Canopen Card Configuration: User'S Manual

CANOpen
Card Configuration
User's Manual
SIPRO S.r.l.
Viale dell'Industria, 7
37135 Verona - ITALY
Tel. +39 045 508822 - Fax +39 045 585477
http:www.sipro.vr.it - e-mail:sipro@sipro.vr.it
M0000580 v1.4
This manual is current as of the version date on the last page.
La Sipro S.r.l. reserves the right to update product specifications or performance or the
content of the manual without advance notice.
Page 2 M0000580
User's Manual Card Configuration
Card Configuration
CANOpen Card Configuration
The system consists of a numerical control Master (Siax100, Siax110, Siax150, Siax200 or
Siax300), that connects to remote digital input-output and analog output modules over CANopen
(DS301).
The cards are managed as follows:
• MCPU card.
• MCPU/AI card with 4 analog inputs [optional].
• M16DI digital input card, each with 16 inputs.
• M16DO digital output card, each with 16 static outputs.
• M16R digital output card, each with 16 relay outputs.
• M4AO analog output card, each with 4 outputs.
• M8AI analog input card, each with 8 analog inputs.
The MCPU, M16DI, M16DO, M16R, M4AO, M8AI cards are built for assembling on the DIN
bar.
On every numerical control is possible to connect maximum, distributed on one or more
Networks, based on the customer's needs:
• max 4 MCPU cards,
• max 1 MCPU/AI card (it uses a MCPU node, that became max 3 on every control),
• max 2 M4AO cards (8 analog outputs),
• max 2 M8AI cards (16 analog inputs, only with dedicated firmware, see chapter M8AI),
On every node is possible to connect maximum:

• 1 MCPU card,
• maximum 8 M16DI input modules (128 digital inputs),
• maximum 8 M16DO or M16R output modules (128 digital outputs)
• maximum 2 M4AO modules (8 analog outputs)
• maximum 1 M8AI module(8 analog inputs, only with dedicated firmware)
In every node is not possible to connect together the MCPU/AI card with the M8AI card.
Implementing an input/output Network

It is currently possible to connect up to a maximum of 4 MCPU cards to the control, addressed
from 1 to 4.
If a single MCPU is connected to the control, it must be addressed as node 1. In this node, there
will, therefore, be inputs and outputs from 1 to 128.
If you wish to mount the other MCPUs, you must connect them with a CAN Open network and
configure them correctly.
The various digital inputs/outputs on the same network are numbered as follows:
NODE 1: inputs/outputs from 1 to 128.
NODE 2: inputs/outputs from 129 to 256
NODE 3: inputs/outputs from 257 to 384
NODE 4: inputs/outputs from 385 to 512.
M0000580 Page 3
Card Configuration User's Manual
MCPU Communication Card Baud Rate Settings

Before starting the system, you must first define the system's communication speed and configure
the MCPU cards.
The communication speed (Baud Rate) is defined by the overall length of the CANOpen
connection cable from the numerical control to the last MCPU (see Table 1).
1 Mbit/s 800 kbit/s 500 kbit/s 250 kbit/s

20 m 40 m 70 m 150 m
Table 1
The following is the procedure for setting all the MCPUs of the CANOpen line:
• disconnect power from the cards.
• set the MCPU DIP switches as in Table 2.
• restore power to the cards until they initialize with the two red LEDs steady on (see Table
7 in the chapter, “CANOpen MCPU Card Alarms”).
• remove power from the cards and set the DIP switches on the MCPU as they were before
(see Table 3 in the chapter, “MCPU Card Addressing”).
Dip Switch
1 2 3 4 5 6 7 8
1Mbit/s off off off off on on on on
800Kbit/s on off off off on on on on
500Kbit/s off on off off on on on on
250Kbit/s on on off off on on on on
Table 2
Example of Baud Rate Set to 500 Kbit . With the MCPU off, set the DIP switches as follows:
bits 1, 3, 4 OFF and bits 2, 5, 6, 7, 8 ON, power the MCPU, wait several seconds and then turn
off the MCPU and set the DIPs for the addressing of the card.
Page 4 M0000580
Terminating resistor MCPU card

IMPORTANT: a jumper must be inserted on the last MCPU module of the CANOpen line
to enable the terminating resistor already mounted on the card. Figure 1 shows the position
of the jumper to insert:
JUMPER
CARD
ADDRESSING DIP
SWITCH
Figure 1
M0000580 Page 5
MCPU Card Addressing

DIPs from 1 to 7 address the card (node).
DIP 8 must only be raised in the case that you want to change Baud Rate.
The addressing of each CANopen network is independent of the other networks so, for example,
2 MCPU cards mounted on 2 networks will each be addressed as MCPU card 1.
With dedicated firmware is possible to connect until 8 nodes.
standard firmware dedicated firmware

Mcpu n. 1 2 3 4 5 6 7 8
Dip-Switch 1 on off on off on off on off
Dip-Switch 2 off on on off off on on off
Dip-Switch 3 off off off on on on on off
Dip-Switch 4 off off off off off off off on
Dip-Switch 5 off off off off off off off off
Table 3
Page 6 M0000580
MCPU Card Initialization

The first time that you power-on the MCPU card, with the various inputs and outputs connected
to it, it must be “initialized,” i.e., one must follow a procedure to configure it based on the
number and type of cards on the node.
This operation needs to be repeated for each MCPU in the system and involves:
• disconnecting the power and assembling all the cards in the node.
setting the DIP switches of the MCPU as follows
MCPU Card DIP Switch

configuration Type of Card 8 7 6 5 4 3 2 1
1 Only digital I/O on on off off off off off off
2 I/O + analog inputs on on off off off on off off
3 I/O + 1 M4AO on on off off off off off on
4 I/O + analog inputs + 1 M4AO on on off off off on off on
5 I/O + 2 M4AO on on off off off off on off
6 I/O + analog inputs + 2 M4AO on on off off off on on off
7 I/O+ analog inputs on M8AI on on off off on off off off
8 I/O+ analog inputs on M8AI on on off off on off off on
+1 M4AO
9 I/O+ analog inputs on M8AI on on off off on off on off
+2 M4AO
• restore power to the cards until, at the end the led will show the following indications(see
pag.17 for the meaning):
Configuration MCPU OK
Configuration MCPU failure
or
of the two LEDs

alternately flash
The indication given by the led during the configuration has to be considered after 2 second after
the module’s switching on.
• remove power from the cards and set the DIP switches of the MCPU based on the number
assigned (see Table 3 in the chapter “MCPU Card Addressing”).
By default, the MCPU is set for managing only digital I/O.
M0000580 Page 7
Management of the M16DI boards’ data

You can choose to send to the numerical control:
• only the data coming from the M16DI boards which are effectively installed:
By setting the dip 1 to OFF (in addition to dip 6-7-8 which have been set to ON) during the start-
up.
In this way the data which will not be read will be forced and set to 0.
• the data of all the M16DI which have been attributed to the node:
By setting the dip 1 to ON (in addition to dip 6-7-8) during the start-up. In this way you will send
the data of the boards which have not been installed, too. This choice is useful only if the
machine’s application manages the digital input of the not installed M16DI.
The configuration of the numerical controls with firmware >5.83 is indifferent because the
numerical control will set to 0 all the digital input which have not been enabled by the
parameters.
The management is important in case of replacement of the MCPU and when the firmware of the
numerical control is <=5.83: the digital input of the not installed boards are actually floating and
there could be malfunctioning/fails if the application manages them. In this case we suggest to
execute the start-up setting the dip 1-6-7-8 to ON, as to force to 0 the not installed input.
The start-up process must be executed as follows

• remove the tension/voltage and install all the boards of the node.
• set the dip-switch of the MCPU up, following these instructions:
MCPU module’s dip switch

8 7 6 5 4 3 2 1
Management of the messages coming from digital input on on on off off off off On/off
boards
• give voltage to the boards, as to make the MCPU start-up, until its two leds switch on and
stay lit (see chapter MCPU boards’ CAN OPEN Alarms)
• remove voltage to the boards and set the dip-switch of the MCPU up, depending on the
assigned number (see chapter MCPU boards Addressing)
Page 8 M0000580
Addressing M16DI, M16DO and M16R Cards

There are three DIP switches on input and output cards for addressing (1÷8).
It is possible to connect up to 8 input and 8 output cards to each MCPU. The various cards are
addressed by setting the three DIP switches on the printed side of the card, but accessible from
the front. As with the addressing of the MCPUs, in this case also the DIP switches have the
meaning of a 3-bit binary number with the difference that 0 means the first card and 7 means the
eighth card (see Table 4).
Dip-Switch Addressing M16DI

Address of M16DI
Digital Input Cards M16di n. 1 2 3 4 5 6 7 8
Dip-Switch 1 off on off on off on off on
Dip-Switch 2 off off on on off off on on
Dip-Switch 3 off off off off on on on on
Address of M16DO Dip-Switch Addressing M16DO-M16R

– M16R Digital
Output Cards M16do n. 1 2 3 4 5 6 7 8
Table 4
There must not be gaps in the addressing of the cards of the same node.
For example, three cards are connected to an MCPU addressed as follows:
cards 1, 2 and 4, the CPU will only recognize cards 1 and 2 as present.
Note: The addresses of the input modules (M16DI) are independent of the output modules
(M16DO/M16R) so, for example, if a node has 3 M16DIs, 2 M16DOs and 2 M16Rs, they must
be set with the following addresses:
• 1st input module (M16DI) OFF OFF OFF
• 2nd input module (M16DI) ON OFF OFF
• 3rd input module (M16DI) OFF ON OFF
• 1st output module (M16DO or M16R) OFF OFF OFF
• 2nd output module (M16DO or M16R) ON OFF OFF
• 3rd output module (M16DO or M16R) OFF ON OFF
• 4th output module (M16DO or M16R) ON ON OFF
M0000580 Page 9
Digital Inputs
The following settings are not valid for the Siax M8-32 numerical control: for this
control see the Siax M8-32 Programming manual M0000601, chapter Parameters,
NOTE contained in the Siax M32 cd.
Some inputs are prepared for specific axis control functions.

The inputs shown in the table are dedicated for use as the maximum and minimum limit switches
of the axes (normally closed). In any case, inputs relative to limit switches are used for a reset
even if they were disabled by the specific parameter: the maximum or minimum limit switch is
used based on what is set in the Zero direction parameter. So, the user may program a limit
switch that is not involved in a reset. If, on the other hand, you perform a reset on the spot (Zero
direction = 2, 3, 4, or 5), both the limit switches are available to the user.
Name Input
Maximum LS axis 1 6
Minimum LS axis 1 7
Maximum LS axis 2 8
Minimum LS axis 2 9
Maximum LS axis 3 10
Minimum LS axis 3 11
Maximum LS axis 4 14
Minimum LS axis 4 15
The control firmware automatically manages these inputs, generating an emergency if they are
found at zero, providing the relative alarm message and only allowing the opposite manual
movement.
If you wish to manage them in a personalized way, you must disable this management
with the Disable Limit Switch Inputs parameter (see “Parameters” chapter in the
Installation manual).
When SIPRO ships an SIAX, its memory has a standard PLC program with inputs programmed
as follows:
Input Name Activ. Description
1 Start ON Enables Automatic execution of Reset and axis

movement, in general.
2 Stop ON Stops the current execution. In Automatic and Reset,

when the [STOP] key is pressed, the axis stops and awaits
further commands: when [Start] is pressed, it resumes
execution from the point where it was interrupted; when
[MENU] is pressed, the function in progress is
interrupted.
Page 10 M0000580
Input Name Activ. Description
3 Jog+ ON Forces the axis to move forward during Manual

operation.
4 Jog- ON Forces the axis to move backward during Manual

operation.
5 Emergency OFF Must always be ON during normal operation. In the case

of emergency, the absence of this input causes the
instantaneous block of all movement and it is not possible
to perform any operation until the cause of the emergency
is removed. It is normally ON and, if it goes OFF, triggers
an emergency.
6 and 7 Limit Switch OFF Represents the safety limits, after which any movement is
8 and 9 maximum/mini blocked. Moreover, they are the references for the axis
10 and mum zero during the Reset Cycle (see the Zero direction
11 parameter).
14 and The limit switches can be disabled with a
15 parameter (see the “Parameters” chapter in the
Installation manual) and, not generating an
emergency, they can be used for other purposes.
Digital Outputs
All the outputs can be programmed from the PLC or NC, as you wish. Output 1 ENABLING AXES,
can be programmed differently if the setting of the Type of Emergency parameter is changed (see
Installation manual).
When SIPRO ships an SIAX, its memory has a standard PLC program with outputs programmed
as follows:
Outp Name Activation duration Description
ut
1 Enabling Axes Always, except in Must be used to enable the drivers or inverters of
Emergency and Test the axes managed.
M0000580 Page 11
Addressing M4AO Cards

An M4AO card can manage up to 4 analog outputs.
A maximum of 2 M4AO cards can be connected to each node.
The cards are addressed by setting the three DIP switches, accessible from the front of the card,
according to Table 5:
Dip-Switch Addressing MCPU
1° TYPE : 1 M4AO IN THE NODE 2° TYPE : 2 M4AO IN THE NODE
SET AS CARD 8 SET AS CARD 7 - 8
M4AO n. 8 M4AO n. 7 8
Dip-Switch 1 on Dip-Switch 1 off on
Dip-Switch 2 on Dip-Switch 2 on on
Dip-Switch 3 on Dip-Switch 3 on on
Table 5
It is important to note that the M4AO cards are addressed in the following manner in each node
(independently of the number of M16DI, M16DO and M16R cards):
with a single M4AO card mounted, this will be set as card 8.
with two M4AO cards mounted, the one closest to the MCPU will be set as card 7 and
the second will be set as card 8.
Note: The number of digital output cards that can be connected to a node is reduced by
each M4AO card inserted (for example, if a node has one M4AO card, a maximum of 7
M16DO/M16R digital output cards can be connected, while the other nodes will have the
standard configuration; with 2 M4AO cards, 6 M16DO/M16R cards can be mounted).
Note: Numbering the analog outputs on the M4AO cards:

• if the numerical control has 4 analog outputs, the outputs on the first M4AO will be
numbered 5-6-7-8, the ones on the second M4AO will be numbered as 9-10-11-12.
• if the numerical control has 5 analog outputs, the outputs on the first M4AO will be
numbered as 6-7-8-9, the ones on the second M4AO will be numbered 10-11-12-13, ecc.
Page 12 M0000580
Configuration of the Output Mode of M4AO Card

By default, M4AO cards are set with the output in differential mode; to set it in common mode,
you must change the position of the jumper, as in figure 2, consulting Table 6.
JP8 1 2 3 JP6 1 2 3 JP4 1 2 3
JP2 1 2 3
Figure 2
JP3 JP1
JP7
JP5
out1 out2 out3 out4

JP1 JP2 JP3 JP4 JP5 JP6 JP7 JP8
Common Mode open 2-3 open 2-3 open 2-3 open 2-3
Differential Mode closed 1-2 closed 1-2 closed 1-2 closed 1-2
Table 6
The four analog outputs can be set independently from each other, by taking advantage of the fact
that each channel and its own jumper setting.
JP1, JP2 have to do with channel 1
M0000580 Page 13
Addressing M8AI cards

The M8AI card can currently be combined only with numeric control with dedicated
firmware.
In every CANOpen node the numerical control manages the analog inputs coming whether from
the MCPU/AI card or from the M8AI card, but not the both of them together on the same node.
The M8AI card can manage up to 8 analog inputs.
The maximum configuration is:

on every node (MCPU), up to 8 analog inputs equal to 1 M8AI card.
on all CANOpen Networks of the numerical control, up to 16 analog inputs equal to 2
M8AI cards (on 2 different nodes), or 1 M8AI + max 2 MCPU/AI, or max 4 MCPU/AI .
The addressing of the cards takes place through the setting of three dip switch, accessible from
the card frontal, according to table 6:
Dip-Switch di indirizzamento della scheda
settare come scheda n.8
M8AI n. 1
Dip-Switch 1 on
Dip-Switch 2 on
Dip-Switch 3 on
Table 6
It is important to note that, in every node, the M8AI card will be addressed as card n°8
(independent from the number of M16DI / M16DO / M16R) :
N.B. Every M8AI inserted in the node results in the reduction of a card of digital input that
can be connected to this node (E.g. if in a node I connect a M8AI, I will be able to install on
this node 7 M16DI, while the other nodes will have the standard configuration).
Numbering of the analogic inputs on the M8AI cards:

The analogic inputs of the M8AI card are identified by the label COP16, as you can see in Test analog
inputs.
The sequence with which are numbered the analog inputs on the numerical control considers first the
ones on the control itself (if present), follow the CANOpen expansions on MCPU/AI and then the
CANOpen expansions on M8AI, in order starting with the first NODE of the first Network.
The control has available 16 analog inputs on CANOpen, and at every card that encounters will be
assigned a part of these inputs, in the following way:
1. the numbers to assign to the analog inputs of the first card will be those to it dedicated.
2. the numbers to assign to the analog inputs of the second card will be those to it
dedicated, but shifted by the number of inputs occupied by the first card.
Page 14 M0000580
3. the numbers to assign to the analog inputs of the third card will be those to it dedicated,
but shifted by the number of inputs occupied by the first and the second card, ecc.
The analog inputs dedicated to MCPU/AI(COP10), are numbered from 5 ÷ 20:
5 ÷8 analog inputs dedicated to the first MCPU/AI
9 ÷12 analog inputs dedicated to the second MCPU/AI
13 ÷16 analog inputs dedicated to the third MCPU/AI
17 ÷20 analog inputs dedicated to the fourth MCPU/AI
The analog inputs dedicated to M8AI(COP16), are numbered from 21 ÷ 36:

21 ÷ 28 analog inputs dedicated to the first M8AI
29 ÷ 36 analog inputs dedicated to the second M8AI
So if a system provides MCPU/AI mixed with M8AI, the number range will be 5÷20 for the MCPU/AI
and 21÷36 for the M8AI, but it doesn’t mean that the single cards will have the exact number described
above, (see example 2).
Example 1: a control has 4 analogic inputs on the base, a MCPU/AI installed on Network1 node 1 and a
M8AI installed on Network 2 node 1. The analog inputs on the base will be numbered 1-2-3-4, the ones
on the MCPU/AI will be 5-6-7-8 and the ones on the M8AI will be numbered from 21÷28.
Example 2: a control has on Network 1, a MCPU/AI installed on node 1, a M8AI installed on node 2 and
a MCPU/AI installed on node 3. The analog inputs on the first MCPU/AI will be numbered 5-6-7-8, the
ones on the M8AI will be numbered from 25÷32 and the ones on the second MCPU/AI will be numbered
17-18-19-20.
First card Third card

Analogic input
dedicated to
MCPU/AI
Second card
Analogic input
dedicated to
M8AI
As you can see, the numbering of the cards is not as expected, because the control assignes the analog
inputs to groups of 4 sequences and so:
the first group of 4 will have the numbering 5÷8 because the first card connected is a MCPU/AI,
the second and third groups of 4 will have the numbering 25÷32 because the second card
connected is a M8AI, whose numbering starts with 21, but the first 4 are occupied by the first
card,
the fourth group of 4 will have the numbering 17÷20 because the third card connected is a
MCPU/AI whose dedicated inputs are from 5÷20, but the first 12 inputs are occupied by the
previously described cards.
M0000580 Page 15
Configuration of the Output Voltage of M8AI Card

The M8AI cards are set by default at 10V and to set them at 5V you have to change the position
of the jumpers (see figure 3) following table 7.
Figure 3
JP2 A JP1 A
B B
C C
D D
Table 7
Jumper 5V 10V
Input 1 JP1A close open
Input 2 JP1B close open
Input 3 JP1C close open
Input 4 JP1D close open
Input 5 JP2A close open
Input 6 JP2B close open
Input 7 JP2C close open
Input 8 JP2D close open
The 8 analog inputs can be set independently one from the other, taking advantage of the fact that
every channel has its own setting jumpers.
Page 16 M0000580
MCPU Card CANopen Leds

Flashing speed
Led off
Led slow (2sec)
Led speed (1sec)
Led on
For up to firmware version 5.3 MCPU including

Ld1 (Green) Ld2 (Red)
Power off Card
I/O Card broken
Node in preoperational
Initialization in run
Error MCPU setting
OK Card
Node guarding error
Baud rate Mcpu Setting
Mcpu Initialization for
Card configuration
For MCPU firmware version 5.4

Ld1 (Green) Ld2 (Red)
Power off Card
I/O Card broken
Node in preoperational
Initialization in run
Error MCPU address
OK Card
Node guarding error
Mcpu Initialization for
Card configuration
Node in preoperational: means that the node is node recognized;

Node guarding error: means that the node setting is wrong;
to resolve these two problems you must check:
• The addressing of the MCPU
• The Baud Rate setting must match the length of the cable.
• That the jumper has been inserted to enable the terminating resistor.
M0000580 Page 17
CANopen Alarms User's Manual
CANopen Alarms on the NC

Below, we list the alarms that appear on the NC or PC (only in the SIAX Play interface
program), in the event of an alarm on the CANopen network. The code that is written to VN 334
is displayed under the alarm.
Alarm Description
CAN Controller
Error Error caused by an incorrect network configuration or a hardware
VN334: 6 malfunction on the NC. The possible causes are:
Bus Off: communication error.
Warning Error: communication error pre-alarm.
Wake Up: temporary communication error signal (Sleep Mode).
Message receiving/transmission buffer full (the probable cause is that
the network is over-dimensioned, i.e., too many nodes have been
inserted).
Life Time Node No communication between the NC and the MCPU cards.
Guarding Error The possible causes are:
VN334: 7 No termination of the last network node (see the “Terminating
Resistor” chapter).
Error setting the node addresses (such as two nodes with the same
address).
CANopen cable broken.
Just the MCPU card is off or reset.
Over-dimensioning of the network (i.e., too many nodes inserted).
Baud Rate too high for the real length of the CANopen line (see the
“MCPU Communication Card Baud Rate Settings” chapter).
The display of the NC or on the PC (from the SIAX Play program) shows the
network number and node that generated the error.
When this error appears, the number of the network on which the error
occurred (starting from 1) is written to VN414 and the number of the node
that generated the error (see the M0000458 Programming Manual) is written
to VN335.
Note: This error is also displayed by the LEDs of the MCPU card (see the
chapter, “MCPU Card: Meaning of LEDs,” Node Guarding Error).
Page 18 M0000580
User's Manual CANopen Alarms
Alarm Description
CANopen Node Error generated by the MCPU card when a failure occurs on a digital or
Emergency Error analog I/O card.
VN334: 8 This error is only reported when the system is running since a card failure at
power-on would have generated a CANopen Parameters Error.
network number and node that generated the error .
When this error appears, the number of the network on which the error
occurred is written to VN414 and the number of the node that generated the
error (see the M0000458 Programming Manual) is written to VN335.
chapter, “MCPU Card: Meaning of LEDs,” I/O Card Failure).
Start with CANopen Error due to an attempt to perform a program start or axis movement when
emergency error there is a CANopen error (such as a start after the arrival of a Life Time Node
VN334: 9 Guarding error).
No CANopen node Error due to a failure to recognize one or more nodes at the power-on of the
found error controller. The possible causes are:
VN334: 10 Wrong configuration of CANopen network parameters.
Missing or wrong connection of the CANopen network.
Missing termination on the last network node.
Power-on of the MCPU cards delayed with respect to the NC.
Wrong MCPU card addressing
network number and node that generated the error.
When this error appears the number of the network on which the error
occurred is written to VN414 and the number of the node that generated the
error (only the first node not found is indicated) (see M0000458
Programming Manual) is written to VN335.
chapter, “MCPU Card: Meaning of the LEDs,” Node in Preoperational, [these
LEDs normally flash for several seconds on power-on but if the alarm is
active they continue to flash]).
M0000580 Page 19
CANopen Alarms User's Manual
Alarm Description
Open Can CANopen parameters error due to a lack of coherence between the
Parameters error parameters set and the effective setting of the cards (or a card failure).
VN334: 11
The possible causes are:
Wrong configuration of CANopen network parameters.
Wrong addressing or I/O card failure.
On power-on, the NC verifies the presence of the digital inputs, digital
outputs, analog outputs and analog inputs, in sequence:
it stops and signals an error at the first card not present or failed.
The NC displays the type and number of the card that generated the error.
When this error appears, the number of the node that generated the error is
written to VN414 and the card type code that generated the error is written to
VN335:
Digital inputs = code 0
Digital outputs = code 1
Analog inputs = code 2
Analog outputs = code 3
Page 20 M0000580
User's Manual Setting Parameters
Setting Parameters from a PC

To configure the Numerical Control based on the drivers present on the machine, you can use the
Siax ED program from a PC or directly from the NC (Siax control or palm computer), by
changing the CANopen and machine parameters menu.
Sipro's Siax ED program displays the window shown in Figure 3, which represents the
configuration of the inputs and outputs connected to the MCPU cards, divided by CANopen lines
and nodes, and the Baud Rate setting; Figure 4, on the other hand, is used to set the number of
inputs and outputs enabled (see explanations in the next chapter).
Figure 3
Network 1: Node 1: In this window, enter the number of

select the CANopen Select Node 1 digital and analog inputs and outputs
line (network 1) that the controller expects to see
connected;
Note: the hardware is configured
directly on the various cards.
M0000580 Page 21
Setting Parameters User's Manual
Figure 4
Number groups of digital inputs enabled.

Number groups of digital outputs enabled.
To set the number of groups of input / output to see the explanation in machine parameters p.29-30.
Page 22 M0000580
Setting Parameters from SIAX

To configure the numeric control on the basis of the drivers present on the machine, you can use
the Siax ED program from a PC or directly from the NC (Numerical Control, Siax or palm
computer), by modifying the CANopen Parameters and Machine Parameters menu.
When the NC with display is powered-on, if there are no active emergencies, this screen is
displayed:
MAIN MENU
1 - Axis Zeroing
2 - Manual Movement
3 - Test Menu
4 – Program Management
5 – Machine Parameters
6 – Automatic Cycle
7 – Tool Parameters
8 – Origins
9 – CANopen Parameters
It contains the Main Menu, i.e., the functions to start from to begin working. To select one of
these functions, just type the corresponding number and press [ENTER].
Once all the parameters are entered or only those of interest are modified, you need to save
them with the [STORE] (save and exit) key. If, instead, you want to exit without saving, use
the [MENU] key.
M0000580 Page 23
CANopen Parameters
Entering and modifying CANopen parameters (Menu 9 -CANopen Parameters) requires a

Password that consists of the following numbers: 4 - 5 - 6 - 2 - 5 – 8 .
The screen that appears is shown here below:
PARAMETERS CANOPEN NETWORK NO. 1

Network Status: ACTIVE
Network Type: IO
Baud Rate: 1M_Byte
Manufacturer: SIPRO
Number Nodes: 1
Number Digital In Cards 1: 1
Number Digital Out Cards 1: 1
Number Analog 1 Inputs: 0
Number Analog 1 Out Cards: 0
Node Status 1: ACTIVE
For each network (up to a maximum of 4), it is possible to set the relative parameters by typing
the desired value and pressing [ENTER] to confirm.
The parameters of each network are divided on several lines and displaying them requires using
the [ ] and [ ] keys, while moving to the next page requires using the [Page] key.
Note: : The parameters displayed in this box after Manufacturer, only appear if the
parameter Network Type = IO (in fact, if Network Type = Driver or HMI, parameters
relative to these two types of functioning are displayed).
Page 24 M0000580
PARAMETERS CANOPEN NETWORK NO. 1
Parameter Description
Network Status Change the network setting from ACTIVE to DISABLED with the [+/-] key
DEFAULT: ACTIVE and confirm with the [ENTER] key. In this way, it is possible to deactivate a
network.
Network Type Indicates the type of equipment connected to the network:

DEFAULT: IO IO = digital and/or analog inputs and outputs are connected on the
network (the parameter MANUFACTURER is set to SIPRO or PHOENIX
C).
DRIVER = drivers are connected on the network (the parameter
MANUFACTURER is set to DANAHER).
HMI = not available (future Human Interface development).
It is possible to modify the value with the [+/-] key and confirm with the
[ENTER] key.
Baud Rate Indicates the transmission speed of the CANopen network, see the chapter,
DEFAULT: 1M_Byte “MCPU Card Baud Rate Communication Settings”.
[ENTER] key.
Manufacturer Indicates the type of tool (the name of the company) that is trying to talk
DEFAULT: SIPRO with the NC over the CANopen network.
SIPRO = Sipro MCPU modules.
PHOENIX C = Phoenix modules
DANAHER = Danaher drivers
[ENTER] key.
M0000580 Page 25
PARAMETERS AFTER Manufacturer WITH Network Type: IO
Number Nodes Indicates the number of nodes that can be connected to the network (each
DEFAULT: 1 MCPU card is a node).
MINIMUM: 0
MAXIMUM: 4
Number Digital Indicates the number of digital input cards connected on node 1.
In Cards 1
DEFAULT: 1 Note: If you have also the analog inputs M8AI cards see the chapter
MINIMUM: 0 “Addressing M8AI cards”, because each anological input card added
MAXIMUM: 8 involves the reduction of an digital input card
Number Digital Out Indicates the number of digital output cards connected on node 1.
Cards 1 Note: In the case where there are also M4AO analog output cards, see the
DEFAULT: 1 chapter, “Addressing M4AO Cards” because each card of analog outputs
MINIMUM: 0 added reduces the number of digital output cards by one.
MAXIMUM: 8
Number Analog Indicates the number of analog inputs used on node 1 (present on the
Inputs 1 MCPU-AI card).
DEFAULT: 0 (the maximum number get to be 8 in the case of M8AI cards, only on
MINIMUM: 0 dedicated firmware)
MAXIMUM: 4
Number Analog Out Indicates the number of analog output cards connected on node 1.
Cards 1
DEFAULT: 0
MINIMUM: 0
MAXIMUM: 2
Node Status 1 Change the setting of the node from ACTIVE to DISABLED with the [+/-
DEFAULT: ACTIVE ] key and confirm with the [ENTER] key. In this way, it is possible to
disable a node while leaving the sequence of nodes on the network
unchanged.
Page 26 M0000580
Number Digital Same as the Number Digital In Cards 1 parameter, but referring to node
In Cards 2 2.
Number Digital Out Same as the Number Digital Out Cards 1 parameter, but referring to node
Cards 2 2.
Number Analog Same as the Number Analog Inputs 1 parameter, but referring to node 2.
Inputs 2
Number Analog Out Same as the Number Analog Out Cards 1 parameter, but referring to
Cards 2 node 2.
Node Status 2 Same as the Node Status 1 parameter, but referring to node 2.
In Cards 3 3.
Cards 3 3.
Inputs 3
Cards 3 node 3.
In Cards 4 4.
M0000580 Page 27
Cards 4 4.
Inputs 4
Cards 4 node 4.
Page 28 M0000580
Machine Parameters
Entering and modifying Machine Parameters (Menu 5) requires a Password consisting of the
following numbers: 4 - 5 - 6 - 2 - 5 - 8, then, with the [PAGE] key we go to the Machine
Parameters page where we configure the number of digital inputs and outputs.
Move with the [ ] and [ ] keys until the screen below is displayed:
MACHINE PARAMETERS
PLC COM: 2
Baud Rate COM1: ------
Baud Rate COM2: ------
Prog. In RAM: 0
Num. Input groups enabled: 1
Num. Output groups enabled: 1
Type of Emergency: 0
Num. Input Groups Defines the number of digital input groups (M16DI cards), connected with
enabled: CANopen, enabled to be displayed (their status) during the Digital Inputs
DEFAULT: 1 Test. It requires setting the number of inputs connected on the last MCPU,
MINIMUM: 0 plus the 8 groups of inputs assigned to each preceding MCPU, or calculating
MAXIMUM: 32 with the formula
Num. Input Groups enabled: = 8 x (number MCPUs - 1) + groups of
inputs last MCPU
Example:
First MCPU: 3 M16DIs
Second MCPU: 4 M16DIs
Third MCPU: 2 M16DIs
Num. Input Groups enabled: 18
Given the sum of: 8 M16DIs (1st MCPU) + 8 M16DIs (2nd MCPU) + 2
M16DIs (3rd MCPU).
M0000580 Page 29
Num. Output Defines the number of digital output groups (M16DO or M16R cards),
Groups enabled: connected with CANopen, enabled to be displayed (their status) during the
DEFAULT: 1 Digital Outputs Test. Any M4AO cards mounted in the node are not taken
MINIMUM: 0 into account.
MAXIMUM: 32 It requires setting the number of outputs connected on the last MCPU, plus
the 8 groups of outputs assigned to each preceding MCPU, or calculating
with the formula
Num. Output Groups enabled: = 8 x (number MCPUs - 1) + groups of
outputs last MCPU
Example:
First MCPU: 3 M16DOs or M16Rs (and 1 M4AO card)
Second MCPU: 4 M16DOs or M16Rs (and 2 M4AO cards)
Third MCPU: 2 M16DOs or M16Rs (and 1 M4AO card)
Num. Output Groups enabled: 18
Given the sum of: = 8 M16DOs or M16Rs (1st MCPU) + 8 M16DOs or
M16Rs (2nd MCPU) + 2 M16DOs or M16Rs (3rd MCPU)
Page 30 M0000580
User's Manual Connection Diagrams
Connection Diagrams
Connection Diagram Example
M0000580 Page 31
Connection Diagrams User's Manual
MCPU Card Connection

The MCPU card must be powered before, or simultaneously with, the NC or it
won't be recognized.
Power 12÷18Vac Power 24Vdc
A glass, 1.6 A size 5x20 protection fuse is

mounted inside the MCPU card.
EXAMPLE:CONNECTION BETWEEN SIAX TO MCPU CARD
Inside the MCPU card is installed a protection CARD DEPTH 114 mm

fuse in glass of 1,6A size 5x20 . SUPPORT DIN MONTING
Attention Use twisted and shielded cable as follows:
2
network length: 0÷20 meters shielded cable 2x2x0.25 mm
2
20÷100 meters shielded cable 2x2x0.34 mm
2
Use metal, or metalized plastic, connector covers on both the Numerical Control and MCPU module sides.
Page 32 M0000580
Connection of MCPU Card with Analog Inputs

The MCPU card must be powered before, or simultaneously with, the NC or it
won't be recognized.
OPTIONAL
PROOF 114mm
SUPPORT
CARDDIN MOUNING
DEPTH 114 mm
SUPPORT DIN MONTING
EXAMPLE:CONNECTION BETWEEN SIAX TO MCPU CARD
ANALOG INPUTS:
RANGE: 0÷10V
RESOLUTION: 10 bit
Input resistance: 100K
Attention Use twisted and shielded cable as follows:

2
network length: 0÷20 meters shielded cable 2x2x0.25 mm
2
2
Use metal, or metalized plastic, connector covers on both the Numerical
Control and MCPU module sides.
M0000580 Page 33
Connection of M16DI Card
Dip-Switch Addressing card

M16di n. 1 2 3 4 5 6 7 8
CARD 114mm
CARD PROOF DEPTH 114 mm
SUPPORT
SUPPORT DIN MONTING
DIN MOUNTING
16 OPTOISOLATED INPUTS
NOMINAL VALUE: 24Vdc (+15÷+30V)

INPUT CURRENT: 10mA (at 24V)
The SEL led is ON when the card is selected: on the M16DI is always ON because the inputs are
always controlled (checked).
Page 34 M0000580
Connection of M16DO Card
Dip-Switch Addressing card

M16do/M16R n. 1 2 3 4 5 6 7 8
CARD
CARD DEPTH
PROOF 114
mm
114mm 16 STATIC OUTPUTS
SUPPORT DIN MONTING internally short circuit protection
SUPPORT DIN MOUNTING
OUTPUTS VOLTAGE: PNP – 24Vdc
OUTPUTS CURRENT: 2A for single output
1,5A with all outputs ON
The SEL led is ON when the card is selected: on the M16DO is ON only when an output changes the
state.
M0000580 Page 35
Connection of M16R Card
Dip-Switch di indirizzamento della scheda

M16do/M16R n. 1 2 3 4 5 6 7 8
16 RELAIS OUTPUTS
ONLY NORMALLY OPEN CONTACT
CARDPROOF
CARD DEPTH 114 mm
114mm OUTPUT CURRENT: AC 10A - 110V(AC1)
SUPPORT
SUPPORTDIN MONTING
DIN MOUNTING DC 10A – 30V(DC1)
The SEL led is ON when the card is selected: on the Note: MINIMUM SWITCHABLE CHARGE OF
M16R is ON only an output changes the state. EACH CONTACT: 300 mW (5 V/5 mA)
Page 36 M0000580
Connection of M4AO Card

The M4AO card must be powered after, or simultaneously with, the MCPU card.
Dip-Switch Addressing MCPU
1° TYPE : 1 M4AO IN THE NODE 2° TYPE : 2 M4AO IN THE NODE
SET AS CARD 8 SET AS CARD 7 - 8
M4AO n. 8 M4AO n. 7 8 ANALOG OUTPUTS

Dip-Switch 1 on Dip-Switch 1 off on
Dip-Switch 2 on Dip-Switch 2 on on ANALOG RESOLUTION:12bit / ± 10V
Dip-Switch 3 on Dip-Switch 3 on on LOAD-RESISTANCE: min 10KU
CARD
CARD DEPTH
PROOF 114 mm
114mm
SUPPORT DIN MONTING
SUPPORT DIN MOUNTING
The SEL led is ON when the card is selected: on the M4AO is ON only when an analog output is
piloted.
M0000580 Page 37
Connection of M8AI Card

ATTENTION: SUPPLY THE POWER TO THE M8AI CARD
AFTER OR CONTEMPORANEOUSLY SUPPLIED THE
POWER TO THE MCPU CARD
ANALOG INPUT 1
ANALOG INPUT 2
ANALOG INPUT 3
ANALOG INPUT 4
SCREEN
ANALOG INPUT 5
ANALOG INPUT 6
ANALOG INPUT 7
ANALOG INPUT 8
SCREEN
Addressing
Dip-Switch Dip-Switch ofdella
di indirizzamento the scheda
card
Set as come
settare card number 8
scheda n.8
M8AI n. 1
Dip-Switch 1 on ANALOG INPUTS
Dip-Switch 2 on RANGE: 0÷5V/0÷10V seted from the
Dip-Switch 3 on jumper
ANALOG RESOLUTION: 16 bit
PROFONDITA` SCHEDA
CARD DEPTH 114114mm
mm INPUT IMPEDANCE: 1MU
SUPPORTSCHEDA
MONTAGGIO DIN MONTING
SU BARRA DIN
The SEL led is ON when the card is selected: on the M8AI is always ON because the inputs are
always controlled (checked).
Page 38 M0000580
User's Manual Index
Index
Card Configuration 3
CANOpen Card Configuration .............................................................................................. 3
Implementing an input/output Network................................................................................ 3
MCPU Communication Card Baud Rate Settings................................................................ 4
Terminating resistor MCPU card........................................................................................... 5
MCPU Card Addressing ......................................................................................................... 6
MCPU Card Initialization....................................................................................................... 7
Management of the M16DI boards’ data............................................................................... 8
Addressing M16DI, M16DO and M16R Cards..................................................................... 9
Addressing M4AO Cards ...................................................................................................... 12
Configuration of the Output Mode of M4AO Card ........................................................... 13
Addressing M8AI cards......................................................................................................... 14
Configuration of the Output Voltage of M8AI Card.......................................................... 16
MCPU Card CANopen Leds................................................................................................. 17
CANopen Alarms on the NC................................................................................................. 18
Setting Parameters from a PC .............................................................................................. 21
Setting Parameters from SIAX ............................................................................................. 23
CANopen Parameters ........................................................................................................... 24
Machine Parameters.............................................................................................................. 29
Connection Diagrams 31
Connection Diagram Example.............................................................................................. 31
MCPU Card Connection ....................................................................................................... 32
Connection of MCPU Card with Analog Inputs................................................................. 33
Connection of M16DI Card................................................................................................... 34
Connection of M16DO Card ................................................................................................. 34
Connection of M16DO Card ................................................................................................. 35
Connection of M16R Card .................................................................................................... 35
Connection of M16R Card .................................................................................................... 36
Connection of M4AO Card ................................................................................................... 36
Connection of M4AO Card ................................................................................................... 37
Connection of M8AI Card..................................................................................................... 38
Revisions ................................................................................................................................. 40
M0000580 Page 39
Revisions
Version Date Changes
1.0 14/12/06 Firts version
1.1 09/01/09 Addend M8AI card.
1.2 26/04/10 Various modifications.
1.3 26/09/11 Add chapter “Management of the M16DI boards’ data”,
modified display leds MCPU fw>=5.4.
1.4 16/04/12 Various modifications.
Copy conforms to the original

Signature ________________
Manual:................................................................................................CANOpen
Code:................................................................................................... M0000580
Version:............................................................................................................1.4
Total no. pages:.................................................................................................40
Drafted __________________
MECENERO CRESSONI
Approved___________________
Date ____________________
16/04/12 16/04/12
Date ______________________

Canopen Card Configuration: User'S Manual

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Canopen Card Configuration: User'S Manual

Uploaded by

Copyright:

Available Formats

CANOpen

On every node is possible to connect maximum:

Implementing an input/output Network

MCPU Communication Card Baud Rate Settings

1 Mbit/s 800 kbit/s 500 kbit/s 250 kbit/s

Terminating resistor MCPU card

MCPU Card Addressing

standard firmware dedicated firmware

MCPU Card Initialization

MCPU Card DIP Switch

of the two LEDs

Management of the M16DI boards’ data

The start-up process must be executed as follows

MCPU module’s dip switch

Addressing M16DI, M16DO and M16R Cards

Dip-Switch Addressing M16DI

Address of M16DO Dip-Switch Addressing M16DO-M16R

Some inputs are prepared for specific axis control functions.

Input Name Activ. Description

1 Start ON Enables Automatic execution of Reset and axis

2 Stop ON Stops the current execution. In Automatic and Reset,

Input Name Activ. Description

3 Jog+ ON Forces the axis to move forward during Manual

4 Jog- ON Forces the axis to move backward during Manual

5 Emergency OFF Must always be ON during normal operation. In the case

Addressing M4AO Cards

Dip-Switch Addressing MCPU

1° TYPE : 1 M4AO IN THE NODE 2° TYPE : 2 M4AO IN THE NODE

SET AS CARD 8 SET AS CARD 7 - 8

Note: Numbering the analog outputs on the M4AO cards:

Configuration of the Output Mode of M4AO Card

JP8 1 2 3 JP6 1 2 3 JP4 1 2 3

out1 out2 out3 out4

Addressing M8AI cards

The maximum configuration is:

Numbering of the analogic inputs on the M8AI cards:

The analog inputs dedicated to M8AI(COP16), are numbered from 21 ÷ 36:

First card Third card

Configuration of the Output Voltage of M8AI Card

MCPU Card CANopen Leds

For up to firmware version 5.3 MCPU including

For MCPU firmware version 5.4

Node in preoperational: means that the node is node recognized;

CANopen Alarms on the NC

Setting Parameters from a PC

Network 1: Node 1: In this window, enter the number of

Number groups of digital inputs enabled.

Setting Parameters from SIAX

Entering and modifying CANopen parameters (Menu 9 -CANopen Parameters) requires a

PARAMETERS CANOPEN NETWORK NO. 1

PARAMETERS CANOPEN NETWORK NO. 1

Network Type Indicates the type of equipment connected to the network:

PARAMETERS AFTER Manufacturer WITH Network Type: IO

PARAMETERS AFTER Manufacturer WITH Network Type: IO

PARAMETERS AFTER Manufacturer WITH Network Type: IO

MCPU Card Connection

Power 12÷18Vac Power 24Vdc

A glass, 1.6 A size 5x20 protection fuse is

EXAMPLE:CONNECTION BETWEEN SIAX TO MCPU CARD

Inside the MCPU card is installed a protection CARD DEPTH 114 mm

Connection of MCPU Card with Analog Inputs

Attention Use twisted and shielded cable as follows:

Connection of M16DI Card