description characteristics

CANopen

1

in machines and solutions Lexium 17D Servo drive for AC servo motors

Presentation The Lexium 17D servo drives are designed for the control of the torque, speed and/or position of the SER/BPH AC servo motors. These servo drive units are designed for high performance applications, which require strong dynamics and high precision positioning. The Lexium 17D servo drives have an integral position indexer, which can be used in cases where the simple applications do not require positioning modules. In this case, the numerous possibilities for connectivity (RS 232 serial link, CANopen bus, Fipio bus, Profibus DP bus, Modbus Plus network,) respond to the different automation structures.

Lexium 17D

Lexium 17D HP

Description 7 6

1

3 4 2 5

Lexium 17D servo drives are in RAL gray metal casings (degree of protection IP 20). 1 A 18-way male connector (1) (addr. X3) to connect: v two configurable analog setpoint inputs + 10 V, v two configurable analog outputs + 10 V v four configurable discrete inputs/two configurable discrete outputs c 24 V, v one servo drive validation input c 24 V, v one alarm relay contact. 2 A 4-way male connector (1) (addr. X4) terminal block for connection to the external c 24 V power supply. This connector distributes the power supply c 24 V to other Lexium servo drives. 3 A 3-digit display, which indicates the operating status of the servo drive, as well as error code messages. 4 Two control keys, which provide access to the various operating modes for the display. 5 A 4-way male connector (2) (addr. X10) for use with the anti-start function (AS function) Only available on MHDA 1pppA00 servo drives. 6 A 9-way SUB-D male connector (addr. X6) for connection to the CANopen field bus. (RS 232 integral serial link) This connector is also used to connect the PC compatible terminal, which supports the Unilink configuration software. 7 Slot for one of the following option cards: v SERCOS digital link control card, v Fipio bus, Modbus Plus network, or Profibus DP bus connection card, v CANopen bus adapter which allows link 6 to be conform with CANopen standards, v Discrete I/O card for Lexium servo drive control with integral position indexer function.

Characteristics Lexium 17D servo drive CANopen features Conformance class Standard Profile Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Relative humidity module Degree of protection Power supply AC servo motor outputs LED indicators Product certification

42

kbps °C

MHDA 1pppp00 S10 DS 301 V3.x, DR 303-2 DS 401 V2.x Homing mode 9-way SUB-D 10, 20, 50, 100, 125, 250, 333, 500, 666, 800 and 1000 Shielded dual twisted pairs 0.... 45, 45.. .55 with derating, consult our “Lexium 17D motion control” catalog 85 % non condensing IP 21 208...480 Va 3-phase Continuous/maximum current: 1.5 A/3 A to 70 A/140 A depending on the model State display 3 digits EN 50178, EN 60139-1, EN 60204, UL 508C, UL 840, CSA 22-2 Machine safety NF EN 292-1, EN954-1

CANopen

References, accessories

1

in machines and solutions Lexium 17D Servo drive for AC servo motors

References Specific functions Output current Permanent

Reference Discontinuous (5 s)

Weight kg

Lexium 17D servo drives No anti-start safety function Integral braking resistors, integral EMC filter

1.5 A rms

3 A rms

MHDA 1004N00

4.000

3 A rms

6 A rms

MHDA 1008N00

4.000

6 A rms

10 A rms

MHDA 1017N00

4.000

10 A rms

20 A rms

MHDA 1028N00

4.000

20 A rms

40 A rms

MHDA 1056N00

7.500

1.5 A rms

3 A rms

MHDA 1004A00

4.000

3 A rms

6 A rms

MHDA 1008A00

4.000

6 A rms

10 A rms

MHDA 1017A00

4.000

10 A rms

20 A rms

MHDA 1028A00

4.000

20 A rms

40 A rms

MHDA 1056A00

7.500

80 A rms

MHDA 1112A00

19.500

140 A rms

MHDA 1198A00

21.000

Integral anti-start safety function MHDA 10 ppN00A00

MHDA 10ppA00

Integral braking resistors, integral EMC filter

Lexium 17D HP servo drives Integral anti-start safety function No integral braking 40 A rms resistors, no integral EMC filter, obligatory input choke (1) (to be ordered 70 A rms separately) MHDA 1056N00/A00

Accessories CANopen communication Description CANopen bus adapter

Fonctions Material interface for CANopen standard conformance (2). + connector for terminal PC or monitorig tool

Reference

Weight kg AM0 2CA 001V000 0.110

(1) Input choke is obligatory when the servo drive is not powered by an isolation transformer. (2) Line termination include.

AM0 2CA 001V000

43

Presentation, characteristics

CANopen in machines and solutions Twin Line Servo drive for AC servo motors

Presentation Twin Line TLC 43/53/63 servo drives integrate, in addition to power electronics for AC servo motors, a position system with 3 options, offering different levels of intelligent functions.

TLC 432/532/632 (IP 20)

The higher-level automation system accesses: b Drive parameters b The internal status b The indexer function via a discrete interface, serial link or field bus. The architectures supported by this type of servo drive: b Discharge the automation system from having to perform position and control functions for AC servo motors b Allow automation systems to be easily extended (flexible architectures). b Facilitate maintenance operations, by downloading of initial parameters from the automation device b Simplify wiring of installations.

TLC 438/538/638 (IP 20)

Twin Line TLC 43/53/63 servo drives are fitted with 2 fast capture inputs and 1 fast output, for the electronic cam function (2 x 64 switching points max.). A device for limiting vibrations during positioning protects its mechanical parts and prolongs the life of the machine. The principal characteristics of Twin Line TLC 43/53/63 servo drives are: b Power range: from 750 W to 8 kW b The servo drive is powered directly from the mains supply, without a transformer (TT and TN grounding systems only) b Built-in EMC power supply input filter, radiator and fan b Built-in brake power dissipation function b All electrical connections can be accessed via the front panel b Small and compact size b IP 20 or IP 54 degree of protection depending on the model.

TLC 434/534/634 (IP 54)

Caractéristiques Twin Line servo drive CANopen features Conformance class Standard Profile Specials Structure Physical interface Data rate Medium CANopen Operating temperature communication Relative humidity Degree of protection DEL indicators Product certification

44

Mbps °C

TLC p3p pFp ppppp S00 DS 301 V4.02, DS 303-2 DS 402 V – 9-way SUB-D 1 Shielded dual twisted pairs 0...+ 55 for IP 20, 0...+ 45 for IP 54 15 à 85% non condensing IP 20 or IP 54, depends on the model Yes UL 508C, EN 50178

1

References

CANopen

1

in machines and solutions Twin Line Servo drive for AC servo motors

References Servo drive supply

Degree of Power protection

Power supply Reference EMC input filter

Weight kg

TLC 43 a 230 V single phase IP 20 50/60 Hz

0.750 kW

Integrated

TLC 432 2F2 1pppp

2.700

a 230…480 V 3-phase IP 20 50/60 Hz

1.5 kW

Integrated

TLC 434 2F3 1pppp

3.700

3 kW

Integrated

TLC 436 2F3 1pppp

6.600

8 kW

Integrated

TLC 438 2F3 1pppp

10.800

a 230 V single phase IP 54 50/60 Hz

0.750 kW

Integrated

TLC 432 5F2 1pppp

8.500

a 230…480 V 3-phase IP 54 50/60 Hz

1.5 kW

Integrated

TLC 434 5F3 1pppp

11.000

a 230 V single phase IP 20 50/60 Hz

0.750 kW

Integrated

TLC 532 2F2 ppppp

2.700

a 230…480 V 3-phase IP 20 50/60 Hz

1.5 kW

Integrated

TLC 534 2F3 ppppp

3.700

3 kW

Integrated

TLC 536 2F3 ppppp

6.600

8 kW

Integrated

TLC 538 2F3 ppppp

10.800

a 230 V single phase IP 54 50/60 Hz

0.750 kW

Integrated

TLC 532 5F2 ppppp

8.500

a 230…480 V 3-phase IP 54 50/60 Hz

1.5 kW

Integrated

TLC 534 5F3 ppppp

11.000

a 230 V single phase IP 20 50/60 Hz

0.750 kW

Integrated

TLC 632 2F2 ppppp

2.700

a 230…480 V 3-phase IP 20 50/60 Hz

1.5 kW

Integrated

TLC 634 2F3 ppppp

3.700

3 kW

Integrated

TLC 637 2F3 ppppp

6.600

8 kW

Integrated

TLC 638 2F3 ppppp

10.800

a 230 V single phase IP 54 50/60 Hz

0.750 kW

Integrated

TLC 632 5F2 ppppp

8.500

a 230…480 V 3-phase IP 54 50/60 Hz

1.5 kW

Integrated

TLC 634 5F3 ppppp

11,000

TLC 53

TLC 63

45

CANopen

Presentation, description

in machines and installations Osicoder Ø 58 mm encoders

Presentation Absolute rotary encoders identify every point in a movement through a unique digital signal. Due to their ability to assign an exact, unique position value to every linear and angular position, absolute rotary encoders have become one of the most important links between the mechanical system and the control system. The basic principle of an absolute rotary encoder is the optical sampling of a transparent code disc which is fixed with the driving shaft. The absolute rotary Ø 58 mm encoder has a maximum resolution of 8192 points per revolution. This encoder can detect up to 4096 revolutions. Therefore the largest resulting resolution is 33.554.332 points (25 bits). The integrated CAN-Bus interface of the absolute rotary encoder supports all the CANopen functions. The following modes can be programmed and enabled or disabled: b Polled Mode b Cyclic Mode b Sync Mode. The protocol supports the programming of the following additional functions: b Code sequence (Complement) b Resolution per revolution b Total revolutions b Preset value, two limit switches b Bit rate and Node number. The connection cap ensures a simple assembly and addressing. It fulfils the function of a T-coupler and proposes M12 connectors for incoming and outgoing bus signals. The rotary encoder can be powered through CAN bus or by using the dedicated PG9 connection comfortably connectable with screw terminals. The device address is adjusted with rotary switches. Additionally the connection cap offers direct diagnosis: operating mode, bus errors or incorrect wiring are shown by 2 LEDs on the rear side of the cap and provide a fast and simple error recognition.

Description 1 2

3 XCC-3510PS84CB

1 2

3 XCC-3515CS84CB

46

The Osicoder absolute rotary Ø 58 mm encoders comprise: 1 One M12 male connector (bus IN) and one M12 female connector (bus OUT) for connection of the CANopen bus 2 One PG9 connection for to power cord 3 Shaft of the encoder full shaft or blind shaft, depends on model).

1

Characteristics, references

CANopen

1

in machines and installations Osicoder Ø 58 mm encoders

Characteristics Rotary encoders CANopen features

Structure

CANopen communication

Conformance class Standard Profile Specials Physical interface Data rate Medium Operating temperature Degree of protection LED indicators Product certification

kbps °C

XCC 351ppS84CB S10 DS 301 V4.02, DSP 303-2, ISO 11898, DR 303-3 V1.2.0 DS 406 Classe C2 Power supply could be delivered by the bus M12 coding A 10, 20, 50, 125, 250, 500, 800 and 1000 Shielded dual twisted pairs - 40...+ 85 IP 64 CAN_Error (red), CAN_Run (green) CiA, e

References Description Encoder with Ø 10 mm full shaft

XCC 3510PS84CB

Encoder with Ø 15 mm blind shaft (1)

Description

XCC 3515CS84CB

Type of connection Radial, 2 M12 coding A connectors 1 PG9 Radial, 2 M12 coding A connectors 1 PG9

Reducing

Reducing bushing for Ø 15 to 6 encoder with blind shaft Ø 15 to 8 XCC 3515CS84CB Ø 15 to 10 Ø 15 to 12 Ø 15 to 14 Description M12 connectors 5 screw terminals for TSX CAN CA/CB CANopen cable Other accessories

Type

Power supply Reference c 24 V (11...30 V)

XCC 3510PS84CB

Weight kg 0,560

c 24 V (11...30 V)

XCC 3515CS84CB

0,570

Reference XCC R358RDL06 XCC R358RDL08 XCC R358RDL10 XCC R358RDL12 XCC R358RDL14

Weight kg 0,040 0,030 0,025 0,020 0,010

Reference

Weight kg Female Straight XZ CC12FDM50B 0,020 Angled XZ CC12FCM50B 0,020 Male Straight XZ CC12MDM50B 0,025 Angled XZ CC12MCM50B 0,025 CANopen preassembled cordsets with 2 elbowed M12 5-way : FTX CN 23pp, see page 52.

(1) With anti-rotation device.

47

Presentation, description

CANopen

1

in machines and installations Infrastructure

Presentation The IP 20 wiring offer for CANopen can be used to create different types of connection architecture: b Tap link TSX Micro/Premium + TSX CPP 110

6

1

1

9

5 6

5

6

6

7+2

6

10

10

14

Advantys STB

Lexium 17D

Tego Power applications + APP 1CCOp module

c 24 V Advantys FTM

Advantys ATV 31 OTB or Lexium 05

ATV 71

Note: For key 1, 2, ..., 10, see pages 52 and 53).

This flexible solution is easy to install, requiring the use of junction boxes, a cable reel (trunk cable) and cordsets (equipped with SUB-D connectors) for the tap links. Once the taps have been installed (on a DIN rail or plate) and interconnected by means of the trunk cable (connection on screw terminals), the cordsets simply have to be connected between the taps and the various devices. b Daisy chain This low-cost solution requires the use of a cable reel and SUD-D connectors. SUB-D connectors should be fitted at the end of cables (connection on screw terminals) which have been cut to length. These three types of connector allows the simultaneous connection of 2 CANopen cables. b Mixte This solution combines both the previous types while still taking account of the CANopen wiring rules.

Description Different types of cable are offered, making it possible to create any type of application, including those for harsh environments (1). Various connectors are available to meet any requirement: straight or 90° elbowed connectors, with or without the option of connecting a PC or diagnostic pocket PC. Power can be supplied to the equipment by means of cables, cordsets and taps: one AWG24 pair for the CAN signals and one AWG22 pair for the power supply and the ground. Note: It is not possible, however, to supply the bus with power from the taps

Taps or SUB-D connectors are equipped with a switch for switching the line terminators on or off (required at the end of the CANopen segments). In addition to this IP 20 wiring offer, there is also an IP 67 wiring offer.

(1) Normal environment: - without special environmental restrictions - operating temperature between + 5 °C and + 60 °C - fixed installations. Harsh environment: - resistance to hydrocarbons, industrial oils, detergents, solder chips - up to 100% humidity - saline environment - extreme variations in temperature - operating temperature between - 10 °C and + 70 °C - mobile installations.

48

Wiring system

CANopen

1

in machines and installations Infrastructure

Compact Evolutive Optimized implementation example The Compact Evolutive Optimized implementation is dedicated to compact machines and installations, and provides an easy evolution and adaptation of the machine or installation. It has in its main focus in the industry sector. HMI

Twido TWD NCO1M

4

9

5

10

5

10

9

10

10

ATV 31/Lexium 05

Compact Evolutive Performance implementation example The Compact Evolutive Performance implementation is dedicated to compact machines and installations, and provides an easy evolution and adaptation of the machine or installation. It has in its main focus in the industry sector and may also fit other applications. HMI

Premium +TSX CPP 110

4 9

5

9

5

5

10

15

10 3

14 ATV 31/Lexium 05

Lexium 17D

For key 3, 4, ..., 15, see pages 52 and 53.

49

Wiring system (continued)

CANopen

1

in machines and installations Infrastructure

Distributed CANopen Optimized implementation example The Distributed CANopen Optimized implementation is dedicated to modular machines and installations, and provides a quick connection of products with pre-manufactured cables. It focuses on the industry and the building sector and may also fit other applications. HMI

PC or monitoring tool Twido TWD NCO1M

5

7

9

9

2

10

10

12

12

16

16

16

2 17

10

12

10 Advantys FTB 1CNpppp Advantys OTB 1C0 DM9LP

ATV 31/exium 05

For key 2, 5, ..., 17, see pages 52 and 53.

50

c 24 V

13

Wiring system (continued)

CANopen

1

in machines and installations Infrastructure

Distributed CANopen implementation example The Distributed CANopen implementation is dedicated to distributed machines and installations. It is based on modules or cabinets connected to CANopen and therefore distributed over the machine or installation. It has two focuses, the industry and the building sector and may also fit other applications.

Premium +TSX CPP 110 HMI

Advantys FTB

Advantys STB

13

16

2

4

16

PC or monitoring tool

9

16

Advantys FTM c 24 V

10

5

5

7

17

18

IcLA ATV 31/Lexium 05

16

Advantys FTM

For key 2, 4, ..., 17, see pages 52 and 53.

51

CANopen

References

1

in machines and installations Infrastructure

Standard TAP and connectors Description

TSX CAN TDM4

Composition

No. (1) CANopen TAP 4 SUB-D 9-way ports. Allows the connection of 4 1 drops on the trunk cable, includes a switch to set the bus termination IP 20 connectors Bended at 90° 2 CANopen SUB-D 9-way Right (2) 3 female connector. Bended at 90° + additional SUB-D 9-way 4 Integrates a micro connector to connect a pocket or a PC on the bus switch to set the bus termination. IP 67 connector M12, Male – 5-way, A encoded Female – CANopen junction box 2 RJ45 ports 9 for Altivar/Lexium 05

Length m –

Reference

Weight kg 0.196

TSX CAN TDM4

– – –

TSX CAN KCDF 90T TSX CAN KCDF 180T TSX CAN KCDF 90TP

0.046 0.049 0.051

– – –

FTX CN 12M5 FTX CN 12F5 VW3 CAN TAP2

0.050 0.050 –

Length m 50 m 100 m 300 m 50 m 100 m 300 m 50 m 100 m 300 m

Reference

0.3 m 1m 3m 5m 0.3 m 1m 3m 5m 0.5 m 1.5 m 3m 5m

TSX CAN CADD03 TSX CAN CADD1 TSX CAN CADD3 TSX CAN CADD5 TSX CAN CBDD03 TSX CAN CBDD1 TSX CAN CBDD3 TSX CAN CBDD5 TLA CD CBA 005 TLA CD CBA 015 TLA CD CBA 030 TLA CD CBA 050

Length m 0.3 m 0.6 m 1m 2m 3m 5m 3m 5m

Reference

IP 20 standard cables and preassembled cordsets VW3 CAN TAP2

Description

Composition

CANopen cables

LSZH standard cable. e certification. Low smoke, Halogen free and flame retardant (IEC 60332-1) UL/IEC332-2. UL certification. Non flame propagating (IEC 60332-2)

TSX CAN KCD F90T

TSX CAN KCD F180T

No. (1) 5

5

Cable flexible LSZH HD (3) for heavy duty or 5 mobile installation. e certification. Low smoke, Halogen free and flame retardant. Oil resistant. (IEC 60332-1) CANopen Standard cable. e certification. Low smoke, 6 preassembled cordset Halogen free and flame retardant (IEC 60332-1) with moulded female SUB-D 9-way connectors at both end UL certification. Non flame propagating 6 (IEC 60332-2)

CANopen CANopen standard cable preassembled cordset with moulded female and male SUB-D 9-way connectors

15

TSX CAN CA50 TSX CAN CA100 TSX CAN CA300 TSX CAN CB50 TSX CAN CB100 TSX CAN CB300 TSX CAN CD50 TSX CAN CD100 TSX CAN CD300

Weight kg 4.930 8.800 24.560 3.580 7.840 21.870 3.510 7.770 21.700 0.091 0.143 0.295 0.440 0.086 0.131 0.268 0.400 – – – –

IP 67 standard preassembled cordsets Description

Composition

No. (1) CANopen CANopen preassembled cable with two elbowed 12 preassembled cordset M12, 5-way, A encoded connectors (one male and one female) TSX CAN KCD F90TP

CANopen preassembled cable with one elbowed 7 female M12, 5-way , A encoded connector and other end free

FTX CN 3203 FTX CN 3206 FTX CN 3210 FTX CN 3220 FTX CN 3230 FTX CN 3250 FTX CN 3130 FTX CN 3150

Weight kg 0.400 0.700 0.100 0.160 0.220 0.430 – –

Accessories Description VW3 CAN A71

AM0 2CA 001V000

52

Composition

IP 67 line termination With 1 M12 type connector (for end of bus) CANopen connector SUB-D 9-way female, switch to set the bus for Altivar 71 (3) termination. End of cables Bended at 180° Adaptator for CANopen adaptor SUB-D 9-way to RJ45 Altivar 71 drives CANopen 1 RJ45 connector at each end preassembled cable

No. (1) 13

Length m –

Reference

Weight kg 0.010

FTX CNTL12





VW3 CAN KCDF 180T



8



VW3 CAN A71



10

0.3 m 1m

VW3 CAN CARR03 VW3 CAN CARR1 AM0 2CA 001V000

– – 0.110

CANopen bus Material interface for CANopen standard 14 adapter for conformance included line termination. Lexium 17D With connector for terminal PC or monitoring tool Y-connector CANopen/Modbus – TCS CTN011M11F – (1) For key, see pages 48 to 51. (2) For connection on programmable board “Controller Inside” of ATV 71 drives.The VW3 CAN KCDF 180T connector can also be used. (3) For drives ATV 71HpppM3, ATV 71HD11M3X, HD15M3X, ATV 71H075N4... HD18N4, this connector can be replaced by the TSX CAN KCDF 180T connector (1).

References (continued)

CANopen

1

in machines and installations Infrastructure

108767-1

IP 67 connection accessories For Advantys FTB/FTM monobloc/modular I/O splitter boxes Description c 24 V power supply connection cables

T-connector for power supply

Composition Fitted with two 7/8, 5-way connectors, one at each end

No. (1) 16

Fitted with one 7/8, 5-way connector, other end free

17

Fitted with two 7/8, 5-way connectors

18

Length m 0.6 1 2 5 1.5 3 5 –

Reference

Length m 0.3 0.6 1 2 3 5 0.3 0.6 1 2 3 5 0.3 0.6 1 2 3 5 –

Reference

FTX DP2206 FTX DP2210 FTX DP2220 FTX DP2250 FTX DP2115 FTX DP2130 FTX DP2150 FTX CNCT1

Weight kg 0.150 0.190 0.310 0.750 0.240 0.430 0.700 0.100

For internal bus of Advantys FTM modular I/O splitter boxes FTX DP2115

Description

Composition

Internal bus connection Fitted with 2 elbowed M12, 6-way connectors, cables one at each end for bus module splitter box linking

Auxiliary c 24 V power Fitted with 2 elbowed M12, 6-way connectors, supply connection one at each end cables for bus module splitter box linking

Auxiliary c 24 V power supply connection cables

Fitted with 1 elbowed M12, 6-way connector, other end free

Line terminator for end of internal bus

Fitted with one M12 connector

FTX CB3203 FTX CB3206 FTX CB3210 FTX CB3220 FTX CB3230 FTX CB3250 FTX CA3203 FTX CA3206 FTX CA3210 FTX CA3220 FTX CA3230 FTX CA3250 FTX CA3103 FTX CA3106 FTX CA3110 FTX CA3120 FTX CA3130 FTX CA3150 FTX CBTL12

Weight kg 0.060 0.090 0.120 0.215 0.310 0.500 0.035 0.045 0.060 0.090 0.120 0.180 0.030 0.035 0.040 0.070 0.100 0.160 0.030

Separate components Description Connectors

108768

Sealing plugs

Y-connectors

Diagnostics adaptor Marker labels FTX CY1208

Composition

Reference

7/8 male, 5-way 7/8 female, 5-way For M8 connector (lot of 10) For M12 connector (lot of 10) For 7/8 connector

FTX C78M5 FTX C78F5 FTX CM08B FTX CM12B FTX C78B

Weight kg 0.050 0.050 0.100 0.100 0.020

FTX CY1208

0.020

FTX CY1212

0.030

FTX DG12 FTX BLA10

0.020 0.010

FTX MLA10

0.010



Connection of 2 x M8 connectors to M12 connector on splitter box Connection of 2 x M12 connectors to M12 connector on splitter box Fitted with two M12 connectors For plastic splitter boxes (sold in lot of 10) For metal splitter boxes (sold in lot of 10)

(1) For key, see pages 48 to 51. (2) (3) Normal environment: - without special environmental restrictions - operating temperature between + 5 °C and + 60 °C - fixed installations. Harsh environment: - resistance to hydrocarbons, industrial oils, detergents, solder chips - up to 100% humidity - saline environment - extreme variations in temperature - operating temperature between - 10 °C and + 70 °C - mobile installations.

53

Presentation, references, contact

CANopen

1

in machines and installations Partners CAN in Automation (CiA)

Presentation CAN in Automation organization mission statement CAN in Automation (CiA) is an international group of users and manufacturers working on two aspects: development and promotion of CAN-based higher-layer protocols. b The technical part of the group's work is mainly the development and maintenance of specifications. The specification ranges from definitions for the physical layer to definitions for the application layer and device profiles. CiA works with international standardization bodies like ISO or IEC. CiA offers support for the certification of devices according to the specifications. b The other aspect is the promotion of the group's work. Current activities of CiA comprise teaching seminars and education of system developers to reach this objective. The publication of product guides, catalogs, magazines, and brochures also supports this objective. Talks in conferences, the presence with a booth at trade fairs and exhibition, and not to forget the CiA web site (http://www.can-cia.org) round off the promotional objectives of the group. Conformance test and product certification The true benefit of any open standard is the assurance it provides to users that the products they buy will inter-operate seamlessly. Unfortunately, any specification, no matter how carefully written, is subject to interpretation and misunderstanding. That is where conformance testing becomes invaluable. The CANopen conformance test provides the independent verification that a broad array of qualifications has been met in compliance with the CANopen specifications. The CANopen conformance test tool supports the conformance test. The CiA web site lists products which have passed the conformance test and are certified to fulfill the specifications. CiA CANopen device catalog The CiA CANopen Product Guide is available on CD-ROM and on the web site http://www.can-cia.com/products. It is a comprehensive summary of the CANopen devices available on the market. The products are listed in the catalog by manufacturer, CiA standard, application, and product name. CANopen Conformance Test Suite The CANopen Conformance Test Suite, which is also used for the CANopen certification is available for any manufacturer of a CANopen device and for any user of CANopen devices. Anybody is able to check conformance of a CANopen NMT slave device according to the standards and to prepare the CANopen device to pass the certification process. The Conformance Test Suite provides b The test of the application layer services, b The test of the EDS against the object dictionary of the CANopen device, b The verification of the network states and transitions.

References Description This version is used to verify that a CANopen device is conform to CANopen Version 4.01 and later.

Reference CANopen Conformance Test Suite Version 2.0

Both software versions are requiring a CAN hardware interface installed on the PC to access the CANopen devices to be tested. The internal access of the software to the CAN hardware interface is based on a well-defined interface called CANopen Testing Interface (COTI). Currently, several companies are providing the hardware with that interface. The current interface list can be requested at CAN in Automation.

Contact CAN in Automation (CiA) Am Weichselgarten 26 D-91058 Erlangen (Germany) v Phone: +49-9131-690 86-0 v Fax: +49-9131-690 86-79 v E-mail: [email protected] v Website: www.can-cia.org

54

Twin Line Cell Controller, IcLA, contact

CANopen

1

in machines and installations Partners Berger Lahr (1)

Twin Line Cell Controller (TLCC) Presentation The Twin Line Cell Controller (TLCC) is a motion controller with an integrated high-performance soft PLC. The device features an Ethernet connection and an integrated HTML server. The link-up to host systems can be implemented with an OPC server.

1

Description The Twin Line Cell Controller TLCC have the following on the front face: 1 7 segment display 2 A RJ45 connector used to connect Ethernet network 3 A 9-way connector used to connect CANopen bus.

2 3

Characteristics CANopen features Structure

Standard Physical interface Data rate Medium

DS 301 V4.02 9-way SUB-D Up to 1 Mbps Shielded dual twisted pairs

IcLA Presentation IcLA are intelligent compact drives. They integrate everything required for motion tasks: positioning controller, power electronics and servo, EC or stepper motor. The benefits for new perspectives in planning, design and installation are: b No control cabinet for control electronics b Extremely compact drive size b Very little wiring.

Characteristics CANopen features

Standard Profile Structure Physical interface Data rate Medium CANopen communication Operating temperature adapter Degree of protection

kbps °C

DS 301 V4.02 – M12 (with industrial connector option) 20, 50, 100, 125, 250, 500, 800, 1000 Shielded dual twisted pairs 0...+ 65 IP 67

Contact Berger Lahr GmbH & Co. KG Breslauer Strasse 7 D-77933 Lahr (Germany) v Phone: +49 7821 946 01 v Fax: +49 7821 946 313 v E-mail: [email protected] v Website: www.berger-lahr.com

(1) Berger Lahr, a company of Schneider Electric.

55

CANopen

Presentation, contact

in machines and installations Partners Festo

CANopen

Presentation Festo Festo is the world-wide leader in intelligent pneumatics. Universal, standardised, or application specific valve terminals cover all possible application domains and help you to design your machine optimal and most cost-effective. Valves terminals CPV compact performance b Highest pneumatic performance on the smallest footprint helps you to save space and weight. b Mounting the CPV decentral and as near as possible to the drives, increase the machine performance by 20%. b Optimised adaptation of the valve size CPV 10/14/18 for the drives gives further 40% cycle time reduction. b Integrated diagnosis and condition monitoring reduces and eliminates machine downtime and increases your productivity and customer satisfaction. b Extensible: You can connect further CP modules and CP valves terminals to CPV with CANopen. This saves installation costs and buses addresses and rounds off your pneumatic control chain perfectly with harmonised components.

CPV10 - 400 l/min

CPV14 - 800 l/min

CPV18 - 1600 l/min

CPX ISO

CPX Mini/Maxi

CPX MPA

CPX I/O terminal

Valves terminal based on CPX, strong in communication and modular b The electrical terminal CPX is the basis for most modern innovations in electrical periphery. Highly flexible, robust and saving installation effort. Strong in connection technology, diagnostics and communication on CANopen, Modbus TCP/IP and others. b The valve terminal MPA is the dream team with CPX. Consistent appearance, serial chaining, robust, flexible, and modular. In short: valve modularity newly defined in the flow rate range 360...700 l/min. b The valve terminal with standardised plug-in valves according to ISO 15407-2. That is standard in small foot print with flow rates ranging from 500...1400 l/min, maximal pneumatic flexibility, functionnality, and modularity. b Modular, proven, and maintenance friendly. The adaptative Mini/Maxi with electrical inputs and outputs in metal casing is a reliable specialist in the flow rate range 500...1250 l/min.

Installation system CPI for redefined decentralisation Saving installation costs and nearer to the drive. If a high number of cycles is mandatory, then the valve terminal must be placed as near as possible to the drive. The solution for several valve terminals is to connect them with the CPI installation system. This saves wiring and increases performance.

Contact Festo AG & Co. KG Eberhard Klotz 73734 Esslingen (Germany) v Phone: +49 711 347-2964 v Fax: +49 711 347-54 2964 v E-mail: [email protected] v Website: www.festo.com 56

1

canAnalyser

CANopen

1

in machines and installations Partners IXXAT

canAnalyser Overview The canAnalyser offers a wide range of functions and covers various areas of applications. It can be used for online monitoring of the bus traffic, transmission of single-shot or cyclic messages and complete message sequences, tracing of CAN messages and offline analysis of the recorded data. Message traffic and bus load can be statistically analyzed and graphically displayed. A further interesting feature is the possibility to display message content (like "speed" or "voltage") in a graphic view on a time axis or as plaintext with physical units and applied conversion rules. The vast functionality can be controlled by an easy-to-use interface and thus makes the canAnalyser an ideal tool for test and simulation during development as well as for test and trouble shooting during system installation and service. CANopen and DeviceNet Higher layer CAN protocols can be analyzed by supplementary modules such as the CANopen or DeviceNet modules. The CANopen module interprets all received CAN messages in accordance with the CANopen specifications DS-301, DS-302, DS-305, DS-401, DS-402, DS-405 and DS-406 (more can be easily added). Data parameters transmitted in SDOs and PDOs are displayed each in plaintext. Programming interface and Scripting Host The open programming interface allows to extend the canAnalyser by user written functions and graphical user interfaces. Using Visual Studio .NET (C++, C#, Visual Basic), new customized modules can be developed and added to the canAnalyser. The Scripting Host provides the canAnalyser user with a powerfull interface that combines the advantages of graphic Windows programs with the flexibility of scripts. By using the Scripting Host, the canAnalyser can be quickly and easily adapted to specific measuring and analysis tasks. The Scripting Host supports the languages C# and Visual Basic.Net. Available versions The canAnalyser is available in two versions, standard and lite (see table below). Compared to the lite version, the standard version allows: b the parallel analysis of the two CAN systems (multi channel mode), b the simultaneous execution of several instances of a module, b provides the programming interface and the scriptiong host. Version Reception Module Transmit Module Trace Module Sequencer Module Graphic Module Statistic Module Signal Module CANopen Module DeviceNet Module Multi Channel Capability Multiple Module Instances Open programming Interface Scripting Host Available Non available

Standard

Lite

Optional Optional

Optional Optional

canAnalyser.com Further information, such as FAQs, a detailed tutorial, a demo version and support are provided on the canAnalyser product homepage: http://www.cananalyser.com

57

CANopen

CAN Interfaces, CANblue/Bridge

in machines and installations Partners IXXAT

CAN Interfaces Overview The IXXAT PC/CAN interfaces enable PC-based applications to access CAN networks via a wide variety of different PC interface standards. The customer can select an optimum PC/CAN interface with regard to the application and performance requirements and to costs. More than 10 different PC interface standards are supported. Driver support Every IXXAT CAN board is delivered with a Windows CAN driver (for Windows 95/98/ME/2000/XP) and a simple CAN bus monitoring tool, which can be used to display and to transmit CAN messages. Besides of the Windows CAN driver, further drivers and programming interfaces are available. b CANopen Master API: Provides a simple programming interface that can be used for the development of individual service and test tools for CANopen systems. b Driver Linux: Basic CAN driver for Linux Kernel 2.4 and 2.6 driver supporting the IXXAT ISA and PCI boards (support of USB in preparation). b CAN-OPC Server: Enables the simple connection of OPC clients (SCADA programs) to CAN systems. b LabView and LabWindows: Fully functional integration examples for LabView and LabWindows based on the Windows CAN driver. Shortlist of available interface boards (For further interfaces please visit www.ixxat.com) b USB to CAN compact: Low cost, active CAN module with one CAN channel (ISO11898-2) for the connection to the USB bus. Ideal for mobile service and analyzing applications using CAN layer-2 or CANopen. b USB to CAN II: CAN module with two channels (ISO11898-2) for connection to the USB bus. Ideal for mobile service and analyzing applications that need more performance than USB-to-CAN compact or access to more than one CAN channel. b iPC-I XC16/PCI: Powerful CAN interface for 5 V and 3.3 V PCI bus systems with two CAN channels (ISO11898-2). Provides high performance and low latency times. Ideal for control applications or for analyzing CAN systems with maximum data rate and bus load. b tinCAN 161: Powerful CAN interface with two CAN channels (ISO11898-2) in PC-card format. Provides high performance and low latency times. Suitable for mobile analyzing and service applications with low up to high performance requirements.

CANblue/Generic Bluetooth bridge for the wireless interconnection of two separate CAN systems.

CANblue/Generic

CANblue/Generic

CAN 1, 250 Kbps

Device A1

58

Device A2

CAN 2, 125 Kbps

Device An

Device B1

Device B2

Overview The CANblue/Generic allows the wireless coupling of two separate CAN networks. CAN messages which are transmitted in one CAN system are sent to the other CAN system via Bluetooth under consideration of optional filter rules. The message filter can be defined for individual CAN identifiers. In ideal conditions, the distance between the CAN/Bluetooth modules can be up to 100m. The CANblue has a powerful 16-bits microcontroller and sufficient memory to store message during a message burst on the CAN bus. LEDs indicate the current status of the coupled networks. The configuration of the CANblue/Generic (e.g. CAN baud rate, filter rules) is also done via bluetooth and can be stored on the CANblue.

1

Product references, contact

CANopen

1

in machines and installations Partners IXXAT

IXXAT references Product canAnalyser

Reference 1.02.0133.00000

canAnalyser-Lite

1.02.0166.00000

CANopen Module for canAnalyser/canAnalyser-Lite USB to CAN compact with SUB-D 9 connector et isolation USB to CAN II industrial version with galvanic isolation iPC-I XC16/PCI galvanic isolation tinCAN161

1.02.0145.00000

1.01.0026.00010

CANblue/Generic

1.01.0125.00001

1.01.0087.10200 1.01.0062.11220 1.01.0047.33220

Contact IXXAT Automation GmbH Liebnizstr. 15 88250 Weingarten, Germany v v v v

Phone: +49-7 51 / 5 61 46-10 Fax: +49-7 51 / 5 61 46-29 E-mail: [email protected] Website: www.ixxat.com

59

CANopen

Presentation

1

in machines and installations System User Guides

Presentation The System User Guides is a kind of a "First aid system manual" for the described system. It is not intended to replace any product documentation. Instead it provides information in addition to the product documentation to aid in installing, parameterizing and starting-up the outlined system. The detailed functional description or specification of a specific user application is not part of this manual. Nevertheless the document outlines some typical applications where the system can be implemented.

Set of products

Test, validation and documentation Twido TWD NCO1M

HMI

CANopen

ATV 31

=

+

ATV 31

Set the confidence

60

Customers confidence to finalize the solution

User Guides

CANopen

1

in machines and installations System User Guides

Available System User Guides Schneider Electric is permanently extending the number of System User Guides. To obtain a System User Guide or the actual list of available System User Guides please contact your local Schneider Electric distributor or sales agency, or visit www.telemecanique.com.

61

Technical information

CANopen

1

in machines and installations CAN presentation

CAN presentation CANopen is an application layer protocol based on the controller area network (CAN). Bosch designed CAN for automotive applications in the early 1980s. Its use in the automotive industry has proved its suitability in difficult environments. CAN is a serial bus system based on a publisher subscriber model. In the publisher subscriber model the publisher sends a message to the subscribers. In CAN this has been implemented using a broadcast architecture. The sender (publisher) broadcasts the message together with an identifier on the bus. The receivers monitor all traffic on the bus. If the identifier matches the filtering criteria of the subscription the client reads and processes the complete message. This turns the receiver into a subscriber. Producer

Consumer(s)

request

indication

payload: 0 to 8 octets CAN data frame

This is the push mode of the publisher subscriber model. CAN also supports a pull mode of the publisher subscriber model. A consumer may trigger the transmission of a message with a remote transmission request. The remote transmission request (RTR) is a CAN frame with the RTR flag set. When the producer receives such a request is transmits the associated message. Producer

Consumer(s)

request

indication

payload: 0 octets CAN data frame

response

confirmation(s)

payload: 0 to 8 octets CAN data frame

A problem that normally arises with a broadcast architecture is that different network nodes may send at the same time. CAN solves this problem with two mechanisms. Firstly, a sender monitors the medium to check whether another node is already sending. If the medium is free the node starts sending. Several nodes may start sending never the less at the same time. CAN solves this with a priority scheme.

Idle

SOF

identifier

RTR

IDE

r0

DLC

Data

FCS

ACK

EOF

IFS

Idle

A CAN frame starts with a start of frame (SOF) bit. Eleven identifier bits follow from the most significant bit to the least significant bit. The next bit is the remote transmission request (RTR) bit followed by five control bits and up to eight bytes payload. The control bits are the extended ID (IDE), a reserve bit, and three bits encoding the length of the payload in the data part (DLC) in bytes. A frame check sequence (FCS) follows after the payload of up to eight bytes. The sender transmits a recessive ACK bit, which will be overwritten with a dominant bit by the receivers that have received the frame without error at this point of time. The end of frame (EOF) bit signals the end of the message.

62

Technical information

CANopen

(continued)

in machines and installations

1

CAN presentation

CAN presentation (continued)

8

7

Identifier 6 5 4

3

2

1

0

1

1

0

1

1

SOF

9

RTR

The bus must remain in recessive state for intermission frame space (IFS) bit lengths before the next frame starts. If no node is ready to send the bus will remain idle. The bit encoding on the medium has a dominant and a recessive value. If two nodes send at the same time, a listener will only see the dominant value. In the binary encoding the value '0' is dominant and the value '1' is recessive. When a node is sending it is always listening on the bus. If it is sending a recessive value and is receiving a dominant bit it stops sending and continues listening only. This simple mechanism avoids collisions on the CAN bus. The message with the lower identifier wins the bus arbitration.

10

Node 0

1

0

1

1

0

0

1

Node 1

1

0

1

1

0

1

Node 1 is listening only

Node 2

1

0

1

1

0

0

1

0

0

0

1

4

Controlfield 3 2 1

0

Data (0...8 octets)

Node 2 is listening only

Node 2 looses arbitration

Node 1 looses arbitration

CAN bus

Arbitration phase

Time

CAN is a carrier sense multiple access, with collision detection and arbitration on message priority, (CSMA/CD+AMP) bus system. As the collision in true sense does not occur in CAN it is often described as CMSA/CA (carrier sense multiple access with collision avoidance). The CAN message frame described above is a basic message frame. For applications, which need a larger set of identifiers, the extended CAN message frame has been defined. The extended frame has 18 additional ID bits in the header after the control bits. This extends the range from 211 to 229 different identifiers. Both frame types can coexist on one bus. CAN has three different mechanisms to detect erroneous messages: b The frame check sequence (FCS) contains the cyclic redundancy check (CRC) of the frame. The receiver also computes the CRC of the frame and compares its own result with the FCS. If they are not equal the frame has a CRC error. b The receiver detects errors in the structure of the frame. If the frame has a faulty structure, the frame has a format error. b The receiver of a frame issues a dominant acknowledge (ACK) bit if it has received a frame without error. If the sender does not receive a dominant ACK bit, it generates an acknowledgement error. b The sender also monitors the bits on the bus. If a bit is sent and the received counterpart differs, the sender recognizes an error. b CAN uses no return to zero (NRZ) coding with bit stuffing. If the sender should transmit five equal bits in a row it introduces an additional inverted bit. This bit stuffing enables the receiver to synchronize on the bit stream. The receivers remove the stuffed bits from the transmitted frame. If more than five bits have the same value, the receiver recognizes a bit stuffing error. There are several application level protocols on top of CAN available, such as DeviceNet and CANopen, as CAN does not define an application level protocol by itself.

63

Technical information

CANopen

(continued)

in machines and installations

1

CANopen presentation

CANopen presentation CANopen defines an application layer and communication profile based on CAN. CANopen defines the following communication objects (messages): b Process data object (PDO) b Service data object (SDO) b Network management object (NMT) b Special function object (SYNC, EMCY, TIME) Properties b b b b b b

Serial data transmission based on CAN Up to 1 Mbps Efficiency approx. 57 % Up to 127 nodes (devices) Multi master capable Interoperability of devices from different vendors

Object dictionary The object dictionary is the interface between the application program and the communication interface.

Communication interface

Object dictionary

Application process

Process data object (PDO) Process data objects are used for fast transmission of process data. A PDO can carry a payload of 8 bytes, which is the maximum payload of a CAN frame. The transmission of a PDO uses the consumer producer model of CAN extended by synchronous transfers. The synchronous transfer of PDOs relies on the transfer of SYNC messages on the CAN bus. A PDO is sent in cyclical mode after a configurable number (1 to 240) of received SYNC messages. It is also possible to wait for the availability of data from the application process and send a PDO after the next received SYNC message. This is called acyclical synchronous transfer. Service data object (SDO) Service data objects are intended for transmission of parameters. SDOs provide access to the object dictionary of remote devices. An SDO has no length restriction. If the payload does not fit into the CAN frame, it will be split over several CAN frames. Each SDO is acknowledged. SDO communication uses a peer-to-peer communication with one peer acting as server and the other acting a client.

64

Technical information (continued)

CANopen in machines and installations

1

CANopen presentation

CANopen presentation (continued) Network management objects (NMT) The network management objects (NMT) change the state, or monitor the status, of a CANopen device. A NMT message is a message with CAN identifier 0. This gives the NMT messages the highest possible priority. The NMT message always consists of two bytes payload in the CAN frame. The second byte contains the node ID of the addressed node. It is possible to address all devices with one NMT message with the reserved node ID 0. The first byte encodes the NMT command.

Initialization node id: boot-up Pre-operational Stopped Operational

A CANopen device starts in the Initialization state after switching the power on. Then the device performs its initialization. When the device has completed its initialization it issues a boot-up NMT object to notify the master. The heartbeat protocol for monitoring the device status is implemented with NMT objects. Special function objects (SYNC, EMCY, TIME) CANopen may have a SYNC producer to synchronize the actions of the CANopen nodes. A SYNC producer issues (periodically) the SYNC object. The SYNC object has the CAN identifier 128. This may introduce some jitter due to the priority of this message. A device internal error may trigger an emergency (EMCY) object. The reaction of the EMCY consumers depends on the application. The CANopen standard defines several emergency codes. The EMCY object is transmitted in a single CAN frame with eight bytes. A CAN frame with the CAN ID 256 with six bytes payload can be used to transmit the time of day to several CANopen nodes. This time stamp (TIME) object contains the daytime value in the Time-Of-Day data type. Watchdog mechanisms CANopen supports two methods of monitoring the status of devices. A network manager may poll each device regularly in configurable time intervals. This is called node guarding. Node guarding is, however, bandwidth consuming. Another mechanism is that each device regularly sends a heartbeat message. This saves bandwidth compared to the node guarding protocol. Network length and bit rate The length is restricted by the bit rate due to the bit arbitration process. Bit rate (kbps) Max length (m)

1000 20

800 40

500 100

250 250

125 500

50 1000

20 2500

10 5000

In documents about CANopen, you will find often 40 m as a maximum length at 1Mbit/s. This length is calculated without electrical isolation as used in the Schneider Electric CANopen devices. With the electrical isolation, the minimum network length calculated is 4 m at 1 Mbps. However, the experience shows that 20 m are the pratical length that could be shorten by stubs or other influences. Length limitations concerning stubs Length limitations concerning stubs have to be taken into account and are fixed by the following parameters. Baud rate (kbps) L max. (m) (1) ΣL max. (m) local star (2) Interval min. (m) 0,6 x ΣL local (3) ΣL max. (m) on all bus (4)

1000 0,3 0,6

800 3 6

500 5 10

250 5 10

125 5 10

50 60 120

20 150 300

10 300 600



3,6

6

6

6

72

180

360

1,5

15

30

60

120

300

750

1500

(1) L max.: Maximum length for one stub. (2) ΣL max. local star: Maximum cumulative length of stubsin the same point when using a multi-port TAP creating a local star. (3) Interval min.: minimun distance between two TAPs. Value for a maximum length of derivation in the same point. Could be computed case by case for each derivation: Interval min. between two derivation is 60 % of the cumulative length of derivations at the same point. (4) ΣL max. on all bus: Maximum cumulative length of stubs on the all bus.

65

Technical information

CANopen

(continued)

in machines and installations

1

Conformance classes

Schneider Electric has defined conformance classes for slave and master devices. The conformance classes define, which features a device supports.

Characteristics Conformance classes Layer settings

Devices supported NMT (Network Management object)

Slave ID Data rate LSS

kbps

NMT Master CANopen Manager

M10 M20 1-16 1-63 125, 250, 500 M10 + 50, 1000 – 16 63 NMT Master , according to DS301 –

Boot-up procedure Time stamp Auto configuration SDO (Service Data Object) SDO Client SDO Server SDO Manager SDO data transfer

according to DSP302 – – 1 1 – 1 – Expedited, segment transfer

PDO (Process Data Object) COB-ID PDO TT PDO Inhibit Time PDO Event Timer

ReadOnly 254, 255 – –

Read/Write M10 +0, 1-240 TPDO’s (Read/Write) TPDO’s (Read/Write)

SYNC

– – consumer 16 consumers 1 producer no no

producer

S20 1-127 S10 + 50, 1000

Time stamp SDO (Service Data Object) SDO Client SDO Server SDO data transfert

S10 1-63 125, 250, 500 – – b Start remote node b Stop remote node b Enter pre-Operational b Reset node b Reset communication – – 1 Expedited, segment transfer

PDO (Process Data Object) COB-ID PDO TT PDO mapping parameters Connection set PDO Inhibit Time PDO Event Timer

ReadOnly 254, 255 FIX (Read) Predefined connection set – –

Read/Write S10 +0, 1-240

SYNC

– – producer 1 consumer 1 producer no no

consumer

SYNC TRIGGER

EMCY HEALTH

Heartbeat

Parameters

Node guarding Store parameters

Conformance classes Layer settings

Diagnostic devices NMT (Network Management object)

Slave ID Data rate LSS Diagnostic local NMT slave

SYNC TRIGGER

EMCY HEALTH

Heartbeat

Parameters

Node guarding Store parameters

kbps

producer/consumer 63 consumers 1 producer yes yes

M30 1-127 M20 +10, 20, 800 Master 126 – NMT master, according to DS301. Configuration Manager according to DSP302. Producer support 2 1 1 Expedited, segment block transfer Read/Write

RPDO’s & TPDO’s (Read/Write) producer/consumer producer 126 consumers 1 producer yes yes

S30 1-127 S20 +10, 20, 800 Slave

LED or display

consumer 1 2 Expedited, segment, block transfer Read/Write –

Free TPDO’s (Read/Write) TPDO’s (Read/Write)

producer

RPDO’s & TPDO’s (Read/Write) producer/consumer consumer consumer/producer

yes no

yes no

Nota : S00 and M00 are for products not 100% compliant to the conformance class.

66

Technical information

CANopen

(continued)

in machines and installations

1

Conformance classes

Conformance classes associations The table below shows the best possible products associations, depend on conformance classes. Conformance classes S10 M10 M20 M30 Possible association Restritive use

S20

S30

It is also possible to use a slave device with a lower level master (e.g. S20 with M10) or to use master device with a higher level slave (e.g. M10 with S20) when using only the features supported by the lowest conformance class.

67

Product references index

1 1.01.0087.10200 1.01.0062.11220 1.01.0047.33220 1.01.0026.00010 1.01.0125.00001 1.02.0133.00000 1.02.0166.00000 1.02.0145.00000 A AM0 2CA 001V000 APP 1CCO0 APP 1CCO2 APP 2CX ATV 31H018M2 ATV 31H018M3X ATV 31H037M2 ATV 31H037M3X ATV 31H037N4 ATV 31H055M2 ATV 31H055M3X ATV 31H055N4 ATV 31H075M2 ATV 31H075M3X ATV 31H075N4 ATV 31H075S6X ATV 31HD11M3X ATV 31HD11N4 ATV 31HD11S6X ATV 31HD15M3X ATV 31HD15N4 ATV 31HD15S6X ATV 31HU11M2 ATV 31HU11M3X ATV 31HU11N4 ATV 31HU15M2 ATV 31HU15M3X ATV 31HU15N4 ATV 31HU15S6X ATV 31HU22M2 ATV 31HU22M3X ATV 31HU22N4 ATV 31HU22S6X ATV 31HU30M3X ATV 31HU30N4 ATV 31HU40M3X ATV 31HU40N4 ATV 31HU40S6X ATV 31HU55M3X ATV 31HU55N4 ATV 31HU55S6X ATV 31HU75M3X ATV 31HU75N4 ATV 31HU75S6X ATV 71H037M3 ATV 71H075M3 ATV 71H075N4 ATV 71HC11N4 ATV 71HC13N4 ATV 71HC16N4 ATV 71HC20N4 ATV 71HC25N4 ATV 71HC28N4 ATV 71HC31N4 ATV 71HC40N4 ATV 71HC50N4 ATV 71HD11M3X ATV 71HD11N4 ATV 71HD15M3X ATV 71HD15N4 ATV 71HD18M3X ATV 71HD18N4 ATV 71HD22M3X ATV 71HD22N4 ATV 71HD30M3X

68

59 59 59 59 59 59 59 59

43 and 52 33 33 33 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 35 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37

ATV 71HD30N4 ATV 71HD37M3X ATV 71HD37N4 ATV 71HD45M3X ATV 71HD45N4 ATV 71HD55M3X ATV 71HD55N4 ATV 71HD75M3X ATV 71HD75N4 ATV 71HD90N4 ATV 71HU15M3 ATV 71HU15N4 ATV 71HU22M3 ATV 71HU22N4 ATV 71HU30M3 ATV 71HU30N4 ATV 71HU40M3 ATV 71HU40N4 ATV 71HU55M3 ATV 71HU55N4 ATV 71HU75M3 ATV 71HU75N4 F FTB 1CN08E08CM0 FTB 1CN08E08SP0 FTB 1CN12E04SP0 FTB 1CN16CM0 FTB 1CN16CP0 FTB 1CN16EM0 FTB 1CN16EP0 FTM 1AE04C12C FTM 1AE04C12T FTM 1AS04C12C FTM 1AS04C12T FTM 1CN10 FTM 1DD08C08 FTM 1DD08C08E FTM 1DD08C12 FTM 1DD08C12E FTM 1DD16C12 FTM 1DD16C12E FTM 1DE08C08 FTM 1DE08C08E FTM 1DE08C12 FTM 1DE08C12E FTM 1DE16C12 FTM 1DE16C12E FTX BLA10 FTX C78B FTX C78F5 FTX C78M5 FTX CA3103 FTX CA3106 FTX CA3110 FTX CA3120 FTX CA3130 FTX CA3150 FTX CA3203 FTX CA3206 FTX CA3210 FTX CA3220 FTX CA3230 FTX CA3250 FTX CB3203 FTX CB3206 FTX CB3210 FTX CB3220 FTX CB3230 FTX CB3250 FTX CBTL12 FTX CM08B FTX CM12B FTX CN 12F5 FTX CN 12M5 FTX CN 3130 FTX CN 3150

37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37 37

30 30 30 30 30 30 30 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 32 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 53 52 52 52 52

FTX CN 3203 FTX CN 3206 FTX CN 3210 FTX CN 3220 FTX CN 3230 FTX CN 3250 FTX CNCT1 FTX CNTL12 FTX CY1208 FTX CY1212 FTX DG12 FTX DP2115 FTX DP2130 FTX DP2150 FTX DP2206 FTX DP2210 FTX DP2220 FTX DP2250 FTX ES00 FTX MLA10

0

52 52 52 52 52 52 53 52 53 53 53 53 53 53 53 53 53 53 26, 30 and 32 53

L LXM 05AD10F1 LXM 05AD10M2 LXM 05AD10M3X LXM 05AD14N4 LXM 05AD17F1 LXM 05AD17M2 LXM 05AD17M3X LXM 05AD22N4 LXM 05AD28F1 LXM 05AD28M2 LXM 05AD34N4 LXM 05AD42M3X LXM 05AD57N4

41 41 41 41 41 41 41 41 41 41 41 41 41

M MHDA 1004A00 MHDA 1004N00 MHDA 1008A00 MHDA 1008N00 MHDA 1017A00 MHDA 1017N00 MHDA 1028A00 MHDA 1028N00 MHDA 1056A00 MHDA 1056N00 MHDA 1112A00 MHDA 1198A00

43 43 43 43 43 43 43 43 43 43 43 43

O OTB 1C0 DM9LP

26

S STB NCO 1010 STB NCO 2212 STB SPU 1000 STB SPU 1003 STB SPU 1011 STB SPU 1100 STB SUS 8800 STB XBE 1000 STB XBE 1200 STB XBE 2100 STB XCA 4002 SYC SPU LFF CD29M SYC SPU LFG CD29M SYC SPU LFT CD29M SYC SPU LFU CD29M SYC SPU LRU CD29M SYC SPU LUF CD29M SYC SPU LUG CD29M SYC SPU LUT CD29M

28 28 28 28 28 28 28 28 28 28 28 21 21 21 21 21 21 21 21

T TCS CTN011M11F TLA CD CBA 005 TLA CD CBA 015 TLA CD CBA 030 TLA CD CBA 050 TLC 432 2F2 1p24p TLC 432 5F2 1p24p TLC 434 2F3 1p24p TLC 434 5F3 1p24p TLC 436 2F3 1p24p TLC 438 2F3 1p24p TLC 532 2F2 p24p TLC 532 5F2 p24p TLC 534 2F3 p24p TLC 534 5F3 p24p TLC 536 2F3 p24p TLC 538 2F3 p24p TLC 632 2F2 p24p TLC 632 5F2 p24p TLC 634 2F3 p24p TLC 634 5F3 p24p TLC 637 2F3 p24p TLC 638 2F3 p24p TSX 372 10PAK 01 TSX 372 11PAK 02 TSX CAN CA100 TSX CAN CA300 TSX CAN CA50 TSX CAN CADD03 TSX CAN CADD1 TSX CAN CADD3 TSX CAN CADD5 TSX CAN CB100 TSX CAN CB300 TSX CAN CB50 TSX CAN CBDD03 TSX CAN CBDD1 TSX CAN CBDD3 TSX CAN CBDD5 TSX CAN CD100 TSX CAN CD300 TSX CAN CD50 TSX CAN KCDF 180T TSX CAN KCDF 90T TSX CAN KCDF 90TP TSX CAN TDM4 TSX CPP 110 TSX P57 CA 0244M TSX P57 CD 2044M TSX PCX 1031 TSX PCX 3030 TWD NC01M

52 52 52 52 52 45 45 45 45 45 45 45 45 45 45 45 45 45 45 45 45 45 45 23 23 52 52 52 52 52 52 52 52 52 52 52 52 52 52 52 52 52 52 52 52 52 21 22 22 25 25 20

V VW3 A8 104 VW3 A8 105 VW3 A8 106 VW3 A8 114 VW3 A8 115 VW3 CAN A71 VW3 CAN CARR03 VW3 CAN CARR1 VW3 CAN KCDF 180T VW3 CAN TAP2

39 39 39 39 39 52 52 52 52 52

X XBT Z968 XCC 3510PS84CB XCC 3515CS84CB XCC R358RDL06 XCC R358RDL08 XCC R358RDL10 XCC R358RDL12 XCC R358RDL14 XGS Z24 XPS MC16ZC

25 47 47 47 47 47 47 47 39 25

XPS MC32ZC XPS MCCPC XPS MCTC16 XPS MCTC32 XPS MCTS16 XPS MCTS32 XPS MCWIN XZ CC12FCM50B XZ CC12FDM50B XZ CC12MCM50B XZ CC12MDM50B

25 25 25 25 25 25 25 47 47 47 47

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