1. Section 5 - Slide 1 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Section 2 :Setup stages Section 3 : Diagnostic indicator lights Section 1 :Implemented CANopen functions Software set up of IP67 monobloc I/O splitter boxes on CANopen Section 4 : Interfacing variables for PLC application Advantys- FTB 1CN  P0 Section 5 : PDOs description in details

2. Section 5 - Slide 2 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Process Data Objects = PDO CANopen IP67 I/O monobloc splitter boxes can control: 2 predefined receive PDOs (except for module FTB1CN16EP0 16 inputs: only 1 PDO) 2 predefined transmit PDOs The predefined mapping can be modified to meet a specific user requirement. Supported transmission modes: Receive: Synchronous cyclic and acyclic and asynchronous Transmit: Synchronous cyclic and acyclic, asynchronous, and on Remote frame Section 1: Implemented CANopen functions - 2

3. Section 5 - Slide 3 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Predefined PDOs description 2 predefined transmit PDOs (inputs) : PDO 1800 = 1 to 2 bytes : Inputs states / DESINA Diagnostic PDO 1805 = 2 to 6 bytes : Diagnostic module-channel 2 predefined receive PDOs (outputs) : PDO 1400 = 1 to 2 bytes Outputs command PDO 1405 = 1 to 3 bytes Channels 1. configuration : input or DESINA diag. Channels 1. and 0. configuration : input or output (FTB1CN 16C P0 module only) Section 1: Implemented CANopen functions - 3

4. Section 5 - Slide 4 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Chapitre 1 : Fonctionnalités CANopen implémentées - 4 Predefined Transmit PDOs 1800 6000/2 : Inputs/Diag 10 to 176000/1 : Inputs 00 to 07 6000/2 : Inputs/Diag 10 to 176000/1 : Inputs 00 to 03 6000/1 : Inputs 10 to 17 Reserved 6000/2 : Inputs/Diag 10 to 176000/1 : Inputs 00 to 07 Bit 0Bit 15 16I 12I/4O 8I/8O 16C Inputs states or DESINA diagnostic if configured.

5. Section 5 - Slide 5 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Chapitre 1 : Fonctionnalités CANopen implémentées - 5 Predefined Transmit PDOs 1805 Bit 0Bit 15 16I 12I/4O 8I/8O 16C Diagnostic module-channels 3000/2 : Sensor short circuit connectors 0 to 7 3000/1 : Common diagnostic 3000/2 : Sensor short circuit connectors 0 to 7 3000/1 : Common diagnostic 3000/5 : Actuator warning chan. 00 to 073000/3 : Actuator overload chan. 00 to 07 3000/2 : Sensor short circuit connectors 0 to 7 3000/1 : Common diagnostic 3000/5 : Actuator warning chan. 00 to 073000/3 : Actuator overload chan. 00 to 07 3000/2 : Sensor short circuit connectors 0 to 7 3000/1 : Common diagnostic 3000/4 : Actuator overload chan. 10 to 173000/3 : Actuator overload chan. 00 to 07 3000/6 : Actuator warning chan. 10 to 173000/5 : Actuator warning chan. 00 to 07

6. Section 5 - Slide 6 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Chapitre 1 : Fonctionnalités CANopen implémentées - 6 Predefined Receive PDOs 1400 Bit 0Bit 15 16I 12I/4O 8I/8O 16C Reserved6200/1 : Outputs 04 to 07 Reserved6200/1 : Outputs 00 to 07 6200/2 : Outputs 10 to 176200/1 : Outputs 00 to 07 PDO 1400 is not implemented on the 16 inputs module Outputs commands

7. Section 5 - Slide 7 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Chapitre 1 : Fonctionnalités CANopen implémentées - 7 Predefined Receive PDOs 1405 Bit 0 Bit 15 16I 12I/4O 8I/8O 16C Channels 1. configuration : input or DESINA diagnostic. Channels 1. and 0. configuration : input or output (FTB1CN 16C P0 only) Reserved 2000/1 : Input or Diag config. channels 10 to 17 Reserved 2000/1 : Input or Diag config. channels 10 to 17 Reserved 2000/1 : Input or Diag config. channels 10 to 17 2001/1 : Input or output config. channels 00 to 072000/1 : Input or Diag config. channels 10 to 17 Reserved 2001/2 : Input or output config. channels 10 to 17

8. Section 5 - Slide 8 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 1 transmit SDO, 1 receive SDO Allowing access to any dictionary object by message exchange. Can be used for example to set parameters for: Input logic:NO - NC contact Output logic: NO - NC status Fallback position for outputs: Maintain/fallback to 0/fallback to 1 in the event of communication problems Operation of channel 1 (pin 2): Input or sensor with integral diagnostics These parameters can be set when the network is initialised (Object Configuration window) or by programming in the application. Service Data Object = SDO Section 1: Implemented CANopen functions - 8

9. Section 5 - Slide 9 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 List of parameter-setting objects Section 1: Implemented CANopen functions - 9

10. Section 5 - Slide 10 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 List of parameter-setting objects Section 1: Implemented CANopen functions - 10

11. Section 5 - Slide 11 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 List of parameter-setting objects Section 1: Implemented CANopen functions - 11

12. Section 5 - Slide 12 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 (*Address of exchange manager: ADR#0.1.SYS Address of variable to be written: %MD3200 Address of CANopen slave: 40 Value of variable to be written: %MW3202:1 Report of exchange : %MW3250:4 *) (* Write command AND Service inactive *) IF %M103 AND NOT %MW3250:X0 THEN %MW3253:=2;(* 200ms Time-out *) WRITE_VAR(ADR#0.1.SYS,'SDO',%MD3200,40,%MW3202:1,%MW3250:4); RESET %M103;(* Reset write command *) END_IF; Example of writing SDO (* Change polarity of discrete inputs for channels 10-17 so that channels 10, 11 and 14 become NC inputs *) %MD3200:= 16#00016102;(* = 6102H ; = 1 *) %MW3202:= 16#1300; (* Value to be written = 2#0001001100000000 *) Section 1: Implemented CANopen functions - 12

13. Section 5 - Slide 13 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 (* Request to read one word *) (*Address of exchange manager: ADR#0.1.SYS Address of variable to be read: %MD3220 Address of CANopen slave: 40 Value of variable read: %MW3222:1 Report of exchange : %MW3260:4 *) (* Read command AND Service inactive *) IF %M104 AND NOT %MW3260:X0 THEN %MW3263:=2;(* 200ms Time-out *) READ_VAR(ADR#0.1.SYS,'SDO',%MD3220,40,%MW3222:1,%MW3260:4); RESET %M104;(* Reset read command *) END_IF; (* Example: Reread filtering of discrete inputs for channels 10-17. Channels 11, 12 and 13 described as having been inhibited *) %MD3220:= 16#00016103;(* = 6103H ; = 1 *) (* %MW3222 = ? *)(* Value read = 2#0000111000000000 *) Example of reading SDO Section 1: Implemented CANopen functions - 13

14. Section 5 - Slide 14 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Special Function Objects: SFO NMT services: CANopen minimum boot-up (no dynamic allocation of identifiers) SYNC object: Manages the transmission and reception of PDOs in synchronous mode EMCY object: Sent in the event of a fault on the splitter box Node guarding object: Supported. Sent on polling of splitter box status and detection of absence of polling Heartbeat object: Supported Section 1: Implemented CANopen functions - 14

15. Section 5 - Slide 15 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Software setup Section 2: Software setup stages - 15 Declare the master card in the PLC Configure the master and slaves with the Sycon tool Load the configuration using the Sycon tool Select the configuration file in PL7 and save it Transfer the application to the PLC Check implicit exchanges Sycon mode PL7 mode Configure the function of the processor/master card Click the individual stages for a detailed description

16. Section 5 - Slide 16 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Declaring the master card in the PLC The CANopen master PCMCIA card is inserted in the designated slot for communication modules in the processor module. The CANopen master card is compatible with all processor modules >= V5.0 except TSX57103 Screencam 1 Back Section 2: Software setup stages - 16

17. Section 5 - Slide 17 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Configuring the function of the processor/master card Synchronise updating of memory zones associated with I/O Define %MW memory zone to which the inputs are copied Define fallback mode for outputs and for %MW memory zone where outputs are read Launch Sycon configuration software Select Sycon configuration file and choose loading mode Behaviour of bus on start up* Enable watchdog 1 2 3 4 5 Screencam 2 Back * If “Semi-automatic” or “By program” is selected here, the bus start up is controlled by the command word %QWy.1.0. (y = processor slot number) Section 2: Software setup stages - 17

18. Section 5 - Slide 18 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Configuring the master and slaves with the Sycon tool As preferred Selecting the network and inserting the master Declaring the slaves Setting the bus parameters Setting slave parameters using predefined PDOs Defining the settings for the Sycon tool Setting slave parameters with predefined mapping modification View global configuration and save Importing the EDS files (if not supported by Sycon) Section 2: Software setup stages - 18 OR

19. Section 5 - Slide 19 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Selecting the network and inserting the CANopen master Screencam 3 Back File - New 1 Select CANopen - OK 2 Insert - Master 3 Add TSX CPP 100 - OK 4 Section 2: Software setup stages - 19

20. Section 5 - Slide 20 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Defining the settings for the Sycon tool Settings - Global Settings 1 Enable Process Data Auto Addressing if required Enable COB-ID Automatic Allocation if required OK 2 When Process Data Auto Addressing is enabled, Sycon automatically calculates the process data offset. Data is organised according to the sequence of PDOs and nodes. Manual COB-ID allocation is used for PDO numbers >= 5 or for direct data exchange from slave to slave: PDO linking. Back Section 2: Software setup stages - 20

21. Section 5 - Slide 21 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Setting the bus parameters Back Select address of master 2 Select SYNC object COB-ID Default value = 128 Communication profile DS301 + select communication cycle period 3 4 Screencam 4 5 Settings - Bus parameter 1 Select data rate Behaviour of master module in the event of a Node Guard or Heartbeat error: Disabled: Does not affect the other stations. Enabled: The master stops communication with all other stations. 6 Enable Heartbeat function (supported by TSXCPP110 card) Enable automatic switch to operating mode (PDOs activated) if required. 7 Not in use Section 2: Software setup stages - 21

22. Section 5 - Slide 22 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Importing new EDS files File - Copy EDS 1 Select the directory in which the new EDS file(s) is/are located together with the associated.dib images 2 Click Open to import the files 3 BackScreencam 5a Section 2: Software setup stages - 22

23. Section 5 - Slide 23 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Declaring the slaves Back Screencam 5 Insert - Node 1 Add FTB 1CN12E04SP0 to address 2 2 Edit the “Description” field if necessary and click “OK” to confirm 3 Section 2: Software setup stages - 23

24. Section 5 - Slide 24 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Window for setting slave parameters The values for Device Profile and Device Type must be consistent with the values contained in object 1000H Device Type Enable default COB-ID allocation List of predefined PDOs Access to Node Guarding and Heartbeat functions Disable if you wish to retain process data when the station is not connected Access to boot-up sequence for each node Access to supported objects and to parameters written during boot-up sequence Access to transmission parameters for each PDO Access to mapping for each PDO Define new receive PDO Define new transmit PDO To activate predefined PDOs Double click the relevant slave to open the window Section 2: Software setup stages - 24

25. Section 5 - Slide 25 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Select monitoring mode: Node Guarding or Heartbeat Polling time for master Define monitoring time on slave side: Guard time x Life time factor Time for which slave is monitored by master Time for which heartbeat is transmitted by slave List of values assigned to the Heartbeat parameters for the various nodes Setting slave parameters with predefined PDOs Click “Configuration Error Control Protocol” to access the Node Guarding or Heartbeat settings 1 2 3 3’ Section 2: Software setup stages - 25

26. Section 5 - Slide 26 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Setting slave parameters with predefined receive PDOs Click the predefined PDO you wish to activate 1 Select the PDO transmission mode (slave side) Click Add to configured PDOs 2 3 Confirm 5 Select the PDO triggering mode (master side) 4 Section 2: Software setup stages - 26

27. Section 5 - Slide 27 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Setting slave parameters with predefined transmit PDOs Click the predefined PDO you wish to activate 1 Select the PDO transmission mode (slave side) 3 Confirm 5 Click Add to configured PDOs 2 Select the PDO triggering mode (master side) 4 Section 2: Software setup stages - 27

28. Section 5 - Slide 28 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Manual allocation of identifiers Default allocation of identifiers can only be used for the first 4 PDOs. For devices supporting PDO numbers greater than 4 (transfer of non-standard objects, etc.) the identifier value has to be assigned manually. In this case the user should use a value for an identifier that is not in use: value assigned to an undefined or free PDO between 1 and 4. Maximum 1024 identifiers reserved for PDOs Section 2: Software setup stages - 28

29. Section 5 - Slide 29 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Predefined PDOs > 0x1404/0x1804 This message appears if you enable a PDO number higher than 4. Deactivate the COB-ID allocation function. 1 Assign an identifier value that is not in use e.g. use identifier for PDO2 2 Section 2: Software setup stages - 29

30. Section 5 - Slide 30 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Example of process memory organisation view Receive PDOs correspond to output variables Transmit PDOs correspond to input variables Address expressed in number of words Length expressed in number of bytes Section 2: Software setup stages - 30

31. Section 5 - Slide 31 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 View of mapping of configured PDOs 1 Click PDO Contents Mapping 2 Click the configured PDO you wish to view List of objects transferred to the PDO with their address: Index and Sub-index Section 2: Software setup stages - 31

32. Section 5 - Slide 32 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Modifying a parameter setting Screencam 6 Back 1 Click the “Object Configuration” button 2 Select the parameter you wish to modify then click “Add to Configured Object” 3 Modify the parameter value in the list of objects that are configured automatically on start up, then click OK to confirm Section 2: Software setup stages - 32

33. Section 5 - Slide 33 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Setting slave parameters with mapping modification: receive PDO Click the predefined PDO you wish to activate 2 Select the PDO transmission mode (slave side) Click Add to configured PDOs 3 4 Confirm 6 Select the PDO triggering mode (master side) 5 Select mapping method V4 1 For DS401 discrete I/O slaves, PDO1s (index 1400 and 1800) are reserved for digital I/O. Analogue I/O are mapped from PDO2 onwards. Section 2: Software setup stages - 33

34. Section 5 - Slide 34 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Double click on the configured PDO 1 Add or delete mappable objects by clicking “Append Object” or “Delete mapped object” 2 Example with addition of object 2000/1. Allows channels 10 to 17 to be set to input or diagnostic mode. Setting slave parameters with mapping modification: receive PDO Section 2: Software setup stages - 34

35. Section 5 - Slide 35 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Click the predefined PDO you wish to activate 1 Select the PDO transmission mode (slave side) Click Add to configured PDOs 2 3 Confirm 5 Select the PDO triggering mode (master side) 4 Setting slave parameters with mapping modification: transmit PDO Section 2: Software setup stages - 35

36. Section 5 - Slide 36 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Double click on the configured PDO 1 Add or delete mappable objects by clicking “Append Object” or “Delete mapped object” 2 Screencam 7 Back Setting slave parameters with mapping modification: transmit PDO Example with addition of object 3000 sub-index 1, 2, 3 and 5 Allows diagnostics at the module and channel level Section 2: Software setup stages - 36

37. Section 5 - Slide 37 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Saving the Sycon configuration Back File - Save As 1 Screencam 8 Enter the name and click Save 2 Section 2: Software setup stages - 37

38. Section 5 - Slide 38 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Selecting the configuration file in PL7 and saving it Back Screencam 9 Click Select Database 1 Select the configuration file ****.co in the Hilscher/Sycon/Project directory 2 Click Open 3 If the number of input and output words is inconsistent with the Sycon configuration, an error message is generated Section 2: Software setup stages - 38

39. Section 5 - Slide 39 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Verifying exchanges in the Debug screen Test PDO-type exchanges Test SDO-type exchanges Section 2: Software setup stages - 39

40. Section 5 - Slide 40 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Diagnostic indicator lights relating to communication MS LED on LED off Flashes at 2.5 Hz Flashes at 10 Hz One short flash every second Status = Operational Status = Pre-Operational Status = Stopped Module switched off Automatic detection of data rate NS LED off LED on 2 short flashes every 1.6 seconds Flashes at 10 Hz 1 short flash every 1.2 seconds Operation OK Guarding error (slave or master) An internal error counter has reached its limit threshold CAN controller status = Bus OFF Automatic detection of data rate 3 short flashes every 2 seconds SYNC signal not received within SYNC interval The MS light corresponds to the Run CANopen LED as defined in DRP 303-3 The NS light corresponds to the Error CANopen LED as defined in DRP 303-3 Section 3: Diagnostic indicator lights - 40

41. Section 5 - Slide 41 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Interfacing with the application Implicit objects: %MW: PDO input/output variables (for ATV58 2 status words: ETAD and RFRD, and 2 command words: CMDD and LFRD) %Iy.MOD.ERR and %Iy.1.ERR: 2 input bits for module error and channel error %IWy.1.0 at %IWy.1.23: 24 input words providing diagnostic information about the status of the channel, slaves, latest error codes, etc. %QWy.1.0: 1 output word for activating the configuration and PDO exchanges and for reinitialising error tables. Section 4: Interfacing variables for PLC application - 41

42. Section 5 - Slide 42 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Interfacing with the application Explicit object: READ_STS %Chy.1 %Mwy.1.2: Input variable providing diagnostic information about the status of the master card. Section 4: Interfacing variables for PLC application - 42

43. Section 5 - Slide 43 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Interfacing with the application Communication functions available for use: WRITE_VAR and READ_VAR(ADR#y.1.SYS, ’SDO’,index:subindex, NodeID,%MWi:L,%MWk:4) For accessing SDO variables SEND_REQ(ADR#y.1.SYS, 16#9F, %MWi:L, %MWj:L, %MWk:4) For accessing link layer PDOs SEND_REQ(ADR#y.1.SYS, 16#0F, %MWi:L, %MWj:L, %MWk:4) For accessing the identification and status of the master card SEND_REQ(ADR#y.1.SYS, 16#31, %MWi:L, %MWj:L, %MWk:4) For running diagnostics on a slave or checking the version and status of the CANopen master card, or reading the message exchange error log Section 4: Interfacing variables for PLC application - 43

44. Section 5 - Slide 44 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Accessing configuration and adjustment variables (* Request to write one word *) (*Address ADR#0.1.SYS Address of variable to be written:%MD3200 Value of variable to be written:%MW3202 Report of exchange:%MW3250:4 *) IF %M103 AND NOT %MW3250:X0 THEN %MW3253:=2; WRITE_VAR(ADR#0.1.SYS,'SDO',%MD3200,20,%MW3202:1,%MW3250:4); RESET %M103; END_IF; Section 4: Interfacing variables for PLC application - 44

45. Section 5 - Slide 45 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Accessing configuration and adjustment variables (* Request to read one word *) (*Address ADR#0.1.SYS Address of variable to be read: %MD3220 Value of variable read: %MW3222 Report of exchange: %MW3260:4 *) IF %M104 AND NOT %MW3260:X0 THEN READ_VAR(ADR#0.1.SYS,'SDO',%MD3220,20,%MW3222:1,%MW3260:4); RESET %M104; END_IF; Section 4: Interfacing variables for PLC application - 45

46. Section 5 - Slide 46 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 Accessing diagnostic variables (* Updating of variable %MW0.1.2 *) IF %MW200=1 THEN READ_STS %CH0.1; END_IF; ! (* Reading of DIAGNOSTIC explicit exchange words *) (*Address ADR#0.1.SYS Type of diagnostic object: %MW3301 1 to 127 = slave diagnostics 128 = master card diagnostics 130 = message exchange error log Start address in diagnostic table:%MW3302 Length of diagnostic to be read: %MW3303 Reception table: %MW3310:20 Report of exchange: %MW3350:4*) IF %MW3300=1 AND NOT %MW3350:X0 THEN %MW3300:=0;%MW3353:=6; SEND_REQ(ADR#0.1.SYS,16#0031,%MW3301:3,%MW3310:20,%MW3350:4); END_IF; Section 4: Interfacing variables for PLC application - 46

47. Section 5 - Slide 47 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN16EP0: Receive PDO PDO 1405: Configuration of channels 10 to 17 : pin 2 on M12 connectors Reserved2000/1: Input/diag parameter settings 2000/1: Parameter settings for channels 10 to 17 in input or diagnostic mode Bit 0 = channel 10 (pin 2) M12 connector N° 0 to Bit 7 = channel 17 (pin 2) M12 connector N° 7 If = 1 Diagnostic of channel 0. If = 0 Input Section 5 : PDOs description in details - 47

48. Section 5 - Slide 48 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN16EP0: Transmit PDO PDO 1800: Inputs PDO 1805: Diagnostics 6000/2: Inputs/diag. channels 10 to 176000/1: Inputs, channels 00 to 07 %MW0: 6000/1: Inputs, channels 00 to 07 Bit 0 = chan. 00 (pin 4) M12 connector N° 0 to Bit 7 = chan. 07 (pin 4) M12 connector N° 7 If = 1 Input = 1 If = 0 Input = 0 6000/2: Inputs or diag. channels 10 to 17 Bit 0 = chan. 10 (pin 2) M12 connector N° 0 to Bit 7 = chan. 17 (pin 2) M12 connector N° 7 If = 1 Input = 1 or Diag NOK If = 0 Input = 0 or Diag OK 3000/1: General diagnostics Bit Meaning 0 Low voltage in sensor power supply 1 No sensor power supply 2 Low voltage in actuator power supply 3 No actuator power supply 4 Short-circuit on sensor 5 Short-circuit on actuator 6 Actuator warning 7 DESINA diagnostic 3000/2: Sensor short-circuit, sockets 0 to 7 Bit 0 = S.C. on sensor power sup. M12 N° 0 to Bit 7 = S.C. on sensor power sup. M12 N° 7 If = 1 Short circuit If = 0 No short circuit 3000/2: Sensor short-circuit, sockets 0 to 73000/1: General diagnostics %MW0: Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Section 1: PDOs description in details - 48

49. Section 5 - Slide 49 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN12E04SP0: Receive PDO PDO 1400: Outputs 04 to 07 Reserved6200/1: Outputs, channels 04 to 07 PDO 1405: Configuration of channels 10 to 17 : Pin 2 on M12 connectors Reserved2000/1: Input/diag parameter settings 2000/1: Parameter settings for channels 10 to 17 in input or diagnostic mode Bit 0 = channel 10 (pin 2) M12 connector N° 0 to Bit 7 = channel 17 (pin 2) M12 connector N° 7 If = 1 Diagnostic of channel 0. If = 0 Input 6200/1: Outputs, channels 04 to 07 Bit 4 = chan. 04 (pin 4) M12 connector N° 4 to Bit 7 = chan. 07 (pin 4) M12 connector N° 7 Si = 0 No command Si = 1 Command Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Section 1: PDOs description in details - 49

50. Section 5 - Slide 50 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN12E04SP0: Transmit PDO PDO 1800: Inputs 6000/2: Discrete inputs, channel 1.6000/1: Inputs, channels 00 to 03 %MW0: 6000/1: Inputs, channels 00 to 03 Bit 0 = chan. 00 (pin 4) M12 connector N° 0 to Bit 4 = chan. 03 (pin 4) M12 connector N° 7 If = 1 Input = 1 If = 0 Input = 0 6000/2: Discrete inputs or diag, channels 10 to 17 Bit 0 = chan. 10 (pin 2) M12 connector N° 0 to Bit 7 = chan. 17 (pin 2) M12 connector N° 7 If = 1 Input = 1 or Diag NOK If = 0 Input = 0 or Diag OK Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Section 1: PDOs description in details - 50

51. Section 5 - Slide 51 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 PDO 1805: Diagnostics FTB 1CN12E04SP0: Transmit PDO 3000/2: Sensor short-circuit, sockets 0 to 7 Bit 0 = S.C. on sensor power sup. M12 N° 0 to Bit 7 = S.C. on sensor power sup. M12 N° 7 If = 1 Short circuit If = 0 No short circuit 3000/3: Actuator overload chan. 04 to 07 Bit 4 = Actuator overload pin 4 M12 connector N° 4 à Bit 7 = Actuator overload pin 4 M12 connector N° 7 If = 1 Actuator overload If = 0 No actuator overload 3000/5: Actuator warning chan. 04 to 07 Bit 4 = Actuator warning pin 4 M12 connector N° 4 to Bit 7 = Actuator warning pin 4 M12 connector N °7 If = 1 Warning If = 0 No warning 3000/2: Sensor short-circuit3000/1: General diagnostics 3000/5: Actuator warning chan. 00 to 073000/3: Actuator overload chan. 00 to 07 %MW0: %MW1: Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Section 1: PDOs description in details - 51 3000/1: General diagnostics Bit Meaning 0 Low voltage in sensor power supply 1 No sensor power supply 2 Low voltage in actuator power supply 3 No actuator power supply 4 Short-circuit on sensor 5 Short-circuit on actuator 6 Actuator warning 7 DESINA diagnostic

52. Section 5 - Slide 52 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN08E08SP0: Receive PDO PDO 1400: Outputs 00 to 07 Reserved6200/1: Outputs channels 00 to 07 PDO 1405: Configuration of channels 10 to 17 : Pin 2 on M12 connectors Reserved2000/1: Input/diag. parameter settings 2000/1: Parameter settings for channels 10 to 17 in input or diagnostic mode Bit 0 = channel 10 (pin 2) M12 connector N° 0 to Bit 7 = channel 17 (pin 2) M12 connector N° 7 If = 1 Diagnostic of channel 0. If = 0 Input 6200/1: Outputs channels 00 to 07 Bit 0 = chan. 00 (pin 4) M12 connector N° 0 to Bit 7 = chan. 07 (pin 4) M12 connector N° 7 Si = 0 No command Si = 1 Command Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Section 1: PDOs description in details - 52

53. Section 5 - Slide 53 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN08E08SP0: Transmit PDO PDO 1800: Inputs 6000/1: Inputs channels 10 to 17 %MW0: 6000/1: Inputs channels 10 to 17 Bit 0 = chan. 00 (pin 4) M12 connector N° 0 to Bit 7 = chan. 07 (pin 4) M12 connector N° 7 If = 1 Input = 1 If = 0 Input = 0 Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Reserved Section 1: PDOs description in details - 53

54. Section 5 - Slide 54 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN08E08SP0: Transmit PDO PDO 1805: Diagnostics 3000/2: Sensor short-circuit3000/1: General diagnostics 3000/5: Actuator warning chan. 00 to 073000/3: Actuator overload chan. 00 to 07 %MW0: %MW1: 3000/2: Sensor short-circuit, sockets 0 to 7 Bit 0 = S.C. on sensor power sup. M12 N° 0 to Bit 7 = S.C. on sensor power sup. M12 N° 7 If = 1 Short circuit If = 0 No short circuit 3000/3: Actuator overload chan. 00 to 07 Bit 0 = Actuator overload pin 4 M12 connector N° 0 à Bit 7 = Actuator overload pin 4 M12 connector N° 7 If = 1 Actuator overload If = 0 No actuator overload 3000/5: Actuator warning chan. 00 to 07 Bit 0 = Actuator warning pin 4 M12 connector N° 0 to Bit 7 = Actuator warning pin 4 M12 connector N °7 If = 1 Warning If = 0 No warning Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Section 1: PDOs description in details - 54 3000/1: General diagnostics Bit Meaning 0 Low voltage in sensor power supply 1 No sensor power supply 2 Low voltage in actuator power supply 3 No actuator power supply 4 Short-circuit on sensor 5 Short-circuit on actuator 6 Actuator warning 7 DESINA diagnostic

55. Section 5 - Slide 55 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN16CP0: Receive PDO PDO 1400: Outputs 00 to 07 and 10 to 17 6200/2: Outputs channels 10 to 176200/1: Outputs channels 00 to 07 Bit 0 = chan. 00 (pin 4) M12 connector N° 0 to Bit 7 = chan. 07 (pin 4) M12 connector N° 7 Si = 0 No command Si = 1 Command Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 6200/2: Outputs channels 10 to 17 Bit 0 = chan. 10 (pin 2) M12 connector N° 0 to Bit 7 = chan. 17 (pin 2) M12 connector N° 7 Si = 0 No command Si = 1 Command Section 1: PDOs description in details - 55

56. Section 5 - Slide 56 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN16CP0: Receive PDO PDO 1405: Configuration of channels 2001/1: I/O param. settings, channels 00 to 072000/1: Input/diag. param., channels 10 to 17 2000/1: Parameter settings for channels 10 to 17 in input or diagnostic mode Bit 0 = channel 10 (pin 2) M12 connector N° 0 to Bit 7 = channel 17 (pin 2) M12 connector N° 7 If = 1 Diagnostic of channel 0. If = 0 Input Reserved2001/2: I/O param. settings, channels 10 to 17 %MW0: %MW1: Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 2001/1: I/O param. settings, channels 00 to 07 Bit 0 = chan. 00 (pin 4) M12 connector N° 0 to Bit 7 = chan. 07 (pin 4) M12 connector N° 7 If = 0 Input If = 1 Output 2001/2: I/O param. settings, channels 10 to 17 Bit 0 = chan. 10 (pin 2) M12 connector N° 0 to Bit 7 = chan. 17 (pin 2) M12 connector N° 7 If = 0 Input If = 1 Output Section 1: PDOs description in details - 56

57. Section 5 - Slide 57 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN16CP0: Transmit PDO PDO 1800: Inputs 6000/2: Inputs/diag, channels 10 to 17 6000/1: Inputs channels 00 to 07 %MW0: 6000/1: Inputs channels 00 to 07 Bit 0 = chan. 00 (pin 4) M12 connector N° 0 to Bit 7 = chan. 07 (pin 4) M12 connector N° 7 If = 1 Input = 1 If = 0 Input = 0 6000/2: Discrete inputs or diag, channels 10 to 17 Bit 0 = chan. 10 (pin 2) M12 connector N° 0 to Bit 7 = chan. 17 (pin 2) M12 connector N° 7 If = 1 Input = 1 or Diag NOK If = 0 Input = 0 or Diag OK Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 Section 1: PDOs description in details - 57

58. Section 5 - Slide 58 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 PDO 1805: Diagnostics 3000/2: Sensor short-circuit3000/1: General diagnostics 3000/4: Actuator overload, channels 10 to 173000/3: Actuator overload, channels 00 to 07 %MW0: %MW1: FTB 1CN16CP0: Transmit PDO 3000/6: Actuator alarm, channels 10 to 173000/5: Actuator alarm, channels 00 to 07 %MW2: Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 3000/2: Sensor short-circuit, sockets 0 to 7 Bit 0 = S.C. on sensor power sup. M12 N° 0 to Bit 7 = S.C. on sensor power sup. M12 N° 7 If = 1 Short circuit If = 0 No short circuit Section 1: PDOs description in details - 58 3000/1: General diagnostics Bit Meaning 0 Low voltage in sensor power supply 1 No sensor power supply 2 Low voltage in actuator power supply 3 No actuator power supply 4 Short-circuit on sensor 5 Short-circuit on actuator 6 Actuator warning 7 DESINA diagnostic

59. Section 5 - Slide 59 / 59 P&T - GPS - Training PhW - CANopen_FTB_soft_setup_en 01/2004 FTB 1CN16CP0: Transmit PDO 3000/3: Actuator overload chan. 00 to 07 Bit 0 = Actuator overload pin 4 M12 connector N° 0 à Bit 7 = Actuator overload pin 4 M12 connector N° 7 If = 1 Actuator overload If = 0 No actuator overload 3000/4: Actuator overload, channels 10 to 17 Bit 0 = Actuator overload pin 2 M12 connector N° 0 à Bit 7 = Actuator overload pin 2 M12 connector N° 7 If = 1 Actuator overload If = 0 No actuator overload 3000/5: Actuator warning chan. 00 to 07 Bit 0 = Actuator warning pin 4 M12 connector N° 0 to Bit 7 = Actuator warning pin 4 M12 connector N °7 If = 1 Warning If = 0 No warning 3000/6: Actuator alarm, channels 10 to 17 Bit 0 = Actuator warning pin 2 M12 connector N° 0 to Bit 7 = Actuator warning pin 2 M12 connector N °7 If = 1 Warning If = 0 No warning Channels 00 to 07 = Pin 4 Channels 10 to 17 = Pin 2 PDO 1805: Diagnostics Section 1: PDOs description in details - 59