Kubler BM Series Manual 

Seite 1 von 65 Version: 01A Safety-M Communication Modules BMxx

Seite 2 von 65 Version: 01A Configuration On the backplane bus of the Safety-M device (MS1, MSP1, MS2, MSP2) there can be send one or two CAN standard messages which contain diagnostic data. Basic Settings CAN-Baudrate 500 kBit/s Settings “cycle time”: Zyklisch X * Zykluszeit (X: 1 ... 255) Nicht zyklisch alle 500ms, oder bei Datenänderung CAN ID message 1 CAN ID message 2 Cycle time CAN messages

Seite 3 von 65 Version: 01A Settings CAN message 1 Settings CAN message 2 Example: When the Actual position axes 1(24 Bit) , Actual SLP Teach In Position (24 Bit) and Alarm and Operation Notification is set the process data frame is arranged: Bit 0…23: Actual position axes 1 Bit 24…47: Actual SLP Teach In Position Bit 48…63: Alarm and Operation Notification User data selection Moving the selected data bit position View of all added logic data Size of selected data Choise of process data View of used bits

Seite 4 von 65 Version: 01A CAN Messages Message 1 Byte Bit „Run“ mode (2, 3, 4) “Alarm” mode (A, F) Byte 0 0...3 Safety-M Staus 1, 2, 3, 4, 5, 6 = FatalError, 7 = Alarm 4 0x1 (define) 5..7 Alive counter (3 Bit) Byte 1 0...7 diagnostic data (Bit: 48..55) Byte 2 0...7 diagnostic data (Bit: 40..47) Byte 3 0...7 diagnostic data (Bit: 32..39) Byte 4 0...7 diagnostic data (Bit: 8..15) Byte 5 0...7 diagnostic data (Bit: 0...7) Byte 6 0..6 diagnostic data (Bit 24.. 30) error code high Byte 7 „0“ „1“ Byte 7 0..7 diagnostic data (Bit: 16..23) error code low Byte Message 2 Selectable process data (extended diagnostic data) Byte Data BYTE 0 Process data (Bit 56..63) BYTE 1 Process data (Bit 48..55) BYTE 2 Process data (Bit 40..47) BYTE 3 Process data (Bit 32..39) BYTE 4 Process data (Bit 24..31) BYTE 5 Process data (Bit 16..23) BYTE 6 Process data (Bit 8..15) BYTE 7 Process data (Bit 0..7)

Seite 5 von 65 Version: 01A Connection and installation The BMxx modules must be connected via backplane connector with a Safety-M basic module.

Seite 6 von 65 Version: 01A Start-Up BM11

Seite 7 von 65 Version: 01A Definitions BM11 is a shorthand term for communication module BM11 - DeviceNet. Intended Use The module BM11 can not be used for safety-related reactions, it is used exclusively for non-secure data transmission with DeviceNet protocol. Scope of delivery Is included:  Communication module BM11 – DeviceNet  EDS file (on CD-ROM) Unit Design The BM11 module has three LEDs. These functions of the LED shows the following table: LED colour mode description RUN green „flashing“ Status OK DP green „permanently“ DeviceNet connection aktiv green „flashing “ DeviceNet at IDLE mode red „flashing “ Error in device (contact manufacturer) red „flashing “ connection timeout 24V bus supply voltage is missing Incorrect setting the bus address or baud rate red/green „alternating“ self-test mode XB green „permanently“ processing OK green „flicker“ missing CAN-Telegramm green „flashing “ processing auto-baud red „permanently“ Error in device (contact manufacturer) red „flashing “ Resettable error message red/green „alternating“ self-test mode

Seite 8 von 65 Version: 01A Procedure A start-up may only be carried out by qualified personnel! Please note when commissioning the safety instructions! In the following, a startup using RSNetWorx and shown as an example. Expiry First, the provided EDS file must be loaded and included in the network. Then setting the address and configuration for the BM11 must be made. Then the data of the BM11 can be displayed and validated. Integration of EDS file The integration of the EDS file is done via the menu Tools> EDS Wizard. In this window EDS files  integrated, (Register an EDS file(s))  removed, (Unregister a device)  Icons assigned (Change a device’s graphic image)  Newly created (Create an EDS file)

Seite 10 von 65 Version: 01A Integrated into the network Can then be drawn by "drag and drop" into the plan in the device vendor hardware menu under "Anybus-IC DEV".

Seite 11 von 65 Version: 01A Setting the BM11 address Double-click on "Anybus-IC DEV", the following information can be displayed. The only setting that needs to be made here is assignment of the bus address (node), which must be the same setting on the unit BM11. General Settings: CAN-ID and IO-Dates:

Seite 12 von 65 Version: 01A DeviceNet scanner configuration By selecting the scanner (here: 1756-DNB), the following settings must be made. • Select the I/O parameters: In the Scan List menu the I/O parameters must be selected.  mapping of the input data: In the Input menu, input information (16 bytes Cyclic) must be "mapped" into the address space of the scanner. When all settings are made, the network must be saved.

Seite 13 von 65 Version: 01A Integration into RSLogix 5000 To validate the data from the scanner (1756-DNB), the scanner must be included in the "I / O Configuration". By selecting the module can be in the "Module Properties" in the menu of saved RSNetWorx network load.

Seite 14 von 65 Version: 01A Validation of BM11 dates You can activate the Controller Tags window from the Logic menu. Before the data can be validated, the DeviceNet scanner must be placed in the "RUN" mode. This is done by setting bit "Local: 4: O.CommandRegister.Run".

Seite 15 von 65 Version: 01A Start-Up BM21

Seite 16 von 65 Version: 01A Device settings Version1: Rotary dip switches for selecting address and baudrate CAN Interface 3 LEDs show operating mode Dip switches for bus termination

Seite 17 von 65 Version: 01A Version2: Rotary dip switch for selecting addres s and baudrate ( LOW ) CAN Interface 3 LEDs show operating mode Dip switches for bus termination TS ) ( Rotary dip switch for selecting address and baudrate ( HIGH )

Seite 18 von 65 Version: 01A LEDs There are 3 LEDs on the front side of the BM21: LED name state meaning solution RUN Constant red or green Internal error BM21 damaged green blinking BM21 is working - ST Constant red The CANopen controller is bus off Check connection Red single flash Warning limit At least one of the error counters of the CAN controller has reached or exceeded the warning level (too many error frames) Red double flash Error control event A guard event (NMT-slave or NMTmaster) or a heartbeat event (heartbeat consumer) has occurred Green blinking CANopen state PREOPERATIONAL The device is in state PREOPERATIONAL Green single flash CANopen state STOPPED The device is in state STOPPED Constant green CANopen is operating XB Constant red No device mapping has been configured. Write the mapping into the OD index 0x6200, subindex 1 to 8 Orange blinking At least one device is mapped. For at least 1 second no diagdata was received from at least one mapped device Is the OD index 0x6200 configured with the right values? They has to match with the CAN ID of the mapped Safety-M. Is the the Safety-M up and working? Green flashing Within the last second diagdata was received from all mapped devices. - RUN ST XB off red off Invalid NodeID Select a NodeID with the rotary dipswich within the range from 1 to 126. Note: if both LEDs (green/red) are switched on at the same time, the color of the LED is orange CAN bus termination For CAN to work properly it is necessary to terminate both ends of the wires with a resistor with 120 ohm. Is the BM21 at an end of the wire and the terminator resistor is not integrated in the jack, it can be patched in with the dipswitch XB. dipswitchindex XB Assigned bus 1 CANopen Interface 2 Back plane bus In the ON position, the 120 ohm resistor for termination is active.

Seite 19 von 65 Version: 01A Parameterising the back plane communication The used BM21 devices have to be configured with for the network unique CAN IDs. This CAN IDs have to be entered per SDO into the OD index 0x6200 and the corresponding subindex for the device. Index Subindex meaning 0x6200 1 CAN ID of the 1. mapped device or 0, if not used 0x6200 2 CAN ID of the 2. mapped device or 0, if not used 0x6200 3 CAN ID of the 3. mapped device or 0, if not used 0x6200 4 CAN ID of the 4. mapped device or 0, if not used 0x6200 5 CAN ID of the 5. mapped device or 0, if not used 0x6200 6 CAN ID of the 6. mapped device or 0, if not used 0x6200 7 CAN ID of the 7. mapped device or 0, if not used 0x6200 8 CAN ID of the 8. mapped device or 0, if not used An example: If you want the TPDO5 contain the diagdata of the BM21 with the CAN ID 0x107, then you have to write the value 0x107 into the OD index 0x6200, subindex 5. Parameterising the CANopen communication Every CANopen participant has to have an unique NodeID. The NodeID of a BM21 is configured with the rotary dipswitches on the front side. Each of the rotary dipswitches has 16 possible positions. You can understand the two rotary dipswitches as high and low nibble of a byte. They are labeled „HIGH“ and „LOW“ on the front side. So the value of the rotary dipswitches can be calculated as follows: RDSvalue = 16 x (value of the „HIGH“ rotary dipswitch) + (value of the „LOW“ rotary dipswitch). Please take into account, that if you use more than one BM21 in the same CANopen network, their adresses has to differ by 2 at least! As for the fact a CANopen participant can have only an address within the range from 1 to 127, the most significant bit is used for selecting the baurate. The BM21 supports 500 kBaud and 1 MBaud. If the most significant bit of RDSvalue is 0, the device uses 500 kBaud, if it is 1, the device uses 1 MBaud. Because of the number of generated TPDOs as further restriction a limitation for the highest configurable address applies. So the range for the address is 1 to 126. (If you configure the address as 127, the device sees it as 126)

Seite 20 von 65 Version: 01A If you want the BM21 to generate heartbeat messages, you can configure the „producer heartbeat time“ as described in „Heartbeat producer“ below. An example: „HIGH“ rotary dipswitch has the value 10, the „LOW“ rotary dipswitch has the value 3. RDSvalue = 10*16 + 3 = 163 = 0xA3 The most significant bit is set, so the BM21 CANopen interface would be configured with 1 MBaud. The NodeID is represented from the lower significant 7 bit, so it can be calculated with: (0xA3 & 0x7F) = 0x23 = 35. As described in „TPDOs“ below, knowing the NodeID, the COB-IDs can be calculated: TPDO COB-ID TPDO1 0x180 + 0x23 = 0x1A3 TPDO2 0x280 + 0x23 = 0x2A3 TPDO3 0x380 + 0x23 = 0x3A3 TPDO4 0x480 + 0x23 = 0x4A3 TPDO5 0x180 + 0x23 +1 = 0x1A4 TPDO6 0x280 + 0x23 +1 = 0x2A4 TPDO7 0x380 + 0x23 +1 = 0x3A4 TPDO8 0x480 + 0x23 +1 = 0x4A4 If you want to, you can change the COB-IDs of the TPDOs by writing the desired values into the appropriate positions into the OD.

Seite 21 von 65 Version: 01A Device specific OD entries Index Subindex Type Meaning 0x6000 0x00 UINT8 Number of used subindexes (const 8) 0x6000 0x01 UINT8 1. byte diagdata of the 1. mapped device 0x6000 0x02 UINT8 2. byte diagdata of the 1. mapped device 0x6000 0x03 UINT8 3. byte diagdata of the 1. mapped device 0x6000 0x04 UINT8 4. byte diagdata of the 1. mapped device 0x6000 0x05 UINT8 5. byte diagdata of the 1. mapped device 0x6000 0x06 UINT8 6. byte diagdata of the 1. mapped device 0x6000 0x07 UINT8 7. byte diagdata of the 1. mapped device 0x6000 0x08 UINT8 8. byte diagdata of the 1. mapped device 0x6001 0x00 UINT8 Number of used subindexes (const 8) 0x6001 0x01 UINT8 1. byte diagdata of the 2. mapped device 0x6001 0x02 UINT8 2. byte diagdata of the 2. mapped device 0x6001 0x03 UINT8 3. byte diagdata of the 2. mapped device 0x6001 0x04 UINT8 4. byte diagdata of the 2. mapped device 0x6001 0x05 UINT8 5. byte diagdata of the 2. mapped device 0x6001 0x06 UINT8 6. byte diagdata of the 2. mapped device 0x6001 0x07 UINT8 7. byte diagdata of the 2. mapped device 0x6001 0x08 UINT8 8. byte diagdata of the 2. mapped device 0x6002 0x00 UINT8 Number of used subindexes (const 8) 0x6002 0x01 UINT8 1. byte diagdata of the 3. mapped device 0x6002 0x02 UINT8 2. byte diagdata of the 3. mapped device 0x6002 0x03 UINT8 3. byte diagdata of the 3. mapped device 0x6002 0x04 UINT8 4. byte diagdata of the 3. mapped device 0x6002 0x05 UINT8 5. byte diagdata of the 3. mapped device 0x6002 0x06 UINT8 6. byte diagdata of the 3. mapped device 0x6002 0x07 UINT8 7. byte diagdata of the 3. mapped device 0x6002 0x08 UINT8 8. byte diagdata of the 3. mapped device 0x6003 0x00 UINT8 Number of used subindexes (const 8) 0x6003 0x01 UINT8 1. byte diagdata of the 4. mapped device 0x6003 0x02 UINT8 2. byte diagdata of the 4. mapped device 0x6003 0x03 UINT8 3. byte diagdata of the 4. mapped device 0x6003 0x04 UINT8 4. byte diagdata of the 4. mapped device 0x6003 0x05 UINT8 5. byte diagdata of the 4. mapped device 0x6003 0x06 UINT8 6. byte diagdata of the 4. mapped device 0x6003 0x07 UINT8 7. byte diagdata of the 4. mapped device 0x6003 0x08 UINT8 8. byte diagdata of the 4. mapped device 0x6004 0x00 UINT8 Number of used subindexes (const 8) 0x6004 0x01 UINT8 1. byte diagdata of the 5. mapped device 0x6004 0x02 UINT8 2. byte diagdata of the 5. mapped device 0x6004 0x03 UINT8 3. byte diagdata of the 5. mapped device 0x6004 0x04 UINT8 4. byte diagdata of the 5. mapped device 0x6004 0x05 UINT8 5. byte diagdata of the 5. mapped device 0x6004 0x06 UINT8 6. byte diagdata of the 5. mapped device 0x6004 0x07 UINT8 7. byte diagdata of the 5. mapped device 0x6004 0x08 UINT8 8. byte diagdata of the 5. mapped device 0x6005 0x00 UINT8 Number of used subindexes (const 8) 0x6005 0x01 UINT8 1. byte diagdata of the 6. mapped device 0x6005 0x02 UINT8 2. byte diagdata of the 6. mapped device

Seite 22 von 65 Version: 01A 0x6005 0x03 UINT8 3. byte diagdata of the 6. mapped device 0x6005 0x04 UINT8 4. byte diagdata of the 6. mapped device 0x6005 0x05 UINT8 5. byte diagdata of the 6. mapped device 0x6005 0x06 UINT8 6. byte diagdata of the 6. mapped device 0x6005 0x07 UINT8 7. byte diagdata of the 6. mapped device 0x6005 0x08 UINT8 8. byte diagdata of the 6. mapped device 0x6006 0x00 UINT8 Number of used subindexes (const 8) 0x6006 0x01 UINT8 1. byte diagdata of the 7. mapped device 0x6006 0x02 UINT8 2. byte diagdata of the 7. mapped device 0x6006 0x03 UINT8 3. byte diagdata of the 7. mapped device 0x6006 0x04 UINT8 4. byte diagdata of the 7. mapped device 0x6006 0x05 UINT8 5. byte diagdata of the 7. mapped device 0x6006 0x06 UINT8 6. byte diagdata of the 7. mapped device 0x6006 0x07 UINT8 7. byte diagdata of the 7. mapped device 0x6006 0x08 UINT8 8. byte diagdata of the 7. mapped device 0x6007 0x00 UINT8 Number of used subindexes (const 8) 0x6007 0x01 UINT8 1. byte diagdata of the 8. mapped device 0x6007 0x02 UINT8 2. byte diagdata of the 8. mapped device 0x6007 0x03 UINT8 3. byte diagdata of the 8. mapped device 0x6007 0x04 UINT8 4. byte diagdata of the 8. mapped device 0x6007 0x05 UINT8 5. byte diagdata of the 8. mapped device 0x6007 0x06 UINT8 6. byte diagdata of the 8. mapped device 0x6007 0x07 UINT8 7. byte diagdata of the 8. mapped device 0x6007 0x08 UINT8 8. byte diagdata of the 8. mapped device 0x6200 0x00 UINT8 Number of used subindexes (const 8) 0x6200 0x01 UINT32 CAN ID of the 1. mapped device or 0, if not used 0x6200 0x02 UINT32 CAN ID of the 2. mapped device or 0, if not used 0x6200 0x03 UINT32 CAN ID of the 3. mapped device or 0, if not used 0x6200 0x04 UINT32 CAN ID of the 4. mapped device or 0, if not used 0x6200 0x05 UINT32 CAN ID of the 5. mapped device or 0, if not used 0x6200 0x06 UINT32 CAN ID of the 6. mapped device or 0, if not used 0x6200 0x07 UINT32 CAN ID of the 7. mapped device or 0, if not used 0x6200 0x08 UINT32 CAN ID of the 8. mapped device or 0, if not used

Seite 23 von 65 Version: 01A TPDOs When initialising the BM21, the following COB-IDs are used for the TPDOs. They can be changed on the default position within the OD (index 0x1800 to 0x1807, subindex 1). TPDO COB-ID assigned device TPDO1 0x180 + NodeID device 1 TPDO2 0x280 + NodeID device 2 TPDO3 0x380 + NodeID device 3 TPDO4 0x480 + NodeID device 4 TPDO5 0x180 + NodeID +1 device 5 TPDO6 0x280 + NodeID +1 device 6 TPDO7 0x380 + NodeID +1 device 7 TPDO8 0x480 + NodeID +1 device 8 The mapping of the TPDOs can not be changed, but can be readed from the OD index 0x1A00 to 0x1A07. A TPDO telegram is generated whenever there is a change in the received diagdata from the mapped device. As example: if there is a change in at least one byte of the diagdata received from the BM21 on the back plane bus from device 3, then a TPDO3 will be generated. SDO The data communication with SDO uses the standard COB-IDs 0x580 + NodeID for sending and 0x600 + NodeID for receiving. The OD entry 0x2000 contains type information about the Safety-M installed. These information are only valid if only one Safety-M is connected to the BM21!!! Index Subindex Description 0x2000 0x00 number of used subindexes (6) 0x2000 0x01 4 Byte Serial number 0x2000 0x02 First byte firmware version 0x2000 0x03 Second byte firmware version 0x2000 0x04 Third byte firmware version 0x2000 0x05 Fourth byte firmware version 0x2000 0x06 2 Byte Device ID The version number consists of four numbers. For example “2.0.2.46”.

Seite 24 von 65 Version: 01A Heartbeat producer The BM21 is a heartbeat producer in terms of the CANopen standard. The „producer heartbeat time“ is adjustable and can be change by writing into the OD index 0x1017. The default value is 0, which means the production of heartbeat messages is switched off. Valid values are in the range from 0 to 60000. The unit is 1 ms.

Seite 25 von 65 Version: 01A Start-Up BM31

Seite 26 von 65 Version: 01A Description of function The BM31 enables the user to transmit CAN telegrams (diagnostic telegram e.g. Safety-M) via PROFIBUS DP. The system will receive and pass on a maximum number of 8 CAN telegrams. Make sure to parameterize the subassembly as Profibus participant (slave). The relevant GSD files are enclosed with the device. The device will automatically identify the PROFIBUS baud rate ranging from 9.6kbaud to 12Mbaud. The maximum size of any output information is 64 Byte. Definitely make sure to connect the BM31 to one or several „master subassemblies“(Safety-M Basic modules)“using the plug-in connectors available on the rear panel. Make sure to perform the Profibus connection in compliance with the installation regulations of PNO.

Seite 27 von 65 Version: 01A Device settings Version1: The settings specified below are adjustable at the front panel: Diagnostic LED‘s PROFIBUS connector PROFIBUS address switch Coding switch for bus termination

Seite 28 von 65 Version: 01A Version2: Rotary dip switch for selecting addres s and baudrate ( LOW ) Profibus Interface 3 LEDs show operating mode Dip switches for bus termination TS ) ( Rotary dip switch for selecting address and baudrate ( HIGH )

Seite 29 von 65 Version: 01A Address dials Enter Profibus address using hexadecimal code. e.g. address: 5: ADDR HIGH = “0” ADDR LOW = “5“ e.g. address: 46: ADDR HIGH = “2” ADDR LOW = “E“ Coding switch Terminating resistors for CAN bus connection 1 2 ON Switch 1 120 Ohm terminating resistor for CAN on rear panel Switch 2 120 Ohm terminating resistor for 2nd CAN interface via SUB-D jack Diagnosis LED Colour Mode Designation RUN green „flashing“ subassembly OK DP green „permanent“ Profibus connection active green „flashing“ Profibus connection interrupted red „flashing“ Transmitted parameter data are invalid XB green „flashing“ „internal“ CAN telegram (Safety-M) being received red „flashing“ CAN telegram missing or CAN telegram not received within „CAN WD Timeout“ period

Seite 30 von 65 Version: 01A How to proceed Make sure to have the system put into operation by qualified personnel only! Make sure to respect the safety instructions when putting the system into operation! Following below is an example which shows the start-up in Step7. Integration of the GSD file First, copy the GSD to the Step7 software directory. Installation of GSD file

Seite 31 von 65 Version: 01A Integration into Step7 network plan Go to subitem „Additional Field Devices“->“General“-> BM31 DP-V0 to drag to network plan and assign Profibus address.

Seite 32 von 65 Version: 01A Integration into HW-Konfig Select subassembly BM31 and enter CAN objects at plug-in locations (INPUT: 8 Byte). You may enter 1 to 8 CAN objects depending on the application.

Seite 33 von 65 Version: 01A Configuration of BM31 Below, the configurations required for the internal CAN bus (bus on rear panel) of the Safety-M series of subassemblies are shown. The settings specified below are available: CAN baud rate Set baud rate for CAN communication (currently the only setting admissible is 500kBit/s) No. of CAN modules Number of CAN objects available at plug-in locations. Module ID Fixed setting „1“ Timeout CAN WD Timeout Timeout period „internal“ CAN communication (refer to configuration of diagnosis described by programming manual) Note:  The configured data shall be adopted by the BM31 only after connection to the PROFIBUS master system. Otherwise the „Default settings“ shall prevail: Parameter Default value CAN baud rate 500 kBit/s No. of CAN modules 8 Module ID 1 Timeout CAN WD Timeout 8ms CAN ID 192

Seite 34 von 65 Version: 01A Configuration of CAN objects The settings specified below are available: CAN ID: CAN Identifier (type: Standard ID) Setting range: 1 …. 2047

Seite 35 von 65 Version: 01A Start-Up BMB1

Seite 36 von 65 Version: 01A Device description and operation Together with the Safety-M basic module this device works as a gateway from backplane CAN bus to EtherCAT. The user has the possibility to send the status message data to EtherCAT. Max. user data from 8 CAN messages can be send. Till 32 byte user data can be received from EtherCAT and send to the Safety-M device. This 32 byte data will be transmitted with 4 CAN messages to 4 basic devices. Device has to be configured as an EtherCAT slave device. Ethernet data rate will be 100Mbit/s in full duplex mode. Size of output data is 64 byte, input data is 32 Byte. Characteristic data Device BMB1 Response time Cycletime 10 ms Number of CAN objects 1 to 8 Data size CAN telegram 8 Byte CAN ID Standard (11 bBit) Table 3: Characteristic data Device settings Image 1: Front side No settings on the device needed. Diagnostic-LEDs EtherCAT-plug IN/OUT

Seite 37 von 65 Version: 01A Safety related characteristics BMB1 can only be used as a non safe communication with EtherCAT protocol. Connection and installaation BMB1 has to be connected to a basic device (MS1, MSP1, MS2, MSP2) with a back plan connetor. Installation Safety-M-module The module is solely to be installed in control cabinets with a degree of protection of at least IP54. The modules must be vertically fastened on a top hat rail The ventilation slots must be kept unobstructed, to ensure adequate air circulation inside the module. Terminal assignment Image 4: Assignment RJ45 Pins 1 … 8 RJ45 Pin Name Description Colour 1 TX+ Tranceive Data + white-orange 2 TX- Tranceive Data - orange 3 RX+ Receive Data + white-grün 4 nc. Not used blue 5 nc. Not usedt white-blue 6 RX- Receive Data - green 7 nc. Not used white-brown 8 nc. Not usedt brown

Seite 38 von 65 Version: 01A Start up Procedure Start-up must only be performed by qualified personnel! Strictly follow the safety regulations when commissioning! Parameterization Usage of program TwinCAT from Beckhoff. Installation ESI-File Copy ESI-File into ESI-Folder of TwinCAT program. TwinCAT program has to be closed for this step. After starting TwinCAT the ESI cache will be reinitialized. Image 5: TwinCAT root for ESI-File

Seite 39 von 65 Version: 01A Settings SafePLC CAN-IDs for the status message data can be configured in the connection settings SafePLC. Image 6: Connection settings SafePLC Note: The 4 CAN messages with input bytes for BMB1 are transmitted via the backplane bus with CAN ID’s - 0x9D up to 0xA0 – and can’t be use for other points.

Seite 40 von 65 Version: 01A Following table shows the defined CAN ID’s for input and output bytes for EtherCAT. Bytes CAN-ID Direction 0 bis 7 0xA1 Output (BMB1->EtherCAT Master) 8 bis 15 0xA2 Output (BMB1->EtherCAT Master) 16 bis 23 0xA3 Output (BMB1->EtherCAT Master) 24 bis 31 0xA4 Output (BMB1->EtherCAT Master) 32 bis 39 0xA5 Output (BMB1->EtherCAT Master) 40 bis 47 0xA6 Output (BMB1->EtherCAT Master) 48 bis 55 0xA7 Output (BMB1->EtherCAT Master) 56 bis 63 0xA8 Output (BMB1->EtherCAT Master) 0 bis 7 0x9D Input (EtherCAT Master-> BMB1) 8 bis 15 0x9E Input (EtherCAT Master-> BMB1) 16 bis 23 0x9F Input (EtherCAT Master-> BMB1) 24 bis 31 0xA0 Input (EtherCAT Master-> BMB1) Table 4: Defined CAN-IDs CAN messages to EtherCAT Integration BMB1 into TwinCAT Open TwinCAT System Manager and if necessary create a new project. Image 7: TwinCAT System Manager

Seite 41 von 65 Version: 01A Click “I/O Device” -> “Append Device“. Image 8: TwinCAT System Manager with context menu “I/O Device“ Confirm “EtherCAT“ Image 9: TwinCAT menu “I/O device“

Seite 42 von 65 Version: 01A Now a EtherCAT master is added into TwinCAT and searching for EtherCAT slave can be started. The EtherCAT –Slave should be running and connected to the PC (TwinCAT program). Image 10: TwinCAT with EtherCAT master device Click “Device 1 (EtherCAT)“ and then „Scan boxes“. Searching for slave device is starting. Image 11: TwinCAT with context menu of EtherCAT master. By clicking on the „ BMB1“, the input and output bytes are displayed.

Seite 43 von 65 Version: 01A Image 12: TwinCAT with founded EtherCAT-slaves

Seite 44 von 65 Version: 01A If “Free Run Status change“ in the toolbar is selected, the EtherCAT connection is opened. Status message data sent from BMB1 over EtherCAT are displayed in TwinCAT. Image 13: TwinCAT with Free Run mode

Seite 45 von 65 Version: 01A Output bytes, sent to BMB1 device can be selected and be set in here. Image 14: TwinCAT output bytes

Seite 46 von 65 Version: 01A Bild 15: TwinCAT with dialog „Set Value Dialog“

Seite 47 von 65 Version: 01A Diagnostic-LED Device BMB1 has three LEDs. Conditions: LED Color Mode Description RUN green „blinking“ Device OK DP green „constant“ EtherCAT Connection is active green „ blinking “ BMB1 initialized, waiting for EtherCAT connection red „ blinking “ BMB1 in startup mode XB green „ blinking “ Minimum one CAN message (Safety-M) received red „ blinking “ no CAN message received Table 5: LED-conditions Modification / handling changes to the device Maintenance work must solely be carried out by qualified personnel. Regular maintenance work is not required. Repair The devices must always be replaced as whole units Repair work on the device can only be performed in the factory. Warranty By opening the module without permission the warranty will become null and void. Note: By modifying the module the safety approval will become null and void!

Seite 48 von 65 Version: 01A Start-Up BMC1

Seite 49 von 65 Version: 01A Device description and operation SM53 is a communication device and can only be used with a Safety-M basic Module (and their variants). Together with the Safety-M basic module this device works as a gateway from backplane CAN bus to PROFINET. The user has the possibility to send the status message data () to PROFINET DP. Max. user data from 8 CAN messages can be send. Starting at software version 1.2.0.1 data from SPS to Safety-M device can be transferred via PROFINET IO. These data are sent from BMC1 device via configurable CAN telegram to the Safety-M Basic device. This is to control the functional inputs of the Safety-M. Device has to be configured as a PROFINET slave device. Corresponding GSDML-file is included with the device. Ethernet data rate will be 100Mbit/s in full duplex mode. Size of output data is maximum 64 byte. Characteristic data Device BMC1 Response time Variable, depends on used slots, between 24 and 68 ms Number of CAN objects 1 … 8 Data size CAN telegram 8 Byte CAN ID Standard Table 3: Characteristic data Device settings On front side of the device following components are visible: Image 1: Front side Dip switches for bus termination (See chapter CAN bus termination) Diagnostic-LED (See chapter „Diagnostic-LED‘) PROFINET-plug (See chapter Terminal assignment)

Seite 50 von 65 Version: 01A Safety related characteristics BMC1 can only be used as a non safe communication with PROFINET-protocol. The Proof-Test-interval according to EN61508 is up to 20 years – after this time the device hast o be replaced Safety note: The safety regulations and EMC guidelines hast o be observed. Connection and installation BMC1 has to be connected to a Safety-M basic module with a back plan connector. Installation of PROFINET connector sees installation instructions of PNO. Installation Safety-M-module The module is solely to be installed in control cabinets with a degree of protection of at least IP54. The modules must be vertically fastened on a top hat rail The ventilation slots must be kept unobstructed, to ensure adequate air circulation inside the module. CAN bus termination Dip switch 1 activates the termination resistor for CAN backplane communication. Dip switch 2 is not used. 1 2 ON Dip switch 1 120 ohm resistor for termination (ON (= right position) = active, OFF = open) Dip switch 2 Not used

Seite 51 von 65 Version: 01A Terminal assignment Image 4: Assignment RJ45 Pins 1 … 8 RJ45 Pin Name Description Colour 1 TX+ Tranceive Data + white-orange 2 TX- Tranceive Data - orange 3 RX+ Receive Data + white-grün 4 nc. Not used blue 5 nc. Not usedt white-blue 6 RX- Receive Data - green 7 nc. Not used white-brown 8 nc. Not usedt brown

Seite 52 von 65 Version: 01A Procedure Start-up must only be performed by qualified personnel! Strictly follow the safety regulations when commissioning! The following shows an example of a start-up in Step7. Note: The S7 CPU hast o be activated before the BMC1 device is switched on. Parameterization First the GSDML File hast o be included Therefore the GSDML file (short GSD file) has to copy into the Step7 program folder. Installation GSDML-File In the window „HW-Config“ of the Siemens SIMATIC software in the menu tab „Options / Install GSD File...“ the installation of the GSDML file can be done: Image 5: SIMATIC HW Config with menu „Install GSD File“ Window „Install GSD File“ is opened and select the entry in the drop down menu.

Seite 53 von 65 Version: 01A One click to „Browse …“ and the root directory where the GSDML file is can be selected. Image 6: Choice of GSDML file Afterwards in the listing GSD/GSDML-File the corresponding GSDML file can be selected via mouse click and with activation of button „Install“ the file can be installed. Note: In the window „HW-Config“ and „NetPro“ of the SIMATIC-software no projects should be opened otherwise the GSDML file cannot be installed. Integration NetPro After the installation of the GSD file the device has to be integrated in the network plan of Step7. In the program “NetPro” the network plan for this project has to be opened. Image 7: NetPro In window „Selection of the network“ the BMC1 device can be selected. You can find the device under „PROFINET IO / Additional Field Devices / General / BMxx / BMC1 / BMC1 V1.1“

Seite 54 von 65 Version: 01A Image 8: Selection of the network Device BMC1 can be dragged with the mouse into the network plan and is then inserted there. Image 9: Program NetPro with opened network plan and inserted BMC1 device.

Seite 55 von 65 Version: 01A Afterwards the network plan has to be saved and compiled. Image 10: Save and compile network plan With menu tab „PLC / Ethernet / Edit Ethernet node“ the window for changing the IP address and device name can be opened. Image 11: IP address and device name setting

Seite 56 von 65 Version: 01A Image 12: Edit Ethernet nodes By clicking „Browse...“ the following window „Browse Network “ is opened: Image 13: Dialog box „Browse Network“ with two PROFINET nodes This dialog box shows all PROFINET nodes with their IP address, MAC address, device type and station name. Here the BMC1 device (see MAC address, device type and station name) can be selected and confirmed with button “OK”.

Seite 57 von 65 Version: 01A Then in the dialog box „Edit Ethernet Node“ in field „Assign device name“ the station name can be reassigned: Image 14: Dialog box “Edit Ethernet Node“ for BMC1 settings The chosen station name must have the file extension of the PROFINET connection, in this case „.profinet-io-system“. IP address and the subnet mask cannot be processed in this point-these settings have to be done in the HW Config (following page). Integration HW Config Program „HW Config“ and the corresponding Step project has to be opened. In this window all existing devices are displayed which can be configured.

Seite 58 von 65 Version: 01A Image 15: Program HW Config Device BMC1 has to be selected. Now a list of slots and their assignment is shown. Each slot represents 8 bytes or a CAN message on the backplane bus. When fully used all 8 slots = 64 bytes has to be supported. For one basic device one CAN message with logic data and optional one with analog data can be used.  Maximum use for 8 basic devices only with logic data or 4 basic devices with logic and analog data.

Seite 59 von 65 Version: 01A Image 16: Selection input module BMC1 Extended functionality starting at version 1.2.0.1 The BMC1 starting at version 1.2.0.1 contains a backchannel functionality, which allows data to be transferred from SPS to BMC1. So it is possible to control functional inputs on the Safety-M modules. At this point output modules can now be configured. Here, the slots 8 to 16 are reserved. The output modules can only be configured in those slots while the input modules can only be programmed in slots 1 through 8. Each slot represents 8 bytes or a CAN message on the backplane bus. When fully used all 8 slots = 64 bytes has to be supported. For one basic device one CAN message with logic data can be used.  Maximum use for 8 basic devices.

Seite 60 von 65 Version: 01A Image 17: HW Config with opened project and BMC1 device The input and output module is now available in the hardware configuration. By double clicking on the corresponding module start address of the inputs or outputs can be changed. Then close dialog „Properties“ of the module. Double-clicking object BMC1 in the dialog box “Properties” via the menu item “Ethernet…” the IP address of BMC1 can be configured. This IP address is assigned automatically to the BMC1 device when connected. Control The check box „Assign IP address via IO-Controller “ in window „Properties“ has to be activated. The station name has to match to the configured name in the network plan.

Seite 61 von 65 Version: 01A Image 18: Dialog box „Eigenschaften“ of BMC1 device in HW Config

Seite 62 von 65 Version: 01A Configuration of BMC1 Now the configuration possibilities for the internal CAN bus (backplane) of the Safety-M series will be explained. The configuration data are shown in dialog box „ Properties“ of the Safety-M device on tab „Parameter“ and can be changed there. For one basic device maximum 2 CAN messages for output data (input data SPS) and 1 message for input data (output data SPS) can be used. Maximum 8 (only logic data) or 4 (logic and analog data) basic devices can operate with the available 8 slots By configuring the CAN ID an allocation to the slots of the basic devices is generated. Image 19: Adjustable parameters of the BMC1 for CAN module backplane bus

Seite 63 von 65 Version: 01A Followed settings can be made: Interval Time Timeout for „internal“ CAN communication CAN-ID Slot 1...8 CAN identifier for the particular slot CAN input data. This has to match the configured CAN ID of this slot assigned basic device. CAN ID of the basic device is configured in the SafePLC. If a slot is not used the value for CAN ID is set to „0“. CAN-ID Slot 9...16 Starting with version1.2.0.1 CAN ID for slot 9 … 16 are set additionally. This corresponds to the CAN ID for sending data from BMC1 to the Safety-M basic device. This has to match the configured CAN ID of this slot assigned basic device. CAN ID of the basic device is configured in the SafePLC. If a slot is not used the value for CAN ID is set to „0“. Table 4: CAN-ID slots Note: Only when connected to the PROFINET master system the configured data is transferred to the BMC1– otherwise the default settings are valid: Parameter Default-value Interval Time 500 CAN-ID slot 1 192 CAN-ID slot 2 194 CAN-ID slot 3 196 CAN-ID slot 4 198 CAN-ID slot 5 200 CAN-ID slot 6 202 CAN-ID slot 7 204 CAN-ID slot 8 206 Table 5: CAN-ID Default values Starting with version 1.2.0.1 following modifications applies: The BMC1 from this version contains feedback functionality. This data can be transferred from the SPS to the BMC1; the data is send over backplane bus to basic device. In dialog box „Eigenschaften“ of slot 0 the CAN IDs can be set for both the input modules as well as for the output modules per slot

Seite 64 von 65 Version: 01A Unused slots are set to CAN ID = 0 Note: There must be at least one input and one output module. Starting with version 1.3.0.1 this restriction no longer applies but unused slots has to be occupied with empty modules and the CAN ID is set to “0”.

Seite 65 von 65 Version: 01A Diagnostic-LED The BMC1 device has three LEDs. Conditions: LED Colour Mode Description RUN green „blinking“ Device OK DP green „constant“ PROFINET-Connection active green „blinking“ PROFINET-connection lost, parameters valid red „blinking“ Transfered parameters not valid XB green „blinking“ „internal“ CAN-message (Safety-M) received green „constant“ Verarbeitung OK red „blinking“ Missing CAN message or CAN message out of „CAN WD Timeout“ time red „constant“ Device error (contact the manufacturer) Table 6: LED-conditions Diagnostic Message The BMC1 can send in case of error channel specific diagnostic message via PROFINET. These can be displayed on the SIEMENS SIMATIC software. The following table gives an overview of the possible diagnostic messages. Error code Description 300 Parameters not correct received or not valid. Table 7: Error codes