CMZ RP064IO/CAN User manual
RP064IO/CAN
CANopen peripheral for digital and analog IOs
Ed. 2.1 - English
User Guide
RP064IO/CAN
CANopen peripheral for digital and analog IOs
Doc. TR062311
Ed. 2.1 - English - 01 Mar 2023
RP064IO/CAN CANopen peripheral for digital and analog
IOs www.cmz.it
IMPORTANT
CMZ SISTEMI ELETTRONICI S.r.l. reserves the right to make changes to the products de-
scribed in this document at any time without notice.
This document has been prepared by CMZ SISTEMI ELETTRONICI S.r.l. sole-
ly for use by its customers, guaranteeing that at the date of issue it is the most up-to-date doc-
umentation on the products.
Users use the document under their own responsibility and certain functions de-
scribed in this document should be used with due caution to avoid danger for person-
nel and damage to the machines.
No other guarantee is therefore provided by CMZ SISTEMI ELETTRONICI S.r.l., in par-
ticular for any imperfections, incompleteness or operating difficulties.
This document contains confidential information that is propri-
etary to CMZ SISTEMI ELETTRONICI S.r.l.. Neither the document nor the informa-
tion contained therein should be disclosed or reproduced in whole or in part, without ex-
press written consent of CMZ SISTEMI ELETTRONICI S.r.l..
Table of Contents
1. General information .............................................................................. 1
1.1. Purpose .................................................................................................................... 1
1.2. Recipients ............................................................................................................... 1
1.3. Responsability ....................................................................................................... 2
1.4. Abbreviations and definitions .......................................................................... 2
1.5. Symbols ................................................................................................................... 3
1.6. Revisions ................................................................................................................. 4
2. RP064IO device information and precautions ............................... 5
2.1. Peripheral equipment ......................................................................................... 5
2.2. Identifier label ...................................................................................................... 6
2.3. Regulations for European market ................................................................... 6
2.4. Safety precautions and use limits ................................................................... 7
2.4.1. Precautions for the product handling .................................................. 7
2.4.2. Installation and wiring precautions ..................................................... 8
2.4.3. Maintenance and inspection .................................................................. 8
2.4.4. Modality of waste disposal at life end of product ........................... 8
3. RP064IO technical data ....................................................................... 9
3.1. Dimensions and sizes ........................................................................................ 11
3.2. RP064IO Mechanical installation .................................................................... 11
4. Electrical connections, LEDs and dip-switches ............................ 13
4.1. Electrical connections ....................................................................................... 13
4.1.1. RP064IO connectors ................................................................................. 13
4.2. LEDs ....................................................................................................................... 19
4.3. Dip switches ........................................................................................................ 20
5. Communication protocol ................................................................... 23
5.1. Saving and restoring retentive parameters ................................................ 24
Doc. TR062311 - Ed. 2.1 - 01 Mar 2023 v
RP064IO/CAN CANopen peripheral for digital and analog
IOs www.cmz.it
6. Encoders and counters management ............................................. 27
6.1. Incremental single ended encoder management ...................................... 27
6.2. Single channel counters management ........................................................ 29
7. System diagnostic ................................................................................ 31
7.1. Faults and warnings classification ................................................................. 32
7.1.1. Generic alarm signalling ......................................................................... 32
8. Identifier code (RP064IO) .................................................................. 37
vi Doc. TR062311 - Ed. 2.1 - 01 Mar 2023
Chapter 1
General information
1.1.Purpose
This manual is a complete guide for the installation, commissioning, operation and use of the
RP064IO: It is a CANopen peripheral and it provides 32 digital inputs, 32 digital outputs, 2 ana-
log inputs, 2 outputs analog. The board also manages 2 incremental encoders and 2 single-chan-
nel counters. The manual contents are about general informations and peripheral features, in-
stallation notes, warnings for people and product safe; moreover, for the technicians, the manual
furnishes all the data and specifications for the connections and the commissioning.
ATTENTION: Product version
What is reported in this manual refers to the rmware version 1.0, unless otherwise specified.
Previous versions could not implement all the functionalities described in this manual.
Suggestion: CANopen notions.
For a better understanding of this document, it is recommended to have a basic knowl-
edge of CANopen fieldbus.
1.2.Recipients
Only specialized operators can wire and use the RP064IO. The specialized operators must read
this document and all the documentations relating to the product and they must understood its
content. The specialized sta also must have received adequate safety training, to recognize and
avoid possible risk. The technical training, acquired knowledge and experience of the specialized
operators must be such as to be able to foresee and recognize the dangers that may arise from
the use of the product, from changing the settings and operation of mechanical, electrical and
equipment electronics of the system as a whole. Specialists must be aware of all the current regu-
Doc. TR062311 - Ed. 2.1 - 01 Mar 2023 1
RP064IO/CAN CANopen peripheral for digital and analog
IOs www.cmz.it
lations, as well as the accident prevention provisions and standards that must be observed when
carrying out work on the product.
The following operations must be carried out by qualified personnel:
•Transport: only by personnel with knowledge of handling components sensitive to elec-
trostatic charges.
•Unpacking: By qualified electricians only.
•Installation: By qualified electricians only..
•Use: only by qualified personnel with specific knowledge of electrotechnics and fieldbus.
The specialized sta must know and respect the following regulations:
•EN ISO 12100, EN 60364 ed EN 60664;
•National accident regulations .
WARNING: safety instructions
During the product functioning, depending on the equipments connect-
ed to it, risk of death, serious injuries or material damage may happen. The security offi-
cer must check that the sta working with the drives read and understood this manual be-
fore using them.
1.3.Responsability
CMZ SISTEMI ELETTRONICI S.r.l. can modify the described products in this document in
any time and without any notice.
This manual was written by CMZ SISTEMI ELETTRONICI S.r.l. only for their customers use
providing the most updated version of the products, in relation of the issue data.
The responsibility to use this manual belongs to every user and the use of some functions de-
scribed in this document must be done under strict care to avoid any danger for the sta and the
equipment damage.
No other warranty is provided by CMZ SISTEMI ELETTRONICI S.r.l., in particular for pos-
sible imperfections, incompleteness, and/or any other difficulties.
1.4.Abbreviations and definitions
CANopen it is a registered mark of CAN in Automation E.V.
Abbreviations /
Definitions Meaning
0x hexadecimal number
2Doc. TR062311 - Ed. 2.1 - 01 Mar 2023
General information
Abbreviations /
Definitions Meaning
CAN Controller Area Network, fieldbus
CiA-301 Specification that defines the communication protocols and the objects for the management of
the CANopen network (Communication Profile DS301).
CE Communité Européenne
COB-ID Communication object identifier
EMC Electromagnetic compatibility
EMCY Emergency: object of the CANopen protocol for reporting errors
HW Hardware
ID Identifier
Controller
(Master)
Device which controls the communication bus and starts, as rst, the interaction with the other
connected nodes..
Node Hardware device (peripheral, sensors, actuators) connected to the communication bus, able to
communicate with the other devices.
NC Not connected
NMT Network management: object of CANopen protocol for network managing
PDO Process data object: object of the CANopen protocol for writing/reading cyclic data (parame-
ters mappable on PDO)
RMS Root Mean Square
SDO Service data object: object of the CANopen protocol for writing/reading peripheral parameters
Device (Slave) Node receiving data or data requests from the Controller
a.s.l. above sea level
SYNC Synchronization: object of the CANopen protocol to syncroniz the nodes on the network
SW Software
TBD To be defined
1.5.Symbols
Danger
It shows an imminent dangerous situation that, in case of failure to comply with safe-
ty rules, can lead to a serious or fatal accident or a damage to the equipment.
Warning
It shows a potentially dangerous situation that, in case of failure to comply with safe-
ty rules, can lead to a serious or fatal accident or a damage to the equipment.
Doc. TR062311 - Ed. 2.1 - 01 Mar 2023 3
RP064IO/CAN CANopen peripheral for digital and analog
IOs www.cmz.it
Caution
It shows a potentially dangerous situation that, in case of failure to comply with safe-
ty rules, can lead to a minor or moderate accident or a damage to the equipment.
Important
It shows some important information on the mentioned topic.
Note
It shows some information which has to emerge from the text, related to the mentioned topic.
Tip
It contains an useful particular advice related to the mentioned topic.
1.6.Revisions
Revision History
Revision 1.0 13/09/2022 Autore: CMZ SISTEMI
ELETTRONICI S.r.l.
•First version
Revision 2.0 09/02/2023 Autore: CMZ SISTEMI
ELETTRONICI S.r.l.
•Added chapters related to software management
Revision 2.1 01/03/2023 Autore: CMZ SISTEMI
ELETTRONICI S.r.l.
•Correct the description of X3A-X3B and X4A-X4B connectors
4Doc. TR062311 - Ed. 2.1 - 01 Mar 2023
This manual suits for next models
1
Table of contents
