CiA Draft Standard 420
P r o f i l e s f o r e x t r u d e r d o w n s t r e a m d e v i c e s
Part 1: General definitions
Version: 3.0
31 January 2007
CAN in Automation (CiA) e. V.
Profiles for extruder downstream devices – Part 1: General definitions
2 CiA 2007 – All rights reserved
HISTORY
Date
Changes
2002-10-22
Publication of version 1.0 as draft standard proposal
2004-02-27
Publication of version 2.0 as draft standard proposal
Version 2.0 is not at all compatible to version 1.0
2007-01-31
Publication of version 3.0 as draft standard
Editorial corrections and clarifications
Calibration-table interface added
Node-ID assignment recommendations added
General information on licensing and patents
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Profiles for extruder downstream devices – Part 1: General definitions
CiA 2007 – All rights reserved 3
CONTENTS
1 Scope ............................................................................................................................... 4
2 Normative references........................................................................................................ 4
3 Abbreviations and definitions ............................................................................................4
3.1 Abbreviations...........................................................................................................4
3.2 Operating principles................................................................................................. 4
3.2.1 Introduction ................................................................................................. 4
3.2.2 Physical layer definitions .............................................................................7
4 Error handling .................................................................................................................12
4.1 Principle ................................................................................................................ 12
4.2 Error behavior........................................................................................................ 12
4.3 Emergency message ............................................................................................. 12
5 Predefinitions..................................................................................................................14
5.1 Record definitions.................................................................................................. 14
5.1.1 Object 0080
h
: Set process data.................................................................. 14
5.2 Predefined communication objects.........................................................................14
5.2.1 Object 1000
h
: Device type ......................................................................... 14
5.2.2 Object 1001
h
: Error register ....................................................................... 15
5.2.3 Object 1005
h
: COB-ID SYNC .....................................................................15
5.2.4 Object 1006
h
: Communication cycle period ................................................ 15
5.2.5 Object 1014
h
: COB-ID emergency object ................................................... 16
5.2.6 Object 1016
h
: Heartbeat consumer ............................................................ 16
5.2.7 Object 1017
h
: Heartbeat producer.............................................................. 16
5.2.8 Object 1018
h
: Identity ................................................................................ 16
5.2.9 Object 1029
h
: Error behavior......................................................................16
5.2.10 Object 67FF
h
: Device type ......................................................................... 17
Profiles for extruder downstream devices – Part 1: General definitions
4 CiA 2007 – All rights reserved
1 Scope
The CANopen application profile for extruder downstream devices includes several parts:
Part 1 specifies general definitions
Part 2 specifies the device profile for the puller downstream device
Part 3 specifies the device profile for the corrugator downstream device
Part 4 specifies the device profile for the saw downstream device
Part 5 specifies the device profile for the co-extruder device
Part 6 specifies the device profile for the calibration-table downstream device
Note:
All parts of this specification have been developed jointly with the European Committee of Machinery
Manufacturers for the Plastics and Rubber Industries (Euromap) and is documented there as Euromap 27.
This part specifies the physical layer and the common CANopen functions and common
communication objects. It also specifies the CANopen functions of the extruder-master.
2 Normative references
/CiA301/: CiA 301, CANopen application layer and communication profile
/CiA302-1/: CiA 302-1, Additional CANopen application layer functions – Part 1: General
definitions
/CiA302-2/: CiA 302-2, Additional CANopen application layer functions – Part 2: Network
management
/CiA405/: CiA 405, CANopen interface and device profile for IEC 61131-3
programmable devices
/Euromap28/: Euromap 28, Discrete interface for extruder downstream devices after
CANopen haul-off
/Euromap29/: Euromap 29, Discrete interface for extruder downstream devices measuring
wheel
/Euromap66-1/: Euromap 66-1, Protocol for communication with peripheral equipment –
Part 1: General description
3 Abbreviations and definitions
3.1 Abbreviations
Abbreviations given in /CiA301/ shall apply for this document as well.
3.2 Operating principles
3.2.1 Introduction
All devices compliant with this application profile shall implement all mandatory
communication services and protocols as well as all mandatory objects as specified in
/CiA301/. The extruder downstream devices shall provide CANopen NMT-slave functionality;
the master-extruder shall provide additionally CANopen NMT-master functionality as specified
in /CiA302-1/ and in /CiA302-2/. It is not allowed to use this CANopen network for local sub-
system communication purposes. All CANopen messages shall be transmitted with 11-bit
identifiers only.
Profiles for extruder downstream devices – Part 1: General definitions
CiA 2007 – All rights reserved 5
All devices compliant to this profile shall support heartbeat functionality; Node guarding shall
not be supported. The device shall support heartbeat message transmissions from 100 ms to
1000 ms. Extruder downstream devices also shall produce the emergency message.
Extruder downstream devices shall support synchronous PDOs. They shall be able to support
Sync cycle times of 20 ms.
It is not required that the extruder downstream devices support block or segmented SDO
communication or Multiplexed PDO communication.
3.2.1.1 Master-extruder
The master-extruder shall implement NMT-slave functionality including the CANopen object
dictionary. It may use the object dictionary entry range from 2000
h
to 5FFF
h
to implement the
necessary application objects. Alternatively, the master-extruder may use the object
dictionary range from A000
h
to AFFF
h
, if it is based on IEC 61131-3 programming languages
and it is compliant to the definitions given in /CiA405/.
The master-extruder shall consume all heartbeats and emergency messages of the networked
extruder downstream devices.
The master-extruder shall transmit the Sync message with a default period of 20 ms, periods
of 40 ms and of 100 ms may be optionally supported.
3.2.1.2 Puller downstream device
The puller device is based on rolls, bands, or caterpillars. It requires a high-precise
synchronous run with the master-extruder. Figure 1 shows the block diagram of the
puller/master-extruder communication.
Tipping
device
Saw Puller
Master-
extruder
Water
bath
Cali-
bration
table
Measuring
wheel
Drive, clamp, auxiliary function commands, speed
set value, etc.
Drive, clamp, auxiliary function status info, speed
set echo, etc.
RequestIndication
Response
Confirmation
pulse/m
Puller load set value, height adjustments, extruder
status, etc.
RequestIndication
Alarm, fault, product speed, speed actual value,
load actual value, speed in-/de-crease request,
etc.
Request
Indication
Puller application Master-extruder application
Local mode
Start/stop drive
Open/close clamp
In-/decrease speed
Remote mode
Figure 1 — Puller and master-extruder block diagram
3.2.1.3 Corrugator downstream device
The corrugator downstream device is used to produce structured wall pipes. Figure 2 shows
the block diagram of the corrugator/master-extruder communication.
