IL CAN BK-TC-XC-PAC
Inline CANopen® bus coupler
Extreme conditions version
Data sheet
106153_en_01
1
© PHOENIX CONTACT 2014-08-04
Description
The Inline CANopen® bus coupler allows communication
between the I/O modules of the Inline product range and the
CANopen® network. Diagnostic indicators are provided
local Inline I/O communication as well as CANopen® communication.
Thanks to special engineering measures and tests, the terminal can be used under extreme ambient conditions.
Inline features
–
–
–
–
–
–
–
–
Connects up to 63 I/O modules
Programmable fault response modes
Stored I/O configuration
Digital inputs with latch function
Auto configuration
Up to 510 digital input and output points
Up to 254 analog input and output points
Up to 63 intelligent special function modules
CANopen® features
–
–
–
–
–
–
–
–
–
Direct PCP peer-to-peer communication
Alarm message
Error states and error values
Baud rates that can be set: 10 kbaud, 20 kbaud,
50 kbaud, 125 kbaud, 250 kbaud, 500 kbaud,
1 Mbaud
32 process data transmit objects and
32 process data receive objects
Trigger modes: event timer, remote request
Device guarding and heartbeat
Analog interrupt triggers:
- Set upper limit, lower limit
- Unsigned delta
Supports two configuration modules simultaneously
Other features
–
–
–
Can be used under extreme ambient conditions
Coated PCBs
Extended temperature range T2 (-40°C … +55°C)
This data sheet is only valid in association with the IL SYS INST UM E user manual.
Make sure you always use the latest documentation.
It can be downloaded at phoenixcontact.net/products.
IL CAN BK-TC-XC-PAC
2
Table of contents
1
Description.................................................................................................................................. 1
2
Table of contents ........................................................................................................................ 2
3
Ordering data.............................................................................................................................. 2
4
Technical data ............................................................................................................................ 3
6
Design of the bus coupler ........................................................................................................... 6
7
Terminal point assignment.......................................................................................................... 6
8
Networking information ............................................................................................................... 8
10 Configuring the bus coupler using the DIP switches................................................................................. 10
11 Diagnostics ................................................................................................................................11
12 Diagnostic and status indicators ................................................................................................12
3
Ordering data
Product
Description
Type
Order No.
Pcs. / Pkt.
IL CAN BK-TC-XC-PAC
2702130
1
Description
Type
Order No.
Pcs. / Pkt.
End brackets
CLIPFIX 35
3022218
50
Insert strip
ESL 62X10
0809492
1
®
CANopen bus coupler, 24 V DC, bus interface 2 x 5-pos. TWIN-COMBICON
connector, complete with accessories
(connector, labeling field, end brackets)
Accessories
Labeling field
IB IL FIELD 2
2727501
10
Inline connector (as a replacement item)
IB IL SCN-8-CP
2727608
10
Documentation
Description
Type
Order No.
Pcs. / Pkt.
User manual, English, Automation terminals of the Inline product range
®
User manual, English, Inline bus coupler for CANopen
IL CAN BK-TC-PAC
®
Quick start guide, English, Configuring a CANopen system using SyCon
IL SYS INST UM E
–
–
UM EN IL CAN BK-TC-PAC
–
–
UM QS EN IL CAN BK-TC-PAC
–
–
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IL CAN BK-TC-XC-PAC
4
Technical data
Dimensions (nominal sizes in mm)
71,5
119,8
Housing dimensions (width x height x depth)
85 mm x 119.8 mm x 71.5 mm
General data
Color
Green
Weight
326 g, approximately (with connectors)
Permissible temperature (operation)
-40°C ... 55°C (see also the “Tested successfully: Use under extreme ambient
conditions” section.).
Permissible temperature (storage/transport)
-40°C to +85°C
Permissible humidity (operation/storage/transport)
10% to 95%, according to DIN EN 61131-2
Temperature class
T2 (-40°C ... 55°C, EN 50155)
Permissible air pressure (operation/storage/transport)
70 kPa to 106 kPa (up to 3000 m above sea level)
Degree of protection
IP20
Protection class
III, IEC 61140, EN 61140, VDE 0140-1
Connection data
Designation
Inline connector plug
Connection method
Spring-cage connection
Conductor cross section, solid/stranded
0.08 mm2 ... 1.5 mm2
Conductor cross section [AWG]
28 ... 16
CANopen® system data
Number of PDOs
6Tx/4Rx
Number of SDOs
1Tx/1Rx
Maximum number of digital input and output points
510
Maximum number of analog input and output points
254
Communication profile
DS-301 V3.0
Device profile
DS-401 V1.4
System limits of the bus coupler
Number of devices per station
63, maximum
Settable baud rates
10 kbaud, 20 kbaud, 50 kbaud, 125 kbaud, 250 kbaud, 500 kbaud, 1 Mbaud
Transmission speed on the local bus
500 kbps
Maximum power supply at UL
2A
Maximum power supply at UANA
0.5 A
Maximum power supply at US
8A
106153_en_01
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IL CAN BK-TC-XC-PAC
System limits of the bus coupler
Maximum power supply at UM
8A
Maximum current consumption of the I/O modules
See terminal-specific data sheet
When configuring an Inline station, observe the current consumption of each device. The logic current consumption is indicated in each terminal-specific data sheet. The current consumption can differ depending on the individual terminal. If the maximum current carrying capacity
of a potential jumper is reached, use an additional power terminal.
CANopen® interface
CAN bus, connected via 2 x 5-pos. TWIN-COMBICON connector; supply electrically isolated; shielding directly connected to functional earth ground
Common data for 24 V supplies UBK, US, UM
Connection
Via Inline connector
Connection technology
Spring-cage terminal blocks
Recommended cable lengths
30 m, maximum; do not route cable through outdoor areas
Continuation
Through potential routing
Special demands on the power supply
The UM/US supplies are electrically isolated from the UBK bus coupler supply,
if they are supplied separately. This is only ensured if two separate power supply units are used.
Nominal value
24 V DC
Permissible range
19.2 V DC to 30 V DC (including all tolerances, ripple included)
Protective measures
Surge voltage
Yes, suppressor diode
Polarity reversal
Yes, suppressor diode antiparallel to supply voltage
NOTE: Module damage when overloaded
Provide external fuses for each 24 V area. The power supply unit must be able to supply four times (400%) the nominal current of the external
fuse, to ensure that the fuse blows safely in the event of an error.
The bus coupler supply UBK generates the communications power UL (7.5 V) and the analog supply UANA (24 V).
Notes on voltages UL and UANA
Communications power UL (7.5 V)
UL is not electrically isolated from the 24 V bus coupler voltage UBK.
UL is not electrically isolated from I/O voltages UM and US.
Communications power UL is electronically short-circuit protected.
Analog supply UANA (24 V)
Decoupling of the 24 V input voltage by means of a diode.
Smoothing via base frequency of 9.8 kHz and attenuation of 40 dB/decade.
UANA is not electrically isolated from the 24 V bus coupler supply and the 7.5
V communications power.
Current consumption/power consumption
Current consumption from UBK (24 V)
Without connected I/O terminals
< 100 mA
With the maximum number of connected I/O terminals
1.25 A, maximum
Power supply at US (24 V) (total current with UM)
8 A, maximum
Power supply at UM (24 V) (total current with US)
8 A, maximum
Power dissipation of entire device
2.7 W, typical
Mechanical requirements
Vibration test; sinusoidal vibrations according to
IEC 60068-2-6; EN 60068-2-6
5g load, 2 hours in each space direction
Shock test according to
IEC 60068-2-27; EN 60068-2-27
30g load for 11 ms, half sinusoidal wave,
three shocks in each space direction and orientation
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IL CAN BK-TC-XC-PAC
Conformance with EMC directive 2004/108/EC
Noise immunity test according to EN 61000-6-2
Electrostatic discharge (ESD)
EN 61000-4-2 /
IEC 61000-4-2
Criterion B
6 kV contact discharge, 8 kV air discharge
Electromagnetic fields
EN 61000-4-3 /
IEC 61000-4-3
Criterion A
Field strength: 10 V/m
Fast transients (burst)
EN 61000-4-4 /
IEC 61000-4-4
Criterion A
All interfaces: 1 kV
Criterion B
All interfaces: 2 kV
Surge voltage
EN 61000-4-5 /
IEC 61000-4-5
Criterion B
DC supply lines:
0.5 kV/1 kV (symmetrical/asymmetrical)
Fieldbus cable shield: 1 kV
Conducted interference
EN 61000-4-6 /
IEC 61000-4-6
Criterion A
Test voltage: 10 V
EN 55011
Class A
Noise emission test according to EN 61000-6-4
Noise emission of housing
Approvals
For the latest approvals, please visit phoenixcontact.net/products.
106153_en_01
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5
IL CAN BK-TC-XC-PAC
5
Tested successfully: Use under extreme ambient conditions
6
Design of the bus coupler
The terminal has been tested successfully over
250 temperature change cycles according to IEC 61131-2
in the range from -40°C to +70°C.
The following conditions were observed:
– The Inline devices for all connecting cables were connected with a minimum conductor cross section of
0.5 mm²
– The Inline station was installed on a wall-mounted horizontal DIN rail
– Fans were used to ensure continuous movement of air
in the control cabinet
– The Inline station was not exposed to vibration or shock
– The Inline station was operated with a maximum of
24.5 V (ensured by using electronically regulated power supply units)
X
2 3 4 5 6 7 8 9 10
2
ADDRESS
1
2
4
8 16 32 64
ON
0
0
0
0
0
0
0
OFF
SW1 SW2 SW3 SW4 SW5 SW6 SW7
BAUD SW8 SW9 SW10 BAUD SW8 SW9 SW10
50K OFF ON ON
1M ON ON ON
20K OFF ON OFF
500K ON ON OFF
10K OFF OFF ON
250K ON OFF ON
125K ON OFF OFF
O1
N
1
UM
N
CA
Tmax + 2 K
(3 + 0,6) K/min
Tmin + 3 K
3 h + 30 min
t1
1
Figure 1
XX
4
Figure 2
1
2
3
4
5
6
7
6
5
XX
3 h + 30 min
t1
BK
2.
1. 1
1
RE
CA
D
NH
WH
CA
ITE
NS
HL
DB
AR
CA
E
NL
BL
CA
UE
NG
ND
BL
AC
K
3
7
US UN
R
NT D
M
106153A004
Inline CANopen® bus coupler
Electronics base
DIP switches for setting the address and baud rate
TWIN-COMBICON connector
Power connector
Labeling field
Diagnostic and status indicators
End plate
Temperature change cycle
7
Terminal point assignment
Temperature in the control cabinet/ambient
temperature
Cycle
1.1
A 1.2
B
2.1
2.2
2.3
2.4
2.5
1.3
1.4
1.5
1
US
DN-BKMD
X
UM
US
NT
O1
N
2 3 4 5 6 7 8 9 10
WARNING:
DN
RU
N
X8
MD
-BK
1
The terminal is not approved for use in potentially
explosive areas.
V+
RE
CA
D
NH
WH
ITE
Dra
in
BA
RE
CA
NL
BLU
E
VBLA
CK
The terminal is not approved for use in safety
technology.
UM
RUN
NT
XX
2
1.1
2.1
1.2
2.2
1.3
2.3
XX
2.4
1.4
XX XX
7896A009
Figure 3
106153_en_01
Terminal point assignment
A: 5-pos. network connector,
B: Power connector
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IL CAN BK-TC-XC-PAC
7.1
Network connector
Terminal
point
1.1, 2.1
Marking
V+
1.2, 2.2
1.3, 2.3
1.4, 2.4
1.5, 2.5
CAN H
Drain
CAN L
V-
7.2
Assignment
No connection
WHITE CAN H
BARE
CAN shield
BLUE
CAN L
BLACK CAN ground
Color in the
network
cable
RED
White
Bare
Blue
Black
TermiAssignment
nal point
1.1
Segment circuit US (+24 V DC)
1.2
Bus coupler supply UBK
(+24 V DC)
2.1, 2.2
Main circuit UM (+24 V DC)
1.3
GND UBK
2.3
GND UM, US
1.4, 2.4
FE (functional earth ground)
7.3
Connection example
O
N
1 2 3 4 5 6 7 8 9 10
When the bus coupler is used in environments
with heavy noise, Phoenix Contact recommends
the following: Install a grounding terminal block to
the left of the bus coupler and connect the network cable shield to this terminal. In this case, terminal point 1.3 of the network connector is not
used.
Power connector
CAN H
Drain
CAN L
V-
US
DN-BKMD
V+
CAN H
Drain
CAN L
V-
FE
Figure 4
UM
RUN
NT
- +
- +
UBK
UM
- +
US
7896A010
Typical bus coupler wiring
Terminal points 2.1 and 2.2 (UM) are connected
internally.
Terminal points 1.4 and 2.4 (FE) are connected
internally.
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IL CAN BK-TC-XC-PAC
7.4
Power supply of the bus coupler
NOTE: Module damage when overloaded
The maximum total current flowing through potential jumpers US, UM and GND is 8 A.
7.7
The 24 V bus coupler supply generates the internal communications power UL (supply of the connected Inline I/O modules with communications power) and the analog supply
UANA. The use of a separate supply is recommended. The
UBK supply is protected against polarity reversal and surge
voltage. This protects the power supply unit.
NOTE: Malfunctions
NOTE: Module damage in the event of shortcircuit
Connect the bus coupler via one of the FE terminal points (1.4 or 2.4) on the power connector
(see Figure 3). To do this, connect the FE terminal contact to a grounding terminal block via a
0.2 mm2 to 1.5 mm2 wire.
7.5
The main supply and the segment supply are protected
against polarity reversal and surge voltage.
NOTE: Module damage in the event of shortcircuit
The main supply and segment supply do not have
short-circuit protection.
The user must provide short-circuit protection.
The rating of the fuse must be such that the maximum permissible load current is not exceeded.
7.6
The bus coupler supply does not have short-circuit protection.
The user must provide short-circuit protection.
The rating of the fuse must be such that the maximum permissible load current is not exceeded.
24 V segment supply (US) and 24 V main supply
(UM)
Both the segment supply and the main supply have the
same reference potential. Therefore, an electrically isolated
voltage area on the I/O side cannot be created without adding a power terminal.
24 V segment supply (US)
The segment voltage can be supplied at the bus coupler or
a power terminal. There are several ways of providing the
segment voltage at the bus coupler:
1. You can provide the segment voltage separately at terminal points 1.1 and 2.3 (GND) of the power connector.
2. Connections 1.1 and 2.1 or 2.2 can be jumpered to ensure the supply for the segment circuit from the main circuit.
3. A switch can be inserted between terminal points 1.1
and 2.1 or 2.2 to create a switched segment circuit (e.g.,
an emergency stop circuit).
106153_en_01
24 V bus coupler supply (UBK)
8
Networking information
CANopen® has a linear bus topology (see Figure 5). A termination resistor is required at each end of the trunk line.
Branch lines are permitted but should be as short as possible (0.3 m at 1 Mbaud).
The total length of trunk and branch lines depends on the
data rate and the type of cable. The guide values listed in the
tables in Section 8.2 “Branch line” can be used to determine
the type of trunk line, the length, the termination resistors
and number of devices. For detailed information on the
cable length of trunk and branch lines, please refer to
CANopen® specification DR303-1.
8.1
Trunk line
If there are no branch lines in the network, the trunk line is
used to connect the devices. If branch lines are present, Tconnectors will be linked via the trunk line (see Figure 5).
The maximum number of devices within the CANopen® network is limited to 127. The maximum length of the trunk line
ranges from 40 m to 1 km, depending on the baud rate. The
total length of the cables can be extended by using repeaters.
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IL CAN BK-TC-XC-PAC
8.2
Branch line
The branch line is used to connect devices to the trunk line.
They are connected using a T-connector. However, please
observe the recommended length of the branch lines, especially at higher baud rates. At 1 Mbit, the maximum length of
a branch line is 0.3 m.
T-Connection
Termination
resistor 124 Ohm
Termination
resistor 124 Ohm
Bus line
(Trunk line)
Bus connection
Stub line
Stub line
Stub line
106153A005
CANopen® example topology
Figure 5
Cable length/type vs. baud rate
Bus cable length
(meters)
0 to 40
40 to 300
300 to 600
600 to 1000
m
per meter
70
50 at 1km
Note: Recommended bus cable parameters for
alternating current: 120 impedance with 5 ns/m
line delay.
Cable length/type vs. number of nodes
Cable crosssection (mm2)
0.25
0.50
0.75
8.3
Maximum length in meters
(0.2 safety margin)
32 nodes
64 nodes
100 nodes
200
360
550
170
310
470
150
270
410
Maximum length in meters
(0.1 safety margin)
32 nodes
64 nodes
100 nodes
230
420
640
200
360
550
170
320
480
Termination resistors
CANopen® requires a termination resistor to be installed at
each end of the trunk line. A typical termination resistor at
the end of a CANopen® trunk line has a resistance of 124
and a power dissipation of 0.25 W. For the precise values
and additional information about termination resistors,
please refer to CANopen® specification DR303-1.
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IL CAN BK-TC-XC-PAC
9
DIP switch settings for address and
baud rate
Each bus coupler has ten DIP switches. The DIP switches
are located on the left side of the CANopen® bus coupler
(see Figure 6). DIP switches 1 to 7 are used to set the device
address, DIP switches 8 to 10 are used to set the baud rate.
2 3 4 5 6 7 8 9 10
XX
O1
N
2 3 4 5 6 7 8 9 10
O1
N
DIP switches shown set to
address 2 with a baud rate
of 500K
X8
XX XX
Address DIP switches
SW1 SW2 SW3 SW4 SW5 SW6 SW7
1
0
2
0
4
0
8
0
16
0
32
0
64
0
ON
OFF
Baud rate switches
SW8
ON
ON
ON
ON
OFF
OFF
OFF
SW9
ON
ON
OFF
OFF
ON
ON
OFF
SW10
ON
OFF
ON
OFF
ON
OFF
ON
Figure 6
9.1
Baud
1M
500 K
250 K
125 K
50 K
20 K
10 K
XX XX
106153A018
Meaning of the DIP switches
Setting the device address
The device address is set using DIP switches 1 to 7. DIP
switch 1 is the least significant digit of the device address
and DIP switch 7 the most significant digit. Valid device address settings range from 1 to 127. Note that the UBK supply
will need to be restarted in order to implement any changes
to the device address. Device address 0 is reserved and is
used to auto-configure the I/O connected to the module. The
module will not be switched on with the address set to 0.
9.2
Setting the baud rate using DIP switches 8, 9,
and 10
The baud rate is set using DIP switches 8 to 10. Figure 6
shows DIP switch settings for various baud rates.
Note that the UBK supply will need to be restarted
in order to implement any changes to the baud
rate.
106153_en_01
10
Configuring the bus coupler using
the DIP switches
Auto-configuration using the DIP switches allows for “in-thefield” configuration of the bus coupler without any software.
The following default settings are used:
1. Receive Process Data Object (RPDO) 1 contains the
digital outputs from 1 to 64. If there are less digital outputs connected, the RPDO will contain the outputs from
1 to the number of connected digital outputs.
2. Transmit Process Data Object (TPDO) 1 contains the
digital inputs from 1 to 64. If there are less digital inputs
connected, the TPDO will contain the inputs from 1 to
the number of connected digital inputs.
3. RPDO 2 contains the analog outputs from 1 to 4, if they
are present.
4. TPDO 2 contains the analog inputs from 1 to 4, if they
are present.
5. RPDO 3 contains the analog outputs from 5 to 8, if they
are present.
6. TPDO 3 contains the analog inputs from 5 to 8, if they
are present.
7. RPDO 4 contains the analog outputs from 9 to 12, if they
are present.
8. TPDO 4 contains the analog inputs from 9 to 12, if they
are present.
All other I/O modules will not be mapped during
configuration. This also includes the special function modules. All unmapped I/O modules must be
manually mapped to PDO 5 to PDO 32.
Inline function modules include the following module types:
– IB IL SSI — Absolute encoder
– IB IL INC — Incremental encoder
– IB IL CNT — High-speed counter
– ASI MA IB IL — Inline-to-AS-i controller
– IB IL RS 232 — RS-232 module
– IB IL RS 485/422 — RS-485/422 module
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IL CAN BK-TC-XC-PAC
10.1
Configuration procedure
For auto-configuration, proceed as follows:
1. Set DIP switches 1 to 7 of the device address to 0.
2. Switch on the bus coupler (UBK, US, and UM supplies)
with all required I/O modules. If the RUN LED on the bus
coupler is permanently on (green), the I/O configuration
is stored in the station flash memory.
–
–
–
The module will not be switched on with the address set to 0.
3.
4.
5.
Switch off the bus coupler.
Set the desired switch settings for both the device address and the baud rate.
Switch on the bus coupler.
11
Diagnostics
11.1
Diagnostics indicators (LEDs)
See 12 “Diagnostic and status indicators”
11.2
Alarm message and diagnostic object indices
For further details on the following explanation,
please refer to the UM EN IL CAN BK-TC-PAC
user manual.
–
Inline Station Status object index (3101hex)
This object index indicates the current status of the
Inline station, (error code, see Figure 8).
Inline Faulted Module Number object index (3102hex)
This object index indicates the current number of the
faulty Inline module.
Inline Latched Fault object index (310Chex)
Latches and indicates the last Inline station status (low
byte). This object index has the same bit meaning as
the Inline Station Status object index (3101hex) except
that the bits are latched.
Inline Latched Faulted Module object index (310Dhex)
Latches and indicates the number of the last faulty
Inline module. This object index has the same bit meaning as the Inline Faulted Module object index (3103hex)
except that the module number is latched.
In the operational state, a fault within the Inline
station will always generate an alarm message.
By default, due to the settings of the fault bits, preprogrammed fault data (zero by default) will be
sent to the local outputs. It is possible that diagnostic information may be overwritten due to intermittent error conditions. In such cases, it is
recommended to access the Predefined Error
Field object index (1003hex). Each subindex in
this object index (1003hex) represents a stored
fault sequence.
Diagnostic information is made available by means of several methods. The alarm message and the Service Data Objects (SDOs) enable reading of the status of the Inline station.
– Alarm message
In the CANopen® bus coupler, an alarm message is
generated when a fault occurs. This alarm message
contains the Inline status and the number of the faulty
module along with other useful information.
–
–
–
Error Register object index (1001hex)
This object index can be used to receive the manufacturer-specific bit 7 using a Service Data Object (SDO).
Bit 7 indicates an error in the Inline station. Using this bit
or an alarm message allows the user to retrieve further
diagnostic information.
Manufacturer Status Register object index(1002 hex)
Manufacturer-specific status of the Inline station and
the number of the faulty Inline module are available.
Predefined Error Field object index (1003hex)
This object index reads up to the last ten errors (subindex). Subindex 0 indicates the total number of available
errors in the “stack”.
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IL CAN BK-TC-XC-PAC
12
Diagnostic and status indicators
UM
US
RUN
CAN
MD
XX
O1
N
2 3 4 5 6 7 8 9 10
UM
US
RUN
CAN
MD
X8
XX XX
XX XX
106153A030
Figure 7
LED
CAN
MD
RUN
US
UM
Diagnostic and status indicators
Meaning
Red/green
CANopen® status
“Operational” state: The device is ready to operate.
“Pre-operational” state: No PDO transmission possible.
ON (green):
2 Hz (medium) flashing
(green):
0.5 Hz (slow) flashing (green):
ON (red):
One flash (red):
Two flashes (red):
Three flashes (red):
OFF:
Green/red LED
ON (green)
ON (green/red)
ON (red)
Flashing (red)
OFF
LED (multi-color)
“Stopped” state: Failsafe state; no PDO transmission possible.
CAN controller is not connected to the bus.
At least one error counter has reached the warning level.
A guard event or heartbeat event has been triggered.
Sync timeout error.
Supply voltage UBK is missing or module in reset state.
Module status
Device is ready to operate.
Self test/read local bus.
Serious error, replace device.
Minor error (e.g., DO short circuit).
Supply voltage UBK is missing or module in reset state.
Backplane communication status
ON (green)
Local bus is running data cycles.
Flashing (green)
I/O error (1 Hz)
ON (red)
Local bus stopped
ON (red/yellow-orange)
Configuration mismatch
ON (green/yellow-orange)
Preprogrammed error values are being written to the outputs.
OFF
Supply UBK not present
LED (green)
Segment supply
ON/OFF
Segment supply present/not present
LED (green)
Main supply
ON/OFF
Main supply present/not present
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12
IL CAN BK-TC-XC-PAC
13
Inline fault control
Objects 1029hex and 3002hex to 300Ahex enable output behavior control in the event of various faults.
– Object 1029hex controls what mode the module will be
put in during a communication fault.
– Objects 3003hex to 300Ahex determine the CANopen®
state depending on specific fault types.
– Object 3002hex is used to determine how the bus coupler will control the outputs when specific faults occur.
There are four modes available for controlling the outputs. Each mode is defined in the following.
13.1
Inline fault mode 0: Stop running data cycles on
fault
The outputs are turned OFF automatically if a local fault occurs.
13.2
Inline fault mode 1: Auto restart
(default)
The outputs are turned OFF automatically if a local fault occurs. They remain in a waiting state until the fault has been
corrected. Once the fault has been removed the outputs can
be controlled.
Bit 7
Reserved
Figure 8
13.3
Bit 6
Bit 5
Bit 4
Faulted
Inlineconnecti
Local bus
cycles mode
on fault
inactive fault
Inline fault mode 2: Go to fault state
Inline fault mode 3: Continue on fault
The outputs are turned OFF automatically for up to two seconds if a local fault occurs. After two seconds, the station will
perform an update for all remaining active I/O modules.
106153_en_01
Bit 2
Power fault
Bit 1
Peripheral
fault
Bit 0
CRC fault
Inline station status, object index 3101hex, bit meanings
The outputs are turned OFF automatically for up to two seconds if a local fault occurs. After two seconds, the station will
always set the outputs to the preprogrammed CANopen®
fault states.
13.4
Bit 3
Module
change fault
13.5
Fault states
The bus coupler supports the standard CANopen® digital
and analog outputs, fault modes and values.
– Digital output support:
Hold last state,
turn off during a fault condition (default),
turn on during a fault condition
– Analog output support:
Hold last value,
set to value determined by the error value object
PHOENIX CONTACT
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IL CAN BK-TC-XC-PAC
14
Supported object indices
For a detailed description of the objects listed in the following sections, please refer to the UM EN IL CAN BK-TC-PAC
user manual. Some of the abbreviations used are:
RO
const
M
O
C
RW
RWW
14.1
Read only
Constant
Mandatory
Optional
Conditional
Read/write
Read/write and can be mapped into a receive
process data object
Object dictionary entries for communication
Standard objects
Index (hex)
1000
1001
1002
1003
1005
Object
VAR
VAR
VAR
VAR
VAR
Name
Device type
Error register
Manufacturer status register
Predefined error field
COB-ID SYNC
Data type
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
Access
RO
RO
RO
RO
RW
M/O
M
M
O
O
O
1008
1009
100A
100C
100D
VAR
VAR
VAR
VAR
VAR
Manufacturer device name
Manufacturer hardware version
Manufacturer software version
Guard time
Life time factor
Vis-String
Vis-String
Vis-String
UNSIGNED16
UNSIGNED8
const
const
const
RW
RW
O
O
O
O
O
1010
1011
1012
1014
1015
ARRAY
ARRAY
VAR
VAR
VAR
Store parameters
Restore default parameters
COB-ID TIME
COB-ID EMCY
Inhibit time EMCY
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED16
RW
RW
RW
RW
RW
O
O
O
O
O
1016
1017
1018
1020
1027
ARRAY
VAR
RECORD
ARRAY
ARRAY
Consumer heartbeat time
Producer heartbeat time
Identity ObjecT
Verify Configuration
Module List
UNSIGNED32
UNSIGNED16
Identity (23h)
UNSIGNED32
UNSIGNED16
RW
RW
RO
RW
RO
O
O
M
O
O
1029
ARRAY
Error Behavior
UNSIGNED8
RW
O
106153_en_01
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14
IL CAN BK-TC-XC-PAC
Server SDO parameters
Index (hex) Object
1200
RECORD
1201
RECORD
Name
1st Server SDO parameter
2nd Server SDO parameter
Data type
SDO Par. (22hex)
SDO Par. (22hex)
Access
RO
RW
M/O
O
O
Data type
PDO CommPar (20hex)
PDO CommPar (20hex)
...
PDO CommPar (20hex)
Access
RW
RW
...
RW
M/O
M/O
M/O
...
M/O
Data type
PDO Mapping (21hex)
PDO Mapping (21hex)
...
PDO Mapping (21hex)
Access
RW
RW
...
RW
M/O
M/O
M/O
...
M/O
Data type
PDO CommPar (20hex)
PDO CommPar (20hex)
...
PDO CommPar (20hex)
Access
RW
RW
...
RW
M/O
M/O
M/O
...
M/O
Data type
PDO Mapping (21hex)
PDO Mapping (21hex)
...
PDO Mapping (21hex)
Access
RW
RW
...
RW
M/O
M/O
M/O
...
M/O
Client SDO parameters
Not Supported
Receive PDO communication parameters
Index (hex)
1400
1401
...
141F
Object
RECORD
RECORD
...
RECORD
Name
1st receive PDO Par.
2nd receive PDO Par.
...
32nd receive PDO Par.
Receive PDO mapping parameters
Index (hex)
1600
1601
...
161F
Object
RECORD
RECORD
...
RECORD
Name
1st receive PDO
2nd receive PDO
...
32nd receive PDO
Transmit PDO communication parameters
Index (hex)
1800
1801
...
181F
Object
RECORD
RECORD
...
RECORD
Name
1st transmit PDO Par.
2nd transmit PDO Par.
...
32nd transmit PDO Par.
Transmit PDO mapping parameters
Index (hex)
1A00
1A01
...
1A1F
106153_en_01
Object
RECORD
RECORD
...
RECORD
Name
1st transmit PDO
2nd transmit PDO
...
32nd transmit PDO
PHOENIX CONTACT
15
IL CAN BK-TC-XC-PAC
14.2
Manufacturer-specific I/O objects
Index (hex)
2000
2001
2400
2410
14.3
Object
ARRAY
ARRAY
ARRAY
ARRAY
Name
DIP Latch Enable 8-Bit
DIP Latch State 8-Bit
AIP Range
AOP Response Data
Data type
UNSIGNED8
UNSIGNED8
UNSIGNED16
UNSIGNED16
Access
RW
RW
RW
RW
Inline configuration objects
Index (hex)
3000
3002
3003
3004
3005
Object
VAR
VAR
VAR
VAR
VAR
Name
Reconfigure I/O
Fault Mode
CRC Fault Mode
PF Fault Mode
Power Fault Mode
Data type
BOOLEAN
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
Access
RW
RW
RW
RW
RW
3006
3007
3008
3009
300A
VAR
VAR
VAR
VAR
VAR
Module Change Fault Mode
Local Bus Inactive Fault Mode
Connection Fault Mode
Faulted Cycles Fault Mode
Processor Power Fault Mode
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
RW
RW
RW
RW
RW
300F
VAR
Erase Configuration
BOOLEAN
RW
14.4
Inline interface objects
Index (hex)
3100
3101
3102
3103
3104
Object
VAR
VAR
VAR
VAR
VAR
Name
Baud Rate
Station Status
Faulted Module
Retry Max
Number Modules
Data type
UNSIGNED8
UNSIGNED16
UNSIGNED8
UNSIGNED8
UNSIGNED8
Access
RO
RO
RO
RW
RO
3105
3106
3109
310A
310B
VAR
VAR
VAR
VAR
VAR
Count of Bits
Count of Bytes
Loop Diagnostic Count
Faulted Module (Before Break)
Faulted Module (After Break)
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED8
UNSIGNED8
RO
RO
RO
RO
RO
310C
310D
310E
310F
3110
VAR
VAR
VAR
VAR
VAR
Latched Fault
Latched Faulted Module
Latched Faulted Module (Before Break)
Latched Faulted Module (After Break)
Inline Power Status
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
RO
RW
RO
RO
RO
3111
VAR
Inline Control Byte
UNSIGNED8
RW
106153_en_01
PHOENIX CONTACT
16
IL CAN BK-TC-XC-PAC
14.5
Inline module objects
Index (hex)
3200
3201
3202
3203
3204
Object
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
Name
Stored Module ID
Current Module ID
IN Data COP Index
IN Data COP First Subindex
IN Data COP Last Subindex
Data type
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED8
UNSIGNED8
Access
RO
RO
RO
RO
RO
3205
3206
3207
ARRAY
ARRAY
ARRAY
OUT Data COP Index
OUT Data COP First Subindex
OUT Data COP Last Subindex
UNSIGNED16
UNSIGNED8
UNSIGNED8
RO
RO
RO
14.6
Inline special function module objects
Index (hex)
3300
3301
3302
3303
3304
Object
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
Name
Special Func. Data Size
Special Func. Status
Special Func. Data In (1 Byte)
Special Func. Data Out (1 Byte)
Special Func. Data In (2 Bytes)
Data type
UNSIGNED8
BOOLEAN
UNSIGNED8
UNSIGNED8
UNSIGNED16
Access
RO
RO
RO
RWW
RO
3305
3306
3307
3308
3309
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
Special Func. Data Out (2 Bytes)
Special Func. Data In (3 Bytes)
Special Func. Data Out (3 Bytes)
Special Func. Data In (4 Bytes)
Special Func. Data Out (4 Bytes)
UNSIGNED16
UNSIGNED24
UNSIGNED24
UNSIGNED32
UNSIGNED32
RWW
RO
RWW
RO
RWW
330A
330B
330C
330D
330E
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
Special Func. Data In (6 Bytes)
Special Func. Data Out (6 Bytes)
Special Func. Data In (8 Bytes)
Special Func. Data Out (8 Bytes)
Special Func. Data In (>8 Bytes)
UNSIGNED48
UNSIGNED48
UNSIGNED64
UNSIGNED64
UNSIGNED8
RO
RWW
RO
RWW
RO
330F
ARRAY
Special Func. Data Out (>8 Bytes)
UNSIGNED8
RWW
106153_en_01
PHOENIX CONTACT
17
IL CAN BK-TC-XC-PAC
14.7
Digital input objects
Index (hex) Object
code
6000
ARRAY
6005
VAR
6006
ARRAY
6100
ARRAY
6106
ARRAY
Name
Data type
Category
Read Input 8-Bit
Global Int. Enable Dig.
Int. Mask Any Change 8-Bit
Read Input 16-bit
Int. Mask Any Change 16-Bit
UNSIGNED8
BOOLEAN
UNSIGNED8
UNSIGNED16
UNSIGNED16
C: DI
O
O
O
O
6120
6126
Read Input 32-bit
Int. Mask Any Change 32-Bit
UNSIGNED32
UNSIGNED32
O
O
14.8
ARRAY
ARRAY
Digital output objects
Index (hex)
6200
6206
6207
6300
6306
Object
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
Name
Write Output 8-Bit
Error Mode Output 8-Bit
Error State Output 8-Bit
Write Output 16-Bit
Error Mode Output 8-Bit
Data type
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED16
UNSIGNED16
6307
6320
6326
6227
ARRAY
ARRAY
ARRAY
ARRAY
Error State Output 8-Bit
Write Output 32-Bit
Error Mode Output 32-Bit
Error State Output 32-Bit
UNSIGNED16
UNSIGNED32
UNSIGNED32
UNSIGNED32
Category
C: DO
O
O
O
O
O
O
O
O
O
Data type
INTEGER8
INTEGER16
Category
O
C: AI
14.9
Analog input objects
Index (hex) Object
6400
ARRAY
6401
ARRAY
Name
Read Analog Input 8-Bit
Read Analog Input 16-Bit
14.10 Analog output objects
Index
(hex)
Object
Name
Data type
Category
6410
6411
ARRAY
ARRAY
Write Analog Output 8-Bit
Write Analog Output 16-Bit
INTEGER8
INTEGER16
O
C: AO
106153_en_01
PHOENIX CONTACT
18
IL CAN BK-TC-XC-PAC
14.11 Analog input configuration objects
Index (hex)
6421
6423
6424
6425
6426
Object
ARRAY
VAR
ARRAY
ARRAY
ARRAY
Name
AI Int. Trigger Selection
AI Global Int. Enable
AI Int. Upper Limit Integer
AI Int. Lower Limit Integer
AI Int. Delta Unsigned
Data type
UNSIGNED8
Boolean
INTEGER32
INTEGER32
UNSIGNED32
Category
O
C: AI
O
O
O
Data type
UNSIGNED8
INTEGER32
Category
O
O
14.12 Analog output configuration objects
Index (hex) Object
6443
ARRAY
6444
ARRAY
Name
Analog Output Error Mode
Analog Output Error Value
14.13 PCP interface objects
Index (hex)
3400
3401
3402
3403
3404
Object
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
Name
PCP PDU Size
PCP PCP Size
PCP Status
PCP Request
PCP Response
Data type
UNSIGNED8
UNSIGNED8
UNSIGNED8
DOMAIN
DOMAIN
Category
RO
RO
RO
RW
RO
3405
3406
3407
3408
3409
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
PCP Module
PCP Write Index
PCP Write Subindex
PCP Write Data
PCP Read Index
UNSIGNED8
UNSIGNED16
UNSIGNED8
DOMAIN
UNSIGNED16
RW
RW
RW
RW
RW
340A
340B
340C
340C
340D
ARRAY
ARRAY
ARRAY
ARRAY
ARRAY
PCP Read Subindex
PCP Read Data
PCP Request Fragment
PCP Response Fragment
PCP Write Invoke ID
UNSIGNED8
DOMAIN
PCP_FRAG_REQUEST
PCP_FRAG_RESPONSE
UNSIGNED8
RW
RO
RW
RO
RW
340E
340F
34010
ARRAY
ARRAY
ARRAY
PCP Read Invoke ID
PCP Write Data Confirmation
PCP Read Data Confirmation
UNSIGNED8
DOMAIN
DOMAIN
RW
RO
RO
106153_en_01
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