Galvanizing production line on

Metallurgy _ CANopen Solution

21st Feb, 2013
John Zuo
IABG EMEA

TABLE OF CONTENT

Galvanizing Introduction
CANopen Introduction
CANopen Solution based on C2000
Reference Case
FAQ
Appendix
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Galvanizing Introduction

Galvanization is the process of applying a protective zinc coating to steel or iron, in order to
prevent rusting. The most common method in current use is hot-dip galvanization, in which
steel parts are submerged in a bath of molten zinc.

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CANopen Introduction

CANopen is the internationally standardized (EN 50325-4) CAN-based higher-layer protocol

for embedded control system. It is used in a very board range of application fields such as
Packaging, Machine Tool, Pharmacy, metallurgy and etc..
CANopen is one popular fieldbus for Industrial Automation.

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CANopen Introduction

Current CANopen Solution

More Expensive
More Advanced

DVP-10MC

A. 10MC can support 16 axes maximum

based on CANopen. 8 axes for Interpolation
Position linkage Control.

CANopen Solution
for Motion

A. E-C series has CANopen Built-in.

A2
E-C
EMC-COP01

B. A2 servo can have CANopen Built-in Type

C. C2000 can have EMC-COP01 which
realize CANopen communication directly.

A. CME-COP01 for transforming CANopen

to Modbus. For E series only.

CME-COP01

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CANopen Solution
in Generally

CANopen Solution
with fieldbus converter

CANopen Solution based on C2000

EMC-COP01

Support CANopen communication directly.

Two parallel port for by-pass connection.

Can support velocity mode, profile Torque mode, profile position

and Homing mode.

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Can support C2000 CANopen Master.

CANopen Solution based on C2000

CANopen Master (support velocity, profile torque, profile position and Homing mode)

Terminal Resistor

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Terminal Resistor

Reference Case

One successful application for Galvanizing Production Line in Turkey.

Control Network
1

Control Network
2

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Reference Case

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FAQ
1. Why did they use 2 COPM-SL modules there ?
For COPM-SL, the limitation is 390 bytes for TXPDO, 390 bytes for RXPDO. So in this
case, every C2000 will have 8 bytes data in TXPDO, so if only one COPM-SL, it must cover
8*64=512 bytes which is impossible. So 2 COPM-SL, and 32 notes for each one, only
32*8=256 bytes for each COPM-SL which is possible.

2. Any suggestion for CANopen Master ?

For Delta Solution now, 28SV + COPM-SL is one old and common master before, but
considering 28SV processing speed, when we add many notes, 28SV is hard to cover all
of them and maybe the delay error there. Hence, in this case, our customer used SA2
which is 5 ~ 6 times faster and cheaper than 28SV since new hardware design. Hence,
please choose Slim 2 series + COPM-SL in the future like SA2, SX2.

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FAQ
3. Any requirement for the CANopen Cable ?
Main Line: 1M b/s 40m; 800k b/s 50m; 500k b/s 100m; 250k b/s 250m; 125k b/s 500m; 50K b/s 1000m; 20k b/s 2500m; 10k b/s 5000m
Device
Joint

Joint

Joint

Joint

Joint

Joint

Joint

Joint

Resistor

Resistor
Device
Branch Length
is 6m maximum

Y Connection

Device

T Branch

Joint

Device

Branch branch

Device Device

CANopen has a better physical layer requirement. So CANopen has higher anti-disturbance
ability with the required cable. 120ohm characteristic impedance and shielding net absolutely
there. Delta CANopen cables are :
CANopen Cables
from Delta

CANopen requires RJ45 crystal head usually, 26AWG cables can be for RJ45, some cables are
thicker than 26AWG which cant satisfy RJ45 size. Hence TAP-CB01 CB02 cant satisfy if
sometimes customer want long length with RJ45, and please choose other cables.
Wire AWG

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Appendix

1. Please go to DEN Public Folder to download C2000 application notes,

< C2000 CanOpen Slave in the remote IO>
< C2000 CanOpen Slave in the Speed Mode>
< C2000 CanOpen Slave in the Torque Mode>
< CanOpen Master Speed Function for C2000>
< CanOpen Master Torque Function for C2000>
< C2000 CanOpen Slave in the Position Mode>
< CanOpen Master Position Function for C2000>

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Smarter. Greener. Together.

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