B&R SYSTEM 2000

B&R 2003
USER'S MANUAL

Version: 4.0 (March 2001)

Model No.: MASYS22003-E

ETHERNET® is a registered trademark of the XEROX Corp.

PROFIBUS® is a registered trademark of the PROFIBUS User's Organization
We reserve the right to change the contents of this manual without warning. The information contained herein
is believed to be accurate as of the date of publication, however, Bernecker + Rainer Industrie-Elektronik
Ges.m.b.H. makes no warranty, expressed or implied, with regards to the products or the documentation
contained within this book. Bernecker + Rainer Industrie-Elektronik Ges.m.b.H. shall not be liable in the event
of incidental or consequential damages in connection with or arising from the furnishing, performance or use
of these products.
 1. GENERAL INFORMATION

2. PROJECT PLANNING AND

INSTALLATION

3. B&R 2003 MODULES

4. MODULE ADDRESSING

5. CAN BUS CONTROLLER

FUNCTIONS

Contents 3
4 Contents
 6. B&R 2003 TIMING

7. GENERAL ACCESSORIES

8. STANDARDS AND
CERTIFICATIONS

A. CAN IDENTIFIER WITH

CAN BUS CONTROLLER

B. ERROR MESSAGES
CAN BUS CONTROLLER

INDEX

Contents 5
6 Contents
CHAPTER 1 - GENERAL INFORMATION
1 Introduction .............................................................................................................................................. 27
1.1 General Information ........................................................................................................................ 27
2 B&R 2003 Control System ....................................................................................................................... 30
2.1 Modular Structure ........................................................................................................................... 30
2.2 I/O Bus ............................................................................................................................................ 30
2.3 Supply Voltage ................................................................................................................................ 31
2.4 Terminal Blocks ............................................................................................................................... 31
2.5 Program Memory Modules ............................................................................................................. 31
2.5.1 2003 PCC CPU ................................................................................................................... 31
2.5.2 Remote Slaves .................................................................................................................... 31
2.5.3 CAN Slaves ......................................................................................................................... 31
3 B&R 2003 Expansion ............................................................................................................................... 32
3.1 Remote I/O Bus ............................................................................................................................... 32
3.1.1 Remote Master ................................................................................................................... 32
3.1.2 Remote Slave ...................................................................................................................... 32
3.2 CAN Field Bus ................................................................................................................................. 33
3.2.1 CAN Master ........................................................................................................................ 33
3.2.2 CAN Slave ........................................................................................................................... 33
4 combination possibilities .......................................................................................................................... 34
4.1 Remote I/O Bus ............................................................................................................................... 34
4.2 CAN Field Bus ................................................................................................................................. 34

CHAPTER 2 - PROJECT PLANNING AND INSTALLATION

1 Dimensions and Mounting ....................................................................................................................... 37
1.1 Dimensions ..................................................................................................................................... 37
1.2 Mounting Rail .................................................................................................................................. 37
1.3 Module Rack ................................................................................................................................... 38
1.3.1 Example for a Module Rack with Two Side Sections ......................................................... 38
1.3.2 Dimensions ......................................................................................................................... 38
1.4 Modules ........................................................................................................................................... 39
1.4.1 DimensionsController, CPUs and I/O Modules .................................................................. 39
1.4.2 Screw-in Module Dimensions ............................................................................................. 41
1.5 Installation Dimensions ................................................................................................................... 42
1.5.1 Horizontal Installation ......................................................................................................... 42
1.5.2 Vertical Installation .............................................................................................................. 43
2 Installation ................................................................................................................................................. 45
2.1 Modules ........................................................................................................................................... 45
2.2 Module Rack ................................................................................................................................... 48
2.3 Terminal Blocks ............................................................................................................................... 49
2.3.1 Cabling Terminal Blocks .................................................................................................... 49
2.4 Screw-in Modules ............................................................................................................................ 51
2.4.1 Cabling Protection .............................................................................................................. 51

Contents 7
3 Module Slot Rules ..................................................................................................................................... 53
3.1 Physical Module Slots ..................................................................................................................... 53
3.2 Logical Module Slots ....................................................................................................................... 53
3.4 Configuration Examples .................................................................................................................. 54
3.3 Modules that use logical or analog Module Slots .......................................................................... 54
4 Power Output Table .................................................................................................................................. 56
4.1 Example 1 ....................................................................................................................................... 56
4.2 Example 2 ....................................................................................................................................... 57
4.3 Example 3 ....................................................................................................................................... 58
5 Remote I/O Bus ........................................................................................................................................ 59
5.1 Remote Master ................................................................................................................................ 59
5.2 Remote Slave .................................................................................................................................. 59
5.3 Cabling ............................................................................................................................................ 59
5.3.1 Cabling Diagram ................................................................................................................. 59
5.3.2 Bus Cable ........................................................................................................................... 60
5.3.3 Connecting Bus Cable - Station ....................................................................................... 60
5.3.4 Terminating Resistance ...................................................................................................... 61
5.3.5 Resistor Diagram ................................................................................................................ 61
5.3.6 Remote Bus Plug ................................................................................................................ 61
5.4 Distances ......................................................................................................................................... 62
5.5 PROFIBUS ....................................................................................................................................... 62
5.6 RS485 Network ............................................................................................................................... 62
6 CAN Field Bus .......................................................................................................................................... 63
6.1 Characteristics of the CAN Bus ....................................................................................................... 63
6.2 Bus Lengths and Cable Type .......................................................................................................... 63
6.3 Cabling ............................................................................................................................................ 66
6.3.1 Connecting Bus Cable - Station ....................................................................................... 66
6.3.2 CAN Signals according to CiA/CAL ................................................................................... 66
6.3.3 Branch Lines ....................................................................................................................... 66
6.3.4 Terminating Resistor .......................................................................................................... 67
7 Grounding and Shielding Measures ........................................................................................................ 68
7.1 Grounding the Mounting Rail .......................................................................................................... 68
7.2 Grounding the B&R SYSTEM 2003 Unit ........................................................................................ 69
7.3 Cable Shielding ............................................................................................................................... 70
7.4 Using D-Type Plugs ........................................................................................................................ 70
8 External Protective Circuit ........................................................................................................................ 71
9 Installation Guidelines .............................................................................................................................. 71
10 Storage and Storage Temperatures ....................................................................................................... 71
11 Temperature during Operation, Humidity .............................................................................................. 72

8 Contents
CHAPTER 3 - B&R 2003 MODULES
1 Module Overview B&R 2003 .................................................................................................................... 75
1.1 Sorted Alphabetically according to Module ID ............................................................................... 75
1.2 Sorted according to Group ............................................................................................................. 77
2 Module Racks ........................................................................................................................................... 80
2.1 General Information ........................................................................................................................ 80
2.2 Technical Data ................................................................................................................................. 81
2.2.1 Module Racks with Two Side Sections (7BP7xx.0) ........................................................... 81
2.2.2 Module Racks with One Side Section (7BP70x.1) ............................................................. 82
2.3 Mounting ......................................................................................................................................... 82
3 Bus Controller Modules ............................................................................................................................ 83
3.1 CAN Bus Controller ......................................................................................................................... 83
3.2 Remote I/O Bus Controller .............................................................................................................. 83
3.3 Overview .......................................................................................................................................... 83
3.4 EX270 .............................................................................................................................................. 84
3.4.1 General Information ............................................................................................................ 84
3.4.2 Technical Data .................................................................................................................... 84
3.4.3 Status Display ..................................................................................................................... 85
3.4.4 Connections ....................................................................................................................... 86
3.4.5 Connection Examples ........................................................................................................ 87
3.4.6 Node Number, Start Baudrate ............................................................................................ 88
3.4.7 Automatic Baudrate Recognition ....................................................................................... 89
3.5 EX470 / EX770 ................................................................................................................................ 90
3.5.1 Technical Data .................................................................................................................... 90
3.5.2 Status Display ..................................................................................................................... 91
3.5.3 Power Supply ..................................................................................................................... 92
3.5.4 Interface Pin Assignments .................................................................................................. 93
3.5.5 Wiring .................................................................................................................................. 94
3.5.6 Node Number, Baudrate .................................................................................................... 94
3.6 EX477 / EX777 ................................................................................................................................ 95
3.6.1 Technical Data .................................................................................................................... 95
3.6.2 Status Display ..................................................................................................................... 96
3.6.3 Power Supply ..................................................................................................................... 97
3.6.4 Remote Address ................................................................................................................. 97
3.6.5 Interface Pin Assignments .................................................................................................. 97
3.6.6 Wiring .................................................................................................................................. 98
3.6.7 Repeater or Fibre Optic Connection .................................................................................. 98
4 CPUs ......................................................................................................................................................... 99
4.1 General Information ........................................................................................................................ 99
4.2 RS232 Interface ............................................................................................................................... 99
4.3 CAN Interface .................................................................................................................................. 99
4.4 Local I/O Expansion using B&R 2003 Modules .............................................................................. 99
4.5 Local I/O on the CPU (4 slots) ........................................................................................................ 99
4.6 Application Examples ................................................................................................................... 100
4.7 Programming ................................................................................................................................ 100
4.8 Backup Battery .............................................................................................................................. 100

Contents 9
 4.9 Programming the FlashPROM ...................................................................................................... 100
4.10 Legend Sheets ............................................................................................................................ 100
4.11 Overview ...................................................................................................................................... 101
4.12 CP430, CP470, CP474, CP770, CP774 ...................................................................................... 102
4.12.1 Order Data ...................................................................................................................... 102
4.12.2 Technical Data ................................................................................................................ 102
4.12.3 Status Display ................................................................................................................. 104
4.12.4 Power Supply ................................................................................................................. 104
4.12.5 Interfaces ........................................................................................................................ 105
4.12.6 CAN Bus ......................................................................................................................... 105
4.12.7 RS232 Interface .............................................................................................................. 106
4.12.8 MODE Switch ................................................................................................................. 106
4.12.9 Programming System Flash ........................................................................................... 107
4.12.10 CP Interface .................................................................................................................. 108
4.12.11 Legend Sheets ............................................................................................................. 109
4.12.12 Data/Real-time Clock Buffering .................................................................................... 110
4.12.13 System Variable SYS2003 ............................................................................................ 110
4.12.14 Exchanging the Battery ................................................................................................ 111
4.13 CP476 .......................................................................................................................................... 114
4.13.1 General Information ........................................................................................................ 114
4.13.2 Technical Data ................................................................................................................ 115
4.13.3 Status Display ................................................................................................................. 117
4.13.4 Power Supply ................................................................................................................. 117
4.13.5 Interfaces ........................................................................................................................ 118
4.13.6 CAN Bus ......................................................................................................................... 118
4.13.7 RS232 Interface .............................................................................................................. 119
4.13.8 CAN Node Number Switch ............................................................................................. 119
4.13.9 Programming System Flash ........................................................................................... 120
4.13.10 CP Interface .................................................................................................................. 121
4.13.11 Legend Sheets ............................................................................................................. 122
4.13.12 Data/Real-time Clock Buffering .................................................................................... 123
4.13.13 System Variable SYS2003 ............................................................................................ 123
4.13.14 Exchanging the Battery ................................................................................................ 124
5 Program Memory Modules ..................................................................................................................... 127
5.1 Overview ........................................................................................................................................ 127
5.2 ME770 ........................................................................................................................................... 128
5.2.1 General Information .......................................................................................................... 128
5.2.2 Technical Data .................................................................................................................. 128
6 Analog Interface (AF) Module ................................................................................................................. 129
6.1 General Information ...................................................................................................................... 129
6.2 Overview ........................................................................................................................................ 129
6.3 Screw-in Modules .......................................................................................................................... 130
6.4 AF101 ............................................................................................................................................ 131
6.4.1 Technical Data .................................................................................................................. 131
6.4.2 Status LEDs ...................................................................................................................... 132
6.4.3 Legend Sheets ................................................................................................................. 132
6.4.4 Accessing the Screw-in Modules ..................................................................................... 132
6.4.5 Commands - AF101 ......................................................................................................... 133
6.4.6 Program Example ............................................................................................................. 135

10 Contents
7 Digital Input Modules .............................................................................................................................. 138
7.1 General Information ...................................................................................................................... 138
7.2 Input Filter ..................................................................................................................................... 138
7.3 Screw-in Module Overview ........................................................................................................... 139
7.4 I/O Module Overview ..................................................................................................................... 139
7.5 Programming ................................................................................................................................ 139
7.6 DI135 ............................................................................................................................................. 140
7.6.1 Technical Data .................................................................................................................. 140
7.6.2 Four Digital High Speed Inputs ....................................................................................... 142
7.6.3 24 V Incremental Encoder / Encoder Signal Evaluation .................................................. 142
7.6.4 Event Counter ................................................................................................................... 142
7.6.5 Comparator ...................................................................................................................... 143
7.6.6 Input/Output Diagram ....................................................................................................... 144
7.6.7 Connections ..................................................................................................................... 145
7.6.8 Connection Examples ...................................................................................................... 145
7.6.9 Variable Declaration for Incremental Encoder Operation ................................................ 147
7.6.10 Variable Declaration for Event Counter Operation ......................................................... 154
7.7 DI435 ............................................................................................................................................. 159
7.7.1 Technical Data .................................................................................................................. 159
7.7.2 Status LEDs ...................................................................................................................... 160
7.7.3 Input Circuit Diagram ....................................................................................................... 160
7.7.4 Legend Sheets ................................................................................................................. 160
7.7.5 Sink/Source Wiring ........................................................................................................... 161
7.7.6 Variable Declaration ......................................................................................................... 162
7.7.7 Access Using CAN IDs ..................................................................................................... 163
7.7.8 Module Status ................................................................................................................... 163
7.8 DI439.7 .......................................................................................................................................... 164
7.8.1 Technical Data .................................................................................................................. 164
7.8.2 General Information .......................................................................................................... 165
7.8.3 Status LEDs ...................................................................................................................... 166
7.8.4 Input Circuit Diagram ....................................................................................................... 166
7.8.5 Legend Sheets ................................................................................................................. 166
7.8.6 Sink/Source Wiring ........................................................................................................... 167
7.8.7 Variable Declaration ......................................................................................................... 168
7.8.8 Access Using CAN IDs ..................................................................................................... 169
7.8.9 Module Status ................................................................................................................... 169
7.9 DI439.72 ........................................................................................................................................ 170
7.9.1 Technical Data .................................................................................................................. 170
7.9.2 General Information .......................................................................................................... 171
7.9.3 Status LEDs ...................................................................................................................... 172
7.9.4 Input Circuit Diagram ....................................................................................................... 172
7.9.5 Legend Sheets ................................................................................................................. 173
7.9.6 Pin Assignment Group 1 (Y1) ........................................................................................... 173
7.9.7 Pin Assignment Group 2 (Y2) ........................................................................................... 174
7.9.8 Sink/Source Wiring ........................................................................................................... 174
7.9.9 Variable Declaration ......................................................................................................... 175
7.9.10 Access using CAN Identifiers ......................................................................................... 176
7.9.11 Module Status ................................................................................................................. 177

Contents 11
 7.10 DI645 ........................................................................................................................................... 178
7.10.1 Technical Data ................................................................................................................ 178
7.10.2 Status LEDs .................................................................................................................... 179
7.10.3 Input Circuit Diagram ..................................................................................................... 179
7.10.4 Legend Sheets ............................................................................................................... 179
7.10.5 Connections ................................................................................................................... 180
7.10.6 Variable Declaration ....................................................................................................... 180
7.10.7 Access Using CAN IDs ................................................................................................... 181
7.10.8 Module Status ................................................................................................................. 182
8 Digital Output Modules ........................................................................................................................... 183
8.1 General Information ...................................................................................................................... 183
8.2 Protective Circuit ........................................................................................................................... 183
8.3 Screw-in Module Overview ........................................................................................................... 183
8.4 I/O Module Overview ..................................................................................................................... 184
8.5 Programming ................................................................................................................................ 184
8.6 DO135 ........................................................................................................................................... 185
8.6.1 Technical Data .................................................................................................................. 185
8.6.2 General Information .......................................................................................................... 186
8.6.3 Operating Modes .............................................................................................................. 187
8.6.4 Special Functions ............................................................................................................. 187
8.6.5 Output Circuit Diagram .................................................................................................... 188
8.6.6 Connections ..................................................................................................................... 189
8.6.7 Connection Example ........................................................................................................ 189
8.6.8 Variable Declaration ......................................................................................................... 190
8.6.9 Access Using CAN IDs ..................................................................................................... 191
8.6.10 Description of Data and Configuration Words ............................................................... 192
8.7 DO164 ........................................................................................................................................... 197
8.7.1 General Information .......................................................................................................... 197
8.7.2 Technical Data .................................................................................................................. 197
8.7.3 Output Circuit Diagram .................................................................................................... 199
8.7.4 Connections ..................................................................................................................... 200
8.7.5 Connection Examples ...................................................................................................... 200
8.7.6 Controllable Phase Angle ................................................................................................. 202
8.7.7 Variable Declaration ......................................................................................................... 206
8.7.8 Access Using CAN IDs ..................................................................................................... 206
8.7.9 Description of Data and Configuration Words ................................................................. 208
8.8 DO435 ........................................................................................................................................... 211
8.8.1 Technical Data .................................................................................................................. 211
8.8.2 Technical Data for the Inputs ........................................................................................... 212
8.8.3 Status LEDs ...................................................................................................................... 213
8.8.4 Input/Output Diagram ....................................................................................................... 213
8.8.5 Legend Sheets ................................................................................................................. 213
8.8.6 Connections ..................................................................................................................... 214
8.8.7 Switching Inductive Loads ............................................................................................... 215
8.8.8 Variable Declaration ......................................................................................................... 216
8.8.9 Access Using CAN IDs ..................................................................................................... 217
8.8.10 Module Status ................................................................................................................. 218

12 Contents
 8.9 DO720 ........................................................................................................................................... 219
8.9.1 Technical Data .................................................................................................................. 219
8.9.2 Status LEDs ...................................................................................................................... 220
8.9.3 Output Circuit Diagram .................................................................................................... 220
8.9.4 Legend Sheets ................................................................................................................. 220
8.9.5 Connections ..................................................................................................................... 221
8.9.6 Variable Declaration ......................................................................................................... 221
8.9.7 Access Using CAN IDs ..................................................................................................... 222
8.9.8 Module Status ................................................................................................................... 223
8.10 DO721 ......................................................................................................................................... 224
8.10.1 Technical Data ................................................................................................................ 224
8.10.2 Status LEDs .................................................................................................................... 225
8.10.3 Output Circuit Diagram .................................................................................................. 225
8.10.4 Legend Sheets ............................................................................................................... 225
8.10.5 Connection ..................................................................................................................... 226
8.10.6 Variable Declaration ....................................................................................................... 226
8.10.7 Access Using CAN IDs ................................................................................................... 227
8.10.8 Module Status ................................................................................................................. 227
8.11 DO722 ......................................................................................................................................... 228
8.11.1 Technical Data ................................................................................................................ 228
8.11.2 Status LEDs .................................................................................................................... 229
8.11.3 Output Circuit Diagram .................................................................................................. 229
8.11.4 Legend Sheets ............................................................................................................... 229
8.11.5 Connection ..................................................................................................................... 230
8.11.6 Variable Declaration ....................................................................................................... 230
8.11.7 Access Using CAN IDs ................................................................................................... 231
8.11.8 Module Status ................................................................................................................. 231
9 Digital Mixed Modules ............................................................................................................................ 232
9.1 General Information ...................................................................................................................... 232
9.2 Overview ........................................................................................................................................ 232
9.3 Programming ................................................................................................................................ 232
9.4 DM435 ........................................................................................................................................... 233
9.4.1 Technical Data .................................................................................................................. 233
9.4.2 Status LEDs ...................................................................................................................... 234
9.4.3 Input Circuit Diagram ....................................................................................................... 234
9.4.4 Output Circuit Diagram .................................................................................................... 235
9.4.5 Legend Sheets ................................................................................................................. 235
9.4.6 Connections ..................................................................................................................... 236
9.4.7 Variable Declaration ......................................................................................................... 238
9.4.8 Access Using CAN IDs ..................................................................................................... 239
9.4.9 Module Status ................................................................................................................... 240
9.5 DM438 ........................................................................................................................................... 241
9.5.1 Technical Data .................................................................................................................. 241
9.5.2 Status LEDs ...................................................................................................................... 242
9.5.3 Input Circuit Diagram ....................................................................................................... 242
9.5.4 Output Circuit Diagram .................................................................................................... 243
9.5.5 Legend Sheets ................................................................................................................. 243

Contents 13
 9.5.6 Output Pin Assignments (Y1) ........................................................................................... 243
9.5.7 Pin Assignments for Inputs (Y2) ....................................................................................... 244
9.5.8 Input Wiring ...................................................................................................................... 244
9.5.9 Output Wiring ................................................................................................................... 245
9.5.10 Variable Declaration ....................................................................................................... 246
9.5.11 Access using CAN Identifiers ......................................................................................... 247
9.5.12 Module Status ................................................................................................................. 248
9.6 DM465 ........................................................................................................................................... 249
9.6.1 Technical Data .................................................................................................................. 249
9.6.2 Status LEDs ...................................................................................................................... 250
9.6.3 Input Circuit Diagram ....................................................................................................... 252
9.6.4 Output Circuit Diagram .................................................................................................... 252
9.6.5 Legend Sheets ................................................................................................................. 252
9.6.6 Connections ..................................................................................................................... 253
9.6.7 Three Line Connection ..................................................................................................... 255
9.6.8 Variable Declaration ......................................................................................................... 256
9.6.9 Access using CAN Identifiers ........................................................................................... 257
9.6.10 Module Status ................................................................................................................. 258
10 Analog Input Modules .......................................................................................................................... 259
10.1 General Information .................................................................................................................... 259
10.2 Overview ...................................................................................................................................... 259
10.3 Programming .............................................................................................................................. 259
10.4 AI261 ........................................................................................................................................... 260
10.4.1 Technical Data ................................................................................................................ 260
10.4.2 General Information ........................................................................................................ 262
10.4.3 Effective Resolution of the Measurement Range in Bits ................................................ 262
10.4.4 Transient Behavior as Load Changes ............................................................................ 263
10.4.5 Input Circuit Diagram ..................................................................................................... 264
10.4.6 Connection ..................................................................................................................... 264
10.4.7 6-Line Strain Gauge Cells ............................................................................................... 266
10.4.8 Variable Declaration ....................................................................................................... 268
10.4.9 Access using CAN Identifiers ......................................................................................... 268
10.4.10 Terms ............................................................................................................................ 269
10.4.11 Description of Data and Configuration Words ............................................................. 270
10.4.12 AI261 Start-up ............................................................................................................... 273
10.4.13 Standardization ............................................................................................................ 273
10.4.14 Taring ............................................................................................................................ 275
10.5 AI294 ........................................................................................................................................... 277
10.5.1 Technical Data ................................................................................................................ 277
10.5.2 General Information ........................................................................................................ 279
10.5.3 Special Functions ........................................................................................................... 279
10.5.4 Input Circuit Diagram ..................................................................................................... 279
10.5.5 Connection ..................................................................................................................... 280
10.5.6 Variable Declaration ....................................................................................................... 281
10.5.7 Access using CAN Identifiers ......................................................................................... 282
10.5.8 Description of Data and Configuration Words ............................................................... 282

14 Contents
 10.6 AI351 ........................................................................................................................................... 285
10.6.1 Technical Data ................................................................................................................ 285
10.6.2 Input Circuit Diagram ..................................................................................................... 286
10.6.3 Connections ................................................................................................................... 287
10.6.4 Connection Examples .................................................................................................... 287
10.6.5 Variable Declaration ....................................................................................................... 289
10.6.6 Access Using CAN IDs ................................................................................................... 289
10.6.7 Description of Data and Configuration Words ............................................................... 290
10.7 AI354 ........................................................................................................................................... 293
10.7.1 Technical Data ................................................................................................................ 293
10.7.2 Input Circuit Diagram ..................................................................................................... 294
10.7.3 Connections ................................................................................................................... 294
10.7.4 Connection Example ...................................................................................................... 295
10.7.5 Variable Declaration ....................................................................................................... 295
10.7.6 Access Using CAN IDs ................................................................................................... 296
10.7.7 Description of Data and Configuration Words ............................................................... 296
10.8 AI774 ........................................................................................................................................... 299
10.8.1 Technical Data ................................................................................................................ 299
10.8.2 Input Circuit Diagram ..................................................................................................... 300
10.8.3 Connections ................................................................................................................... 300
10.8.4 Connection Example ...................................................................................................... 301
10.8.5 Variable Declaration ....................................................................................................... 301
10.8.6 Access using CAN Identifiers ......................................................................................... 302
10.8.7 Description of Data and Configuration Words ............................................................... 302
11 Analog Output Modules ....................................................................................................................... 305
11.1 General Information .................................................................................................................... 305
11.2 Overview ...................................................................................................................................... 305
11.3 Programming .............................................................................................................................. 305
11.4 AO352 ......................................................................................................................................... 306
11.4.1 Technical Data ................................................................................................................ 306
11.4.2 Output Circuit Diagram .................................................................................................. 307
11.4.3 Connections ................................................................................................................... 308
11.4.4 Connection Example ...................................................................................................... 308
11.4.5 Variable Declaration ....................................................................................................... 309
11.4.6 Access Using CAN IDs ................................................................................................... 310
11.4.7 Description of Data and Configuration Words ............................................................... 310
12 Temperature Modules .......................................................................................................................... 312
12.1 General Information .................................................................................................................... 312
12.2 Overview ...................................................................................................................................... 312
12.3 Programming .............................................................................................................................. 312
12.4 AT324 .......................................................................................................................................... 313
12.4.1 General Information ........................................................................................................ 313
12.4.2 Technical Data ................................................................................................................ 313
12.4.3 Input Circuit Diagram ..................................................................................................... 315
12.4.4 Connections ................................................................................................................... 316
12.4.5 Connection Example ...................................................................................................... 316
12.4.6 Variable Declaration ....................................................................................................... 316
12.4.7 Access using CAN Identifiers ......................................................................................... 317
12.4.8 Description of Data and Configuration Words ............................................................... 318

Contents 15
 12.5 AT352 .......................................................................................................................................... 320
12.5.1 Technical Data ................................................................................................................ 320
12.5.2 Input Circuit Diagram ..................................................................................................... 321
12.5.3 Connections ................................................................................................................... 322
12.5.4 Connection Examples .................................................................................................... 322
12.5.5 Variable Declaration ....................................................................................................... 323
12.5.6 Access Using CAN IDs ................................................................................................... 324
12.5.7 Description of Data and Configuration Words ............................................................... 324
12.6 AT664 .......................................................................................................................................... 326
12.6.1 Technical Data ................................................................................................................ 326
12.6.2 General Information ........................................................................................................ 327
12.6.3 Operating Modes ............................................................................................................ 327
12.6.4 Special Functions ........................................................................................................... 327
12.6.5 Input Circuit Diagram ..................................................................................................... 328
12.6.6 Connections ................................................................................................................... 328
12.6.7 Connection Example ...................................................................................................... 329
12.6.8 Variable Declaration ....................................................................................................... 329
12.6.9 Access Using CAN IDs ................................................................................................... 330
12.6.10 Description of Data and Configuration Words ............................................................. 331
13 Other Modules ...................................................................................................................................... 333
13.1 General Information .................................................................................................................... 333
13.2 Combination Modules ................................................................................................................. 333
13.3 B&R 2003 Expansions for the CP476 ......................................................................................... 333
13.4 CM211 ......................................................................................................................................... 334
13.4.1 Technical Data ................................................................................................................ 334
13.4.2 Status LEDs .................................................................................................................... 338
13.4.3 Input Circuit Diagram ..................................................................................................... 338
13.4.4 Output Circuit Diagram .................................................................................................. 339
13.4.5 Supply Voltage Monitoring ............................................................................................. 339
13.4.6 Module Design ............................................................................................................... 340
13.4.7 Counter Configuration Possibilities ................................................................................ 341
13.4.8 Timing ............................................................................................................................. 342
13.4.9 Legend Sheets ............................................................................................................... 344
13.4.10 Connections ................................................................................................................. 345
13.4.11 Connection Example Analog Inputs ............................................................................ 346
13.4.12 Connection Example Analog Outputs .......................................................................... 347
13.4.13 Connection Example Incremental Encoder Operation ................................................ 348
13.4.14 Connection Example Event Counter Operation ........................................................... 349
13.4.15 Connection Example Period Measurement ................................................................. 349
13.4.16 Connection Example Gate Measurement .................................................................... 351
13.4.17 Connection Example Digital Outputs ........................................................................... 353
13.4.18 Variable Declaration for the Analog Inputs ................................................................... 353
13.4.19 Variable Declaration for the Analog Outputs ................................................................ 356
13.4.20 Variable Declaration for Incremental Encoder Operation ............................................ 357
13.4.21 Variable Declaration for Event Counter Operation ....................................................... 371
13.4.22 Variable Declaration for Gate and Period Measurement .............................................. 376
13.4.23 Variable Declaration for Digital Inputs/Outputs ............................................................ 381

16 Contents
 13.5 CM411 ......................................................................................................................................... 384
13.5.1 Technical Data ................................................................................................................ 384
13.5.2 Status LEDs .................................................................................................................... 386
13.5.3 Input Circuit Diagram ..................................................................................................... 387
13.5.4 Output Circuit Diagram .................................................................................................. 387
13.5.5 Supply Voltage Monitoring ............................................................................................. 388
13.5.6 Module Design ............................................................................................................... 388
13.5.7 Timing ............................................................................................................................. 389
13.5.8 Legend Sheets ............................................................................................................... 391
13.5.9 Connections ................................................................................................................... 391
13.5.10 Connection Example Analog Inputs ............................................................................ 392
13.5.11 Connection Example Analog Outputs .......................................................................... 392
13.5.12 Connection Example Incremental Encoder Operation ................................................ 393
13.5.13 Connection Example Event Counter Operation ........................................................... 393
13.5.14 Connection Example Digital Outputs ........................................................................... 394
13.5.15 Variable Declaration for the Analog Inputs ................................................................... 394
13.5.16 Variable Declaration for the Analog Outputs ................................................................ 396
13.5.17 Variable Declaration for Incremental Encoder Operation ............................................ 398
13.5.18 Variable Declaration for Event Counter Operation ....................................................... 402
13.5.19 Variable Declaration for the Digital Outputs ................................................................. 406
13.6 ME010 ......................................................................................................................................... 408
13.6.1 Technical Data ................................................................................................................ 408
13.6.2 General Information ........................................................................................................ 409
13.6.3 Status LEDs .................................................................................................................... 409
13.6.4 PCMCIA Interface ........................................................................................................... 410
13.7 ME020 ......................................................................................................................................... 411
13.7.1 Technical Data ................................................................................................................ 411
13.7.2 General Information ........................................................................................................ 412
13.7.3 Status LEDs .................................................................................................................... 412
13.7.4 PCMCIA Interface ........................................................................................................... 413
13.7.5 Interface Module Inserts ................................................................................................. 414
13.7.6 Operation of Interface Module Inserts ............................................................................ 414
14 Communication Modules ..................................................................................................................... 415
14.1 Overview ...................................................................................................................................... 415
14.2 IF311 / IF321 ............................................................................................................................... 416
14.2.1 Technical Data ................................................................................................................ 416
14.2.2 Pin Assignments IF311 ................................................................................................... 417
14.2.3 Pin Assignments IF321 ................................................................................................... 417
14.2.4 Bus Termination Resistance IF321 ................................................................................. 417
14.3 IF361 ........................................................................................................................................... 418
14.3.1 Technical Data ................................................................................................................ 418
14.3.2 Pin Assignments ............................................................................................................. 419
14.4 IF371 ........................................................................................................................................... 420
14.4.1 Technical Data ................................................................................................................ 420
14.4.2 Pin Assignments ............................................................................................................. 421

Contents 17
15 Counter and Positioning Modules ........................................................................................................ 422
15.1 Overview ...................................................................................................................................... 422
15.2 NC161 ......................................................................................................................................... 423
15.2.1 Technical Data ................................................................................................................ 423
15.2.2 General Information ........................................................................................................ 424
15.2.3 Operating Modes ............................................................................................................ 424
15.2.4 Special Functions ........................................................................................................... 424
15.2.5 Encoder Connection ...................................................................................................... 425
15.2.6 Terminal Blocks .............................................................................................................. 426
15.2.7 Variable Declaration for Incremental Encoder Operation .............................................. 427
15.2.8 Variable Declaration for Absolute Encoder Operation ................................................... 435
15.2.9 Incremental Encoder Operation ..................................................................................... 440
15.2.10 Absolute Encoder Operation ........................................................................................ 448
16 Accessories .......................................................................................................................................... 450
16.1 Overview ...................................................................................................................................... 450
16.2 AC010 / AC020 ............................................................................................................................ 451
16.2.1 Technical Data ................................................................................................................ 451
16.2.2 General Information ........................................................................................................ 451
16.3 AC011 .......................................................................................................................................... 452
16.3.1 Technical Data ................................................................................................................ 452
16.3.2 General Information ........................................................................................................ 452
16.3.3 Connection Example ...................................................................................................... 453
16.4 TB710 .......................................................................................................................................... 454
16.4.1 Order Data ...................................................................................................................... 454
16.4.2 Technical Data ................................................................................................................ 454
16.5 TB712 .......................................................................................................................................... 455
16.5.1 Order Data ...................................................................................................................... 455
16.5.2 Technical Data ................................................................................................................ 455
16.6 TB718 .......................................................................................................................................... 456
16.6.1 Order Data ...................................................................................................................... 456
16.6.2 Technical Data ................................................................................................................ 456
16.7 TB722 .......................................................................................................................................... 457
16.7.1 Order Data ...................................................................................................................... 457
16.7.2 Technical Data ................................................................................................................ 457
16.8 TB733 .......................................................................................................................................... 458
16.8.1 Order Data ...................................................................................................................... 458
16.8.2 Technical Data ................................................................................................................ 458
16.9 TB736 .......................................................................................................................................... 459
16.9.1 Order Data ...................................................................................................................... 459
16.9.2 Technical Data ................................................................................................................ 459
16.10 TB754 ........................................................................................................................................ 460
16.10.1 Order Data .................................................................................................................... 460
16.10.2 Technical Data .............................................................................................................. 460
16.11 TB772 ........................................................................................................................................ 461
16.11.1 Order Data .................................................................................................................... 461
16.11.2 Technical Data .............................................................................................................. 461
17 Manuals ................................................................................................................................................ 462
17.1 Overview ...................................................................................................................................... 462

18 Contents
CHAPTER 4 - MODULE ADDRESSING
1 Memory Area for a Screw-in Module ...................................................................................................... 465
1.1 Structure ........................................................................................................................................ 465
1.2 Data Words .................................................................................................................................... 465
1.3 Configuration Words ..................................................................................................................... 465
2 Variable Declaration in PG2000 .............................................................................................................. 466
3 Variable Declaration with 2003 PCC CPU .............................................................................................. 467
3.1 General Information ...................................................................................................................... 467
3.2 Module Assignments ..................................................................................................................... 468
3.3 Task Overview ............................................................................................................................... 469
3.4 I/O Library ...................................................................................................................................... 469
3.5 AF101 ............................................................................................................................................ 469
3.5.1 INIT-SP .............................................................................................................................. 469
3.5.2 Cyclic Program ................................................................................................................. 471
3.5.3 Variable Declaration ......................................................................................................... 472
3.5.4 AT664 on CP Interface ..................................................................................................... 473
3.5.5 AT664 on AF101 ............................................................................................................... 474
3.5.6 AI351 ................................................................................................................................. 475
3.5.7 AO352 ............................................................................................................................... 476
3.6 DM435 ........................................................................................................................................... 477
3.6.1 Variable Declaration ......................................................................................................... 477
3.6.2 I/O Type ............................................................................................................................ 477
3.7 DO435 ........................................................................................................................................... 478
3.7.1 Variable Declaration ......................................................................................................... 478
3.7.2 I/O Type ............................................................................................................................ 478
4 Variable Declaration with Remote I/O Slave ........................................................................................... 479
4.1 General Information ...................................................................................................................... 479
4.2 Module Assignments ..................................................................................................................... 479
4.3 Task Overview ............................................................................................................................... 480
4.4 Remote I/O Library ........................................................................................................................ 480
4.5 AF101 ............................................................................................................................................ 481
4.5.1 Variable Declaration ......................................................................................................... 481
4.5.2 AT664 ............................................................................................................................... 481
4.5.3 AI351 ................................................................................................................................. 483
4.5.4 AO352 ............................................................................................................................... 484
4.6 DM435 ........................................................................................................................................... 484
4.6.1 Variable Declaration ......................................................................................................... 484
4.6.2 I/O Type ............................................................................................................................ 485
4.7 DO435 ........................................................................................................................................... 486
4.7.1 Variable Declaration ......................................................................................................... 486
4.7.2 I/O Type ............................................................................................................................ 487
5 Variable Declaration with CAN Slave ...................................................................................................... 488
5.1 General Information ...................................................................................................................... 488
5.2 Module Assignments ..................................................................................................................... 489
5.3 Task Overview ............................................................................................................................... 490
5.4 CANIO Library ............................................................................................................................... 490

Contents 19
 5.5 System Configuration ................................................................................................................... 490
5.6 Error Evaluation ............................................................................................................................. 491
5.7 AF101 ............................................................................................................................................ 492
5.7.1 INIT-SP .............................................................................................................................. 492
5.7.2 Cyclic Program ................................................................................................................. 493
5.7.3 Variable Declaration ......................................................................................................... 493
5.7.4 Data Type ......................................................................................................................... 494
5.7.5 AT664 ............................................................................................................................... 494
5.7.6 AI351 ................................................................................................................................. 495
5.7.7 AO352 ............................................................................................................................... 495
5.8 DM435 ........................................................................................................................................... 496
5.8.1 Variable Declaration ......................................................................................................... 496
5.8.2 I/O Type ............................................................................................................................ 496
5.9 DO435 ........................................................................................................................................... 497
5.9.1 Variable Declaration ......................................................................................................... 497
5.9.2 I/O Type ............................................................................................................................ 497
6 CAN ID Access ....................................................................................................................................... 498
6.1 General Information ...................................................................................................................... 498
6.2 Module Assignments ..................................................................................................................... 498
6.3 Task Overview ............................................................................................................................... 499
6.4 Libraries ......................................................................................................................................... 499
6.5 System Modules ............................................................................................................................ 499
6.6 Demo Task .................................................................................................................................... 500
6.6.1 INIT-SP .............................................................................................................................. 500
6.6.2 Cyclic Program ................................................................................................................. 501
6.6.3 Cantab .............................................................................................................................. 504

CHAPTER 5 - CAN BUS CONTROLLER FUNCTIONS

1 General Information ................................................................................................................................ 507
1.1 Abbreviations and Terms .............................................................................................................. 507
1.2 CiA/CAL Network Class 0 ............................................................................................................. 508
1.3 Cia/CAL Network Class 1 or 2 ....................................................................................................... 509
1.4 Requirements for a NMT master ................................................................................................... 509
1.5 B&R Devices .................................................................................................................................. 510
1.6 Operation using Function Blocks ................................................................................................. 511
2 Operating Parameters ............................................................................................................................ 512
2.1 Overview ........................................................................................................................................ 512
2.2 Description of the Operating Parameters ..................................................................................... 515
2.2.1 Version Number ................................................................................................................ 515
2.2.2 Node Number ................................................................................................................... 515
2.2.3 Baudrate ........................................................................................................................... 516
2.2.4 Synchronization Jump Width ........................................................................................... 516
2.2.5 Guard Time ....................................................................................................................... 517
2.2.6 Life Time Factor ................................................................................................................ 517
2.2.7 Packing the Data .............................................................................................................. 517

20 Contents
 2.2.8 Inhibit Time for an Alarm Object ....................................................................................... 520
2.2.9 Behavior of Outputs during Operation ............................................................................. 520
2.2.10 Idle Time for Outputs ...................................................................................................... 520
2.2.11 Output Mask for Digital Outputs ..................................................................................... 520
2.2.12 Behavior of the Inputs during Operation ........................................................................ 521
2.2.13 Change Mask "Digital Inputs" ......................................................................................... 521
2.2.14 Cycle Time for Inputs ..................................................................................................... 521
2.2.15 Idle Time for Inputs ......................................................................................................... 521
2.2.16 Inhibit Time for Inputs ..................................................................................................... 522
2.2.17 Transmission Trigger Type for Analog Inputs ................................................................ 522
2.2.18 Value Corresponding to Trigger Type for Analog Inputs ............................................... 522
2.2.19 Parameter Value for Screw-in Modules .......................................................................... 522
2.2.20 Module Code Digital I/O Modules .................................................................................. 522
2.2.21 Module Code for Screw-in Modules ............................................................................... 523
2.2.22 Module Name "BRCIOxx" ............................................................................................... 523
2.2.23 Priority Groups ............................................................................................................... 523
2.2.24 Identifier Directory .......................................................................................................... 523
3 Commands - CAN-Bus Controller .......................................................................................................... 524
3.1 General Structure of the Commands ............................................................................................ 524
3.1.1 Command Request .......................................................................................................... 524
3.1.2 Command Response ....................................................................................................... 525
3.2 Command Codes and Parameters ............................................................................................... 526
3.2.1 Read Slave or Module Status ........................................................................................... 526
3.2.2 Read Number of Modules or Module Code ..................................................................... 526
3.2.3 Reading Output ................................................................................................................ 527
3.2.4 Read Input ........................................................................................................................ 528
3.2.5 Set Output Masks for a Module ........................................................................................ 529
3.2.6 Set Change Mask for a Module ........................................................................................ 530
3.2.7 Set Trigger Type for Analog Input Channel ..................................................................... 530
3.2.8 Set Change Value Corresponding to Trigger Type ......................................................... 530
3.2.9 Write Value to Configuration Word ................................................................................... 531
3.2.10 Read Operating Parameters ........................................................................................... 532
3.2.11 Write Operating Parameters ........................................................................................... 534
3.2.12 Activate Operating Parameters ...................................................................................... 535
3.2.13 Transfer Operating Parameters to Configuration Memory (EX270 internal) .................. 535
3.2.14 Delete Configuration Memory (EX270 internal) ............................................................ 536
3.2.15 Test if Configuration Memory is Available ...................................................................... 536
3.2.16 Read Operating System Version .................................................................................... 536
3.2.17 Restart Slave ................................................................................................................... 536
3.2.18 Set Node Number ........................................................................................................... 537
4 Start Behavior ......................................................................................................................................... 538
4.1 Initialization and Network Class Recognition ............................................................................... 538
4.2 Without NMT Master (class 0) ....................................................................................................... 540
4.3 With NMT Master (class 1 or 2) ..................................................................................................... 541
4.4 DBT Master .................................................................................................................................... 543
5 Fixed Allocation of the CAN Idendifier ................................................................................................... 545
5.1 Packed Mode ................................................................................................................................ 545
5.2 Unpacked Mode ............................................................................................................................ 546

Contents 21
 5.3 Packed and Unpacked Mode ....................................................................................................... 546
5.3.1 Examples .......................................................................................................................... 547
6 Allocating the CAN Identifier using DBT Master ..................................................................................... 552
6.1 Packed Mode ................................................................................................................................ 552
6.2 Unpacked Mode ............................................................................................................................ 553
6.2.1 Examples .......................................................................................................................... 554
7 Monitoring Functions .............................................................................................................................. 557
7.1 Voltage Monitoring Bus Controller ................................................................................................ 557
7.2 I/O Module Voltage Monitoring ..................................................................................................... 557
7.3 Life Guarding ................................................................................................................................. 557
7.4 Idle Time Monitoring ..................................................................................................................... 557
7.5 Output Monitoring ......................................................................................................................... 558
7.6 Watchdog ...................................................................................................................................... 558
8 Note ........................................................................................................................................................ 559

CHAPTER 6 - TIMING
1 B&R 2003 System Timing ....................................................................................................................... 563
2 2003 PCC Timing ................................................................................................................................... 564
2.1 Cycles to be Considered .............................................................................................................. 564
2.1.1 Internal Bus Cycle ............................................................................................................ 566
2.1.2 I/O AF Cycle ...................................................................................................................... 567
2.1.3 I/O CP Interface Cycle for CP476 ..................................................................................... 568
2.1.4 Selecting the Task Class ................................................................................................. 568
2.1.5 I/O CPU Load ................................................................................................................... 569
2.1.6 Worst Case Reaction Time ............................................................................................... 569
2.2 Access Procedure ......................................................................................................................... 570
2.2.1 Cyclic Access ................................................................................................................... 570
2.3 Calculation Examples .................................................................................................................... 571
3 Remote I/O Node Timing ........................................................................................................................ 578
3.1 Times to be Considered ................................................................................................................ 578
3.1.1 Access Time ..................................................................................................................... 578
3.1.2 Module Reaction Time ...................................................................................................... 578
3.1.3 Bus Time ........................................................................................................................... 578
3.2 Access Time .................................................................................................................................. 579
3.3 Module Reaction Time .................................................................................................................. 579
3.3.1 Hardware Dependant Internal I/O Bus Cycle ................................................................... 579
3.3.2 Module Reaction Time Calculation .................................................................................. 579
3.3.3 Digital Module Reaction Time .......................................................................................... 580
3.3.4 Analog Module Reaction Time ......................................................................................... 580
3.4 Hardware Guidelines ..................................................................................................................... 581
3.5 Calculation Examples for Module Reaction Time ......................................................................... 581
3.5.1 Calculating Module Reaction Times ................................................................................. 583

22 Contents
4 CAN Node Timing ................................................................................................................................... 584
4.1 Times to be Considered ................................................................................................................ 584
4.1.1 Access Time ..................................................................................................................... 584
4.1.2 Module Reaction Time ...................................................................................................... 584
4.1.3 Bus Time ........................................................................................................................... 584
4.2 Access Time .................................................................................................................................. 585
4.3 Module Reaction Time .................................................................................................................. 585
4.3.1 CAN Object Evaluation ..................................................................................................... 585
4.3.2 Hardware Dependant Internal Bus Cycle ......................................................................... 585
4.3.3 Module Reaction Time Calculation .................................................................................. 586
4.3.4 Digital Module Reaction Time .......................................................................................... 586
4.3.5 Analog Module Reaction Time ......................................................................................... 587
4.4 Hardware Guidelines ..................................................................................................................... 587
4.5 Inhibit Times .................................................................................................................................. 588
4.5.1 Digital Inputs ..................................................................................................................... 588
4.5.2 Analog Inputs ................................................................................................................... 588
4.6 Determine the Inhibit Times .......................................................................................................... 589
4.6.1 Required Time .................................................................................................................. 589
4.6.2 Local Acquisition Time ..................................................................................................... 589
4.6.3 Maximum Bus Load Desired ............................................................................................ 590
4.6.4 Setting the the Inhibit Time ............................................................................................... 590
4.7 Calculation Examples for Module Reaction Time ......................................................................... 592
4.7.1 Example 1 ......................................................................................................................... 592
4.7.2 Example 2 ......................................................................................................................... 592
4.7.3 Example 3 ......................................................................................................................... 592
4.7.4 Example 4 ......................................................................................................................... 593
4.7.5 Example 5 ......................................................................................................................... 596
4.8 Bus Time ....................................................................................................................................... 598
4.8.1 Baudrate ........................................................................................................................... 598
4.8.2 Number of CAN Objects ................................................................................................... 598
4.8.3 Example ............................................................................................................................ 599

CHAPTER 7 - GENERAL ACCESSORIES

1 General Accessories ............................................................................................................................... 603
1.1 Overview ........................................................................................................................................ 603
1.2 AC401 Encoder 5 V - 24 V ............................................................................................................ 604
1.2.1 Order Data ........................................................................................................................ 604
1.2.2 General Information .......................................................................................................... 604
1.3 AC410 Interface Converter ............................................................................................................ 605
1.3.1 Order Data ........................................................................................................................ 605
1.3.2 General Information .......................................................................................................... 605
1.4 AC912 Bus Adapter, CAN 1x ........................................................................................................ 606
1.4.1 Order Data ........................................................................................................................ 606
1.4.2 General Information .......................................................................................................... 606

Contents 23
 1.5 AC913 Bus Adapter, CAN 2x ....................................................................................................... 607
1.5.1 Order Data ....................................................................................................................... 607
1.5.2 General Information ......................................................................................................... 607
1.6 AC916 Bus Termination, RS485 Active ........................................................................................ 608
1.6.1 Order Data ....................................................................................................................... 608
1.6.2 General Information ......................................................................................................... 608
1.7 RS485 Bus Connector .................................................................................................................. 609
1.7.1 Order Data ....................................................................................................................... 609
1.7.2 General Information ......................................................................................................... 609
1.8 AC911 Bus Connector, CAN ........................................................................................................ 610
1.8.1 Order Data ....................................................................................................................... 610
1.8.2 Technical Data ................................................................................................................. 610
1.8.3 General Information ......................................................................................................... 610
1.9 INT1 Interface Converter .............................................................................................................. 611
1.9.1 Order Data ....................................................................................................................... 611
1.9.2 General Information ......................................................................................................... 611
1.9.3 Supply .............................................................................................................................. 611

CHAPTER 8 - STANDARDS AND CERTIFICATIONS

1 Standards and Limits for B&R Industrial Products ................................................................................. 615
2 International Standards .......................................................................................................................... 617

APPENDIX A - CAN IDENTIFIER WITH CAN BUS CONTROLLER

(FIXED ALLOCATIONS)
1 Digital Inputs and Outputs ...................................................................................................................... 621
2 Analog Inputs and Outputs .................................................................................................................... 623
3 Alarm Messages, Command Requests and Responses ........................................................................ 631

APPENDIX B - ERROR MESSAGES CAN BUS CONTROLLER

1 Error Messages ....................................................................................................................................... 635
1.1 Supplementary Code c30ms - c38ms .......................................................................................... 637
1.2 Sending Error Messages ............................................................................................................... 637

INDEX
Index .......................................................................................................................................................... 641
Model Number Index ................................................................................................................................. 648

24 Contents
 General Information
Chapter 1
CHAPTER 1
GENERAL INFORMATION

General Information 25
26 Chapter 1
1 INTRODUCTION

General Information
1.1 GENERAL INFORMATION

Chapter 1
The B&R SYSTEM 2000 controller generation is an automation system which sets new standards for
performance, functionality and operational security. The B&R 2003, B&R 2005 and B&R 2010 systems
cover the entire application range, from simple logic controllers to complex decentralized automation
systems.
The systems have different structures, expandability, modularity and CPU performance. These systems are
very closely related and therefore meet the fundamental requirements for complete centralized and
decentralized compatibility for the programmer.

General Information 27
B&R SYSTEMS 2003 Characteristics

Hardware:

• Hardware modularity
• Network capable
• Communication interfaces to HMI
• PCC and industrial computer functionality
• EMC according to IEC 61131-2
• Secure I/O bus protocol
• Remote I/O points
• Bit or word processing in a single cycle
• All terminals for 2 or 3 line connection available directly on the module
• No extra terminals needed

Software:

• Multitasking operating system for PCC and industrial computer applications

• Powerful PCC programming languages
• High level language programming
• Exact control over PCC timing
• Simple programming software with window oriented user interface
• Project management using the programming software

PCC (programmable computer controller)

The core of the PCC consists of powerful standard computer components. The processors are supported by
RISC processors which allow fast processing of I/O signals.
Most CPUs use a modular interface concept. Various bus or network systems can be integrated in the B&R
SYSTEM 2003 efficiently using plug-in interface modules.
The computer core uses components which provide the functionality of an industrial PCC. Bit, byte and word
access is possible in a single cycle which increases speed when combining PCC links and industrial computer
functionality.

System Interface

The system interface is the sum of all I/O modules, i.e. the interface between PCC and the machine/system
being controlled. All B&R SYSTEMS 2003 I/O modules are protected from external disturbances using
suitable EMC measures (IEC 61131-2 standard).

Length and structure of the I/O bus can be adjusted according to the requirements of the machine/system.
That means the connection points for I/O signals do not have to be in the same location as the PCC CPU. Using
remote I/O bus segments (Remote I/O, CAN I/O) allows the optimal structure to be created for the respective
application. I/O modules are installed on the machine/system where they are needed. Cabling to the core of
the PCC is reduced to a two conductor or fibre optic cable.

28 Chapter 1
Network Capability

General Information
Network capability and the possibility to communicate with systems from other manufacturers have become
a must for all industrial controllers. The B&R 2000 PCC family meets many of these requirements using system-

Chapter 1
wide and multi-system communication possibilities.

Software Concept

Special attention was given to simple operation and programming. Standard PLC programs run cyclically, i.e.
the program is repeated in a loop. To increase efficiency, the B&R SYSTEM 2000 also offers the possibility
to use various tasks with different cycle times. In this way, critical program sections (e.g. reaction to trigger
signals) can be processed faster than the evaluation of slower events (e.g. polling keys).

Programming

The CPU is programmed using the programming system PG2000 or Automation Studio™. Several program-
ming languages are available:

PG2000 Automation Studio™

Statement List (STL) Automation Basic (previously PL2000)

Ladder Diagram (LAD) ANSI C

PL2000 High Level Language (structured) IEC 1131 Ladder Diagram (LAD)

IEC 1131 Sequential Function Chart (SFC)

IEC 1131 Structured Text (ST)

IEC 1131 Instruction List (IL)

General Information 29
2 B&R 2003 CONTROL SYSTEM
2.1 MODULAR STRUCTURE
Back wall of
Controller and I/O modules are hung in the module switching cabinet
rack and screwed to a threaded strip which is in- Module
Module rack
serted in the aluminum frame. The electrical connec-
tion between the modules is achieved by pushing the
modules together (integrated plug and socket con-
nection in the modules).

Mounting the Module Rack:

The module rack is installed using mounting rail

(IEC 50022 - 35 x 7.5 mm). This mounting rail is
attached conductively to the back wall of the
switching cabinet.
In addition to mounting rail installation, the mod-
ule rack can also be screwed directly onto the Mounting rail

back wall of the switching cabinet.

2.2 I/O BUS

The B&R SYSTEM 2003 is equipped with an I/O bus.

The electrical connection between the modules is
achieved by pushing the modules together (inte-
grated plug and socket connection in the modules).

Characteristics:
• Compact Structure
• Industrial standard bus technology
• Integrated terminals
- 2 or 3 line connections
- No extra terminals needed

30 Chapter 1
2.3 SUPPLY VOLTAGE

General Information
The supply voltage for the B&R 2003 control system is provided by a power supply integrated in the
controller.

Chapter 1
2.4 TERMINAL BLOCKS

B&R 2003 modules use a large number of terminal blocks to make connections.

The pin assignments for the individual modules can be found in this manual (Chapter "B&R 2003 Modules").

The construction of the terminal blocks has the following advantages for the PCC user:
• Terminal blocks are easy to remove using two ejection levers on the module or directly on the terminal
blocks.
• Most terminal blocks are available with screw clamps and also with cage clamps.

2.5 PROGRAM MEMORY MODULES

2.5.1 2003 PCC CPU

When using a B&R 2003 CPU, application programs and the operating system are stored in the CPU.

2.5.2 Remote Slaves

When used as a remote I/O slave, the application programs are stored in the remote master (e.g. EX150). The
operating system is programmed in the remote I/O bus controller.

2.5.3 CAN Slaves

When used as a CAN slave, the application programs are stored in the CAN master (e.g. XP152). The
operating system is programmed in the CAN bus controller. Configuration data can be placed in configuration
memory (inserted from the front).
The CAN bus controller EX270 is equipped with an internal S-EEPROM. Operating system parameters can
be stored in this S-EEPROM.

General Information 31
3 B&R 2003 EXPANSION
Expansion can take place in two ways:
• Remote I/O Bus
• CAN Field Bus

3.1 REMOTE I/O BUS

Remote Master
(max. 8)
The remote I/O bus allows remote I/O modules to
be connected to a remote master. The maximum PS CPU
distance without a repeater is 1200 m. Up to 31
slaves can be connected to a remote master
without using a repeater.

Main rack
3.1.1 Remote Master
System and I/O modules
The remote master is a B&R SYSTEM 2005, B&R
SYSTEM 2010 or B&R SYSTEM 2000 Logic Scan-
Local expansion

ner.

PS (Remote Slave Station 1)

3.1.2 Remote Slave

A remote I/O bus controller EX477 or EX777 is

required to add a B&R SYSTEM 2003 as slave in
a remote I/O network.

I/O modules
Cabling
Max. 1200 m (without repeater)

In a remote I/O system, remote slaves at distances

up to 1200 m are connected with the remote PS (Remote Slave Station 30)

master using a shielded twisted pair cable.

Transfer Distance
(without repeater) I/O modules

100 kBit/sec up to 1,200 m EX477 (Remote Slave Station 31)

181 kBit/sec up to 1000 m
500 kBit/sec up to 400 m
2003
INPUT N# INPUT N#
N# 24 VDC 24 VDC
6 mA 6 mA
9 0 1 9 0 1 OUTPUT OUTPUT
8 2 8 2 24 VDC 24 VDC
7 3 7 3 1 A 100% 1 A 100%
6 5 4 6 5 4 2 A 50% S# 2 A 50% S#

1000 kBit/sec up to 200 m

OK 1 2 3 4 5 6 7 8 OK 1 2 3 4 5 6 7 8
STATUS U U

DC OK
EX477 DO435 DO435

2000 kBit/sec up to 100 m Supply: + 24 VDC

32 Chapter 1
3.2 CAN FIELD BUS
CAN Bus Master

General Information
Up to 32 B&R SYSTEM 2003 CAN slaves can be CP474
connected to a CAN master. When using ME770

Chapter 1
2003

configuration memory or the internal S-EEPROM

CP
N# CAN RS232 INPUT N# INPUT N#
INTERFACE 24 VDC 24 VDC
6 mA 6 mA
E 0 2 OUTPUT OUTPUT
C C 4 24 VDC 24 VDC
S# A 6 1 A 100% 1 A 100%
8 2 A 50% S# 2 A 50% S#
MODE

on the EX270 bus controller, up to 63 B&R SYS-

1 2 3 4 OK 1 2 3 4 5 6 7 8 OK 1 2 3 4 5 6 7 8
ERR RUN U U

CP474 RDY MODE DO435 DO435

TEM 2003 CAN slaves can be connected. Supply: + 24 VDC

3.2.1 CAN Master

The CAN master is a B&R SYSTEM 2003, B&R CAN Bus Slave
EX470
SYSTEM 2005, B&R SYSTEM 2010 or B&R SYS-
TEM 2000 Logic Scanner. 2003
INPUT N# INPUT N#
N# 24 VDC 24 VDC
6 mA 6 mA
0 0 OUTPUT OUTPUT
E 2 E 2 24 VDC 24 VDC
C 4 C 4 1 A 100% 1 A 100%
A 8 6 8 6
A 2 A 50% S# 2 A 50% S#
OK 1 2 3 4 5 6 7 8 OK 1 2 3 4 5 6 7 8
U U
STATUS
EX470 DC OK DO435 DO435

3.2.2 CAN Slave Supply: + 24 VDC

To add a B&R SYSTEM 2003 to a CAN network, a

EX270, EX470 or EX770 CAN bus controller is
required. CAN Bus Slave
EX470

2003
INPUT N# INPUT N#
N#

Cabling
24 VDC 24 VDC
6 mA 6 mA
0 0 OUTPUT OUTPUT
E 2 E 2 24 VDC 24 VDC
C 4 C 4 1 A 100% 1 A 100%
A 8 6 A
8 6 2 A 50% S# 2 A 50% S#
OK 1 2 3 4 5 6 7 8 OK 1 2 3 4 5 6 7 8
U U
STATUS
EX470 DC OK DO435 DO435

The maximum distance in a CAN field bus system Supply: + 24 VDC

is 1000 m. A 4 conductor twisted pair cable is to be

used for the bus cable. The bus length is mostly
determined by the transfer rate.
CAN Bus Slave
EX470

2003
INPUT N# INPUT N#
N# 24 VDC 24 VDC
6 mA 6 mA
0 0 OUTPUT OUTPUT
E 2 E 2 24 VDC 24 VDC
C 4 C 4 1 A 100% 1 A 100%
A 8 6 A
8 6 2 A 50% S# 2 A 50% S#
OK 1 2 3 4 5 6 7 8 OK 1 2 3 4 5 6 7 8
STATUS U U

Transfer Distance
EX470 DC OK DO435 DO435

Supply: + 24 VDC

500 kBit/sec 10 -60 m

250 kBit/sec 100 -200 m
50 kBit/sec 800 - 1000 m

General Information 33
4 COMBINATION POSSIBILITIES
4.1 REMOTE I/O BUS

Up to 31 remote slaves can be connected on a

remote master (B&R SYSTEM 2005, B&R SYSTEM Slave Type Number of slots
2010 or B&R SYSTEM 2000 Logic Scanner) and the
2003, 2005 and 2010 systems can be combined as 2010 Max. 99 (daisy chained)
desired. A new I/O bus starts with each remote slave. 2005 Max. 13
The maximum number of slots are available depend- 2003 Max. 8
ing on the slave type.

4.2 CAN FIELD BUS

Up to 32 B&R SYSTEM 2003 CAN slaves can be connected to a CAN master (B&R SYSTEM 2005, B&R
SYSTEM 2010 or B&R SYSTEM 2000 Logic Scanner). When using ME770 configuration memory or the
internal S-EEPROM on the EX270 bus controller, up to 63 B&R SYSTEM 2003 CAN slaves can be connected.

34 Chapter 1
 Project Planning
and Installation
Chapter 2
CHAPTER 2
PROJECT PLANNING
AND INSTALLATION

Project Planning and Installation 35

36 Chapter 2
1 DIMENSIONS AND MOUNTING
1.1 DIMENSIONS

All modules in the B&R 2003 system have the same

dimensions. The layout for the dimensions of the Width

B&R SYSTEM 2003 is shown in the following dia-

gram.

Dimensions [mm]

Project Planning
and Installation
Chapter 2
Height 115

Height
Width
7BP7xx.0 M x 76.5 + 8.5
7BP70x.1 M x 76.5 +4.5

Depth 70

M ... Max. number of modules on a module rack Depth

(see Module Rack)

1.2 MOUNTING RAIL

To mount the PCC, you need a mounting rail which conforms to the standard IEC 50022. This mounting rail
is to be attached conductively to the back wall of the switching cabinet.

Please follow the manufacturers installation guidelines!

1
35

7.5

Project Planning and Installation 37

1.3 MODULE RACK

Module racks for the B&R SYSTEM 2003 are aluminum frames which are available in different widths. Module
racks with one or two side sections are used depending on the controller.

1.3.1 Example for a Module Rack with Two Side Sections

Width
2 side sections

115 mm
Screws for installation
Threaded strip
23 mm
Angled GND
1 aluminum frame connector

1.3.2 Dimensions

All module racks are 115 mm high. Side sections and mounting screws must be included in the width of the
module racks.

Module racks with two side sections (7BP7xx.0): approx. 8.5 mm

Module racks with one side section (7BP70x.1): approx. 4.5 mm

Module Rack Modules Width [mm]

BP701.1 1 81 1)

BP702.1 2 157.5 1)

BP702 2 161.5 2)

BP703 3 238 2)

BP704 4 314.5 2)

BP705 5 391 2)

BP706 6 467.5 2)

BP707 7 544 2)

BP708 8 620.5 2)

BP709 9 697 2)

BP710 10 773.5 2)
1)
Includes 4.5 mm for one side section and mounting screws. These module racks are e.g. used together with the EX270 CAN bus
controller.
2)
Includes 8.5 mm for two side sections and mounting screws.

38 Chapter 2
1.4 MODULES

B&R SYSTEM 2003 modules are divided into four groups.

• Controller
• CPUs
• I/O Modules
• Screw-in Modules (ScrM)

The technical data indicates which group the respective modules belong to.

Project Planning
and Installation
Chapter 2
Controller, CPU and I/O modules are hung in the module rack and screwed to a threaded strip which is inserted
in the aluminum frame. The electrical connection between the modules is made using a 9 pin D-type plug and
socket (simply push the modules together).
The risks surrounding typical ribbon cable, and inserting a module into the wrong slot no longer exist.

Screw-in modules (ScrM) are installed on the adapter module or on the CP interface. Up to four screw-in
modules can be installed on each adapter module or CP interface.

1.4.1 DimensionsController, CPUs and I/O Modules

Controller and I/O modules are only available in single widths. CPUs are available in single or double widths.
The EX270 CAN Bus Controller is an exception. It is not hung in the module rack, instead it is screwed to the
left side of the module rack.

Single width

76.5 mm 70 mm

INPUT N#
24 VDC
6 mA
OUTPUT
24 VDC
1 A 100%
2 A 50% S#

OK 1 2 3 4 5 6 7 8
115 mm

DO435

Labeling field

Project Planning and Installation 39

Double width

The CPUs CP474, CP476 and CP774 are double width modules. The depth remains the same as for other
modules.

153

2003
CP N# CAN RS232
INTERFACE
0
E 2
C C 4
S# A 8 6

MODE
1 2 3 4
ERR RUN

CP474 RDY MODE

115

Supply: + 24 VDC

Labeling field

CAN Bus Controller EX270

20 68
115

N#

STATUS

EX270

40 Chapter 2
1.4.2 Screw-in Module Dimensions

18 64

N#
S#

1
ANALOG
INPUT

Project Planning
and Installation
Chapter 2
85

AI351

31

Project Planning and Installation 41

1.5 INSTALLATION DIMENSIONS

1.5.1 Horizontal Installation

Note the to the following dimensions for horizontal installation in a switching cabinet or housing.

30
Width + 22 mm

2003
INPUT N#
INPUT N#
N# 24 VDC 24 VDC
6 mA 6 mA

E
0
2 E
0
2
OUTPUT OUTPUT
24 VDC 24 VDC
C 4 C 4 1 A 100% 1 A 100%
A 8 6 A8 6 2 A 50% S# 2 A 50% S#

OK 1 2 3 4 5 6 7 8 OK 1 2 3 4 5 6 7 8
STATUS U U

EX470 DC OK DO435 DO435

h
CAN CAN / ID

Supply: + 24 VDC

35
Width

Width: see Section "Module Rack"

Height: h = 115 mm without screw-in modules

h = 146 mm with screw-in modules

There must be at least 30 mm free space above the modules. The cooling vents are not allowed to be covered.

Underneath B&R SYSTEM 2003, 35mm space is to be left free for the input, output and supply cables.

Standard Installation

If the controller is hung in the module racks, 22 mm must be added to the width listed in section "Module Racks"
(column "7BP7xx.0").

Installation with CAN Bus Controller EX270

The CAN Bus Controller EX270 is used together with the module racks having model numbers 7BP70x.1. The
EX270 is screwed onto the module rack instead of the left side section.
31 mm is to be added to the width listed in section "Module Rack" (column "7BP70x.1").

42 Chapter 2
1.5.2 Vertical Installation

Note the to the following dimensions for vertical installation in a switching cabinet or housing.

30 b 35

Project Planning
and Installation
Screw hole

Chapter 2
Height + 22 mm

Height
Screw hole

Height: see section "Module Rack", column "Width"

Width: b = 115 mm without screw-in modules

b = 146 mm with screw-in modules

At least 30mm space must be left free on the left side of the module. The cooling vents are not allowed to be
covered.
On the right hand side of the B&R SYSTEM 2003, 35mm space is to be left free for the input and output cables.

The CPU is held in place by two screws to stop it slipping. Before the module rack can be screwed in place,
the threaded strips must be pushed in and the left side section and screws for the right side section must be
pre-mounted.

The modules must be arranged so that the controller is on the lower end of the module rack.

The temperature range is restricted to 0 - 50 °C when installing modules vertically.

Project Planning and Installation 43

Standard Installation

If the controller is hung in the module racks, 22 mm must be added to the width listed in section "Module Racks"
(column "7BP7xx.0") when calculating the height.

Installation with CAN Bus Controller EX270

The CAN Bus Controller EX270 is used together with the module racks having model numbers 7BP70x.1. The
EX270 is screwed onto the module rack instead of the left side section.
To calculate the height, 31 mm is to be added to the width listed in section "Module Rack" (column "7BP70x.1").

44 Chapter 2
2 INSTALLATION

Installation is only permitted to be carried out by qualified personnel!

The B&R SYSTEM 2003 is to be installed in the following order:

1) Installing the mounting rail

2) Installing the modules on the module rack

Project Planning
and Installation
3) Installing the entire unit

Chapter 2
2.1 MODULES

In order to install and fasten the modules on the module rack, you first need to push in the threaded strip
and attach the left hand side section (see following diagram).

• If the threaded strip has not been pre-installed, push it into the aluminum frame:

• Attach the left hand section to the aluminum frame using two screws. This side section serves as a
stop for the first module.

Project Planning and Installation 45

After you have carried out these preparations, place the modules on the module rack and push them to the
left (making contact with the modules) and secure them with fastening screws.

• Place the modules on the module rack (the side section which has already been installed, is not shown
in the diagram):

Threaded strip

Screws

A B

46 Chapter 2
 • Push the first module until it reaches the side section.

Threaded strip Slotted holes to fasten

the modules

2003
N#

0 0
E 2 E 2
C 4 C 4
A 6 A 6
8 8

STATUS

EX470 DC OK

Project Planning
and Installation
CAN CAN / ID

Chapter 2
Supply: + 24 VDC

• Each module is fastened to the threaded strip using two screws. The angled ground connector should
also be mounted on the power supply and connected to the module rack.

• The other modules are installed as described above, pushed to the left and fastened with screws.

9 pin D-type socket

2003
INPUT N#
24 VDC
N# 6 mA
OUTPUT
0 0 24 VDC
E 2 E 2
C 4 C 4 1 A 100%
A 6 A 6 2 A 50% S#
8 8
OK 1 2 3 4 5 6 7 8
U
STATUS
DO435
EX470 DC OK

CAN CAN / ID

Supply: + 24 VDC

IN

Make sure that the modules are pushed together properly so that there is a perfect connection
between the modules.

• After you have installed and fastened all the modules on the module rack, install the right hand side
section.

Project Planning and Installation 47

2.2 MODULE RACK

Carry out the following steps to mount the module rack on the mounting rail:

• Open both fastening levers (setting: OPEN)

• Place the module rack in the desired position on the mounting rail

• Close both fastening levers (setting: CLOSE)

48 Chapter 2
2.3 TERMINAL BLOCKS

Single row terminal blocks are used to connect the I/O modules. These terminal blocks are ejected using
two levers. Pressing the ejection lever (using a screw driver) causes the terminal block to be pushed out of
the pin block so it can then be easily taken out. They are available with screw clamps and also with cage
clamps.

Project Planning
and Installation
Chapter 2
Screw clamps Cage clamps

2.3.1 Cabling Terminal Blocks

Daisy Chaining

The horizontal arrangement of the terminals allows the supply voltage to be daisy chained:
03
B&R 20
INPUT INPUT
N# 24 VDC N# 24 VDC N#
5 mA 5 mA
OUTPUT OUTPUT
24 VDC 24 VDC
1 A 100 % 1 A 100 %
2 A 50 % S# 2 A 50 % S#
OK 1 2 3 4 5 6 7 8 OK 1 2 3 4 5 6 7 8
STATUS U U

EX470 DC OK DO435 DO435

CAN CAN / ID

Supply:
+ 24 VDC
- -
+
+

This diagram shows an example of how supply lines can be daisy chained.

Pay attention to the required voltages and currents!

Daisy chaining is only possible if all modules use the same voltage. Additionally, the maximum current load
for the connector is not allowed to be exceeded.

Project Planning and Installation 49

Input and Output Connections

The connections for all the inputs and outputs are arranged one on top of the other. This makes things a lot
clearer, and enables you to find the correct cable for the corresponding channel easily. Possible exceptions
are listed in the module description. INPUT
24 VDC N#
5 mA
OUTPUT
24 VDC
1 A 100 %
2 A 50 % S#
OK 1 2 3 4 5 6 7 8
U

DO435

50 Chapter 2
2.4 SCREW-IN MODULES

The screw-in modules are delivered in a specially made box. The box has two functions:

• Protection from damage during transportation

• Protection during cabling

2.4.1 Cabling Protection

The controller is often not available while a system is being cabled, e.g. it is still being used by the programmer

Project Planning
and Installation
to complete the control program.

Chapter 2
The electrician connects the cable to terminal blocks and D-type connectors which will be plugged onto
the controller when it is installed. However, the screw-in modules AI261, AI294 and NC161 do not have to
be cabled directly.
In order to protect the screw-in modules from dust and mechanical damage until the controller is installed,
these modules are to be placed in the box again after it is wired.

B&R recommend the following procedure:

Ê Remove the screw-in module from the box.

Ë Remove the top section of the box along the perforation.

Remove top section

Project Planning and Installation 51

 Ì Place the cabled screw-in module box so that the slanted section is facing the corner with the pre-
made fold lines. The cable can then hang out of the box.

Í Fold the box in the corner with the pre-made fold lines. This prevents the box from falling off.

Fold in corner
Top view:

Not folded

Folded

52 Chapter 2
3 MODULE SLOT RULES
3.1 PHYSICAL MODULE SLOTS

A physical module slot corresponds to the actual space required for a module. 2003 modules can be single
width (= one module slot) or double width (= two module slots), for example like the CP474.
Module racks are available in different lengths for the B&R SYSTEM 2003. The palette ranges from one module
slot to a maximum of 10 module slots (= module addresses or slots in the hardware view in Automation
Studio™).

Project Planning
and Installation
3.2 LOGICAL MODULE SLOTS

Chapter 2
Some modules require more than one logical module slot. That means the number of physical module slots
required is different than the number of logical modules slots required.

The maximum number of logical module slots depends on the controller. The controller also determines how
many module slots are available for analog modules (see section “Modules that use Logical or Analog Module
Slots”).

Various controller are limited as to the maximum number of analog module slots and also as to the module
slots for analog modules. Both conditions must be met.

Controller Maximum number of Maximum number of Possible module

log. module slots 1) analog module slots 1) addresses for analog
modules 2)
CP430 4 2 1–4

CP470 / CP770 8 4 1–8

CP474 / CP774 12 4 1–8

CP476 16 4 1–8

EX270 4 2 1–2

EX470 / EX770 8 4 1–4

EX477 / EX777 8 4 1–8

1) Attention: Note power output table!

2) All analog modules and modules with logical analog sections must be operated directly next to the controller, that means they must be inserted
to the left of the first digital module. Module slots 1 or 1+2 are used by the controllers (exception: EX270 does not require a module slot). The
first slot to the right of a controller has module address 1 and the module addresses are numbered in increasing order to the right.

Attention: A module slot does not correspond to the module address, it only refers to the actual space
required on the module rack.

Project Planning and Installation 53

3.3 MODULES THAT USE LOGICAL OR ANALOG MODULE SLOTS

The following table contains an overview of the modules that use more than two logical module slots or that
use an analog module slot.
If a module uses two logical module slots and one of these slots is an analog module slot, it is always the first
one. The number of logical module slots corresponds to the module addresses used (= slots in the hardware
view in Automation Studio™).

Module Number of logical Number of analog Numbe of phys.

module slots module slots module slots used
AF101 1 1 1

DI439 2 --- 1

DM465 2 --- 1

CM211 2 1 1

CM411 2 2 1

3.4 CONFIGURATION EXAMPLES

Example 1

Configuration with one CP430 and two CM211:

Physical Module Assignments (physical module slots):

1 2 3

CP430 CM211 CM211 Correct

Configuration
Logical Module Assignments(module addresses):

0 1 2 3 4

CP430 CM211 CM211 CM211 CM211

analog digital analog digital

54 Chapter 2
Example 2

Configuration with one EX270 and two CM211:

Physical Module Assignments (physical module slots):

1 2

CM211 CM211
Incorrect
EX270

Configuration

Project Planning
and Installation
Chapter 2
Logical Module Assignments (module addresses):

0 1 2 3 4

CM211 CM211 CM211 CM211

EX270

analog digital analog digital

Module slot 3 is not allowed to be used for analog modules on the EX270!

Project Planning and Installation 55

4 POWER OUTPUT TABLE
Each hardware configuration must have a table of values. You can determine if the power supply output from
the CPU is sufficient for the modules using this table.

An output table can be created quickly and clearly using the table found in Chapter 3 "B&R 2003 Modules"
in section "Module Overview". The column labeled "Power" contains values for the power provided by a module
or required by a module.

4.1 EXAMPLE 1

B&R SYSTEM 2003 with a typical hardware configuration.

Total Power [W]

+12.6

+8.8
-1.5
-0.2
-0.5
-1.2
-0.4
DI435
Number of Modules

DM435
1
3
1
1
1
1
DM435

DM435
Power [W]
12.6
0.5
0.2
0.5
1.2
0.4

AT664
Module

DM435

AO352
CP474

AT664
DI435
AI354

AO352

CP474 / AI354

56 Chapter 2
 4.2 EXAMPLE 2

Project Planning and Installation

CP476 / DI135
DI135
DI135
DI135
DM465
DM465
DM465
DM465
DM465
DM465
DM465
DM465
B&R SYSTEM 2003 with maximum configuration for digital signals.

Module Power [W] Number of Modules Total Power [W]

CP476 12.5 1 +12.5
DM465 1.1 8 -8.8
DI135 0.4 4 -1.6
+2.1

57
Chapter 2
Project Planning
and Installation
Chapter 2 58
CP474 / AI774
AI774
AI774
AI774
AF101 / AI774
AI774
AI774
DI435
AF101
CP474
Module

AI774
AI774
AF101 / AI774
AI774
AI774
0,4
0,3
0,2

AI774
12,6
Power [W]

AF101 / AI774
AI774
AI774
AI774
AF101 / AI774
AI774

4
4
1

20
AI774
AI774
DI435
Number of Modules
DI435

-8
-1.2
-0.8

+2.6
+12.6
Total Power [W]
DI435
DI435
B&R SYSTEM 2003 with maximum configuration for analog signals.
4.3 EXAMPLE 3
5 REMOTE I/O BUS
The remote I/O bus allows remote I/O modules to be connected to a remote master. The distance without
a repeater can be up to 1200 m. Up to 31 slaves can be connected to a remote master without using a
repeater.

5.1 REMOTE MASTER

The remote master is a B&R SYSTEM 2005, B&R SYSTEM 2010 or B&R SYSTEM 2000 Logic Scanner.

Project Planning
and Installation
Chapter 2
5.2 REMOTE SLAVE

A remote I/O bus controller EX477 or EX777 is required to add a B&R SYSTEM 2003 as slave in a remote
I/O network.

5.3 CABLING

5.3.1 Cabling Diagram

Remote bus plug

with terminating resistor
Remote Remote Remote Remote switched on Remote
Slave Master Slave Slave Slave
Remote bus plugs
with terminating resistors
switched off

Bus cable

Max. distance
depends on transfer rate

Project Planning and Installation 59

5.3.2 Bus Cable

Standard: DIN 19245 Part 3

The remote master and slave modules are connected using a two conductor cable and must conform to the
following specifications.

Wave Impedance 135 - 165 Ω (3 - 20 MHz)

Distributed Capacitance <30 pF / m

Loop Resistance <110 Ω / km

Wire Diameter >0.64 mm

Wire Cross Section >0.34 mm2

Both ends of the two conductor cable must be equipped with terminating resistors.

5.3.3 Connecting Bus Cable - Station

The two wires of the bus cable are connected to the individual stations as follows:

RIO RIO RIO RIO RIO

Station Station Station Station Station

8 3 8 3 8 3 8 3 8 3

DATA
DATA

60 Chapter 2
5.3.4 Terminating Resistance

The remote bus is equipped with terminating resistors at both ends. B&R can provide remote bus connectors
0G1000.00-090 complete with integrated terminating resistors. Terminating resistors can be turned on or
off.

5.3.5 Resistor Diagram

Project Planning
and Installation
5 4 3 2 1

Chapter 2
9 8 7 6

390 Ω 220 Ω 390 Ω

5.3.6 Remote Bus Plug

Model Number: 0G1000.00-090

Switch for
terminating resistor

OFF

ON

Cable clamp for N2 P2 N1P1

bus line 9 pin D-type plug

N2 P2 N1P1
DATA Stress releif
DATA
Bus lines
DATA
DATA

Project Planning and Installation 61

5.4 DISTANCES

The maximum distance of a remote system depends on the rate of communication transfer:

Distance [m] Transfer Rate [kBit/s]

1200 100

1000 181

400 500

200 1000

100 2000

5.5 PROFIBUS

The cabling described for the remote I/O bus (bus cable, terminating resistors) is also used for PROFIBUS.
The PROFIBUS network modules available from B&R are NW150 for the B&R SYSTEM 2005 and NW100
for the B&R SYSTEM 2010.

5.6 RS485 NETWORK

The cabling described for the remote I/O bus (bus cable, terminating resistors) is also used for a RS485
network.

62 Chapter 2
6 CAN FIELD BUS
6.1 CHARACTERISTICS OF THE CAN BUS

• Low costs
• High noise immunity through differential signals
• Bus structure
• Open system
• Fast data transfer for small data packages (up to 8 bytes)

Project Planning
and Installation
• Error detection by means of CRC (Cyclic Redundancy Check) and frame testing -> Hamming

Chapter 2
Distance 6
• Predictable transmission time for high priority messages (real time behavior)
• Easy use

6.2 BUS LENGTHS AND CABLE TYPE

The type of cable used depends largely on the required bus length and the number of nodes. The bus length
is mainly determined by the bit rate.

The table on the next page includes values for the maximum bus length depending on the transfer speed
and the Synchronization Jump Width (SJW). Permitted oscillator tolerances are given in the fourth column.

The synchronization jump width (SJW) is the factor that determines the range over which the CPU can be
synchronized. The bigger the SJW, the shorter the maximum bus length.

Project Planning and Installation 63

 Bit Rate [kBit/s] Synchronization Jump Width (SJW) Bus Length [m] Max. Oscillator Tolerance [%]

500 0 1) 67 0.121

1 56 0.242

2 33 0.363

3 10 0.485

250 0 1) 215 0.121

1 192 0.242

2 147 0.363

3 101 0.485

125 0 1) 510 0.121

1 465 0.242

2 374 0.363

3 283 0.485

100 0 1) 658 0.121

1 601 0.242

2 488 0.363

3 374 0.485

50 0 1) 1397 2) 0.121

1 1284 2) 0.242

2 1056 2) 0.363

3 829 0.485

20 0 1) 3613 2) 0.121

1 3329 2) 0.242

2 2761 2) 0.363

3 2193 2) 0.485

10 0 1) 7306 2) 0.121

1 6738 2) 0.242

2 5602 2) 0.363

3 4456 2) 0.485

1)
B&R default settings
2)
For CiA (CAN in Automation) the maximum Bus length is 1000 m.

64 Chapter 2
Relationship between the number of nodes and bus length for certain cable types using B&R default settings:

Cable 1 Belden YR 29832, 4.15 ns/m

Cable 2 Lapp Cable 2170204, 4.15 ns/m

64

Project Planning
60

and Installation
Chapter 2
50

40 500 kBaud
125 kBaud
(Belden, Lapp)
Number (Belden)
of nodes 30
250 kBaud 125 kBaud
20 (Belden, Lapp) (Lapp)

10

0 50 100 150 200 250 300 350 400 450 500 550 600
Bus length [m]

Example for 12 Nodes

Manufacturer Baudrate Bus Length Baudrate Bus Length Baudrate Bus Length

Belden 500 kBaud 90 m 250 kBaud 286 m 125 kBaud 513 m

Lapp 500 kBaud 90 m 250 kBaud 286 m 125 kBaud 506 m

Project Planning and Installation 65

6.3 CABLING

6.3.1 Connecting Bus Cable - Station

A 4 conductor twisted pair cable should be used for the bus cable.

CAN CAN CAN CAN CAN

Station Station Station Station Station

3 7 2 3 72 3 7 2 3 7 2 3 72

CAN_L
CAN_H

CAN_GND
(CAN_V+)

CAN_SHLD CAN_SHLD

6.3.2 CAN Signals according to CiA/CAL

CAN Signal Description

CAN_GND CAN Ground

CAN_L CAN Low

(CAN_SHLD) Shield

CAN_H CAN High

(CAN_V+) CAN Supply 8 - 15 V, optional

All CAN interfaces from B&R are supplied internally, therefore CAN_V+ does not have to be connected in
CAN networks which do not contain devices from other manufacturers.

6.3.3 Branch Lines

Branch lines should be avoided if possible. However, it is possible to connect nodes to the bus with a branch
line as long as the distance is less than 30cm.

66 Chapter 2
6.3.4 Terminating Resistor

CAN networks are cabled using a bus structure. Both ends of the bus are equipped with terminating resistors.

5 4 3 2 1

9 8 7 6

Project Planning
and Installation
Chapter 2
120 Ω

The terminating resistor is already integrated in the CAN bus plug 7AC911.9 available from B&R. The
terminating resistor can be turned on or off.

Cable clamps
for bus line
L H G

OFF

Switch for L H G
9 pin D-type socket
terminating resistor
ON

L H G Stress releif
CAN_G
CAN_H Bus lines
CAN_L

Project Planning and Installation 67

7 GROUNDING AND SHIELDING MEASURES
For most applications, industrial controllers are installed in switching cabinets, in which electromagnetic
switching elements (relays, contactors), transformers, motor controllers and frequency inverters are also
found. Different kinds of electromagnetic interference inevitably exist in such switching cabinets.

Generally this kind of interference can not be avoided. However, if suitable grounding, shielding and other
protective measures are taken, the negative influence of the devices can be considerably reduced. These
protective measures include switching cabinet grounding, module grounding, cable shield grounding,
protective circuits on electromagnetic switching elements and correct use of cables (choosing the proper
cable cross section and type)

Grounding has essentially two different functions:

• Protective grounding
• Dissipation of electromagnetic disturbances

In the B&R SYSTEM 2003 system, the dissipation of electromagnet disturbances and protective grounding
are carried out by the aluminum frame (module rack) and the mounting rail.

7.1 GROUNDING THE MOUNTING RAIL

For the purpose of grounding, it is necessary to provide a good conductive connection between the mounting
rail and the metal back wall. The mounting rail is to be connected conductively to the back wall every 10cm.
This is achieved by inserting a contact washer with the fastening screw:

Metal Metal
back wall back wall

Mounting rail Mounting rail

Contact washers
Contact washer

Fastening Fastening screw Fastening

screw nut

For lacquered or coated back walls, an adequate connection is only guaranteed if the screw is threaded
into the back wall. If this is not the case, a contact washer must be must be placed between the fastening
nut and the base plate.

The switching cabinet back wall must be connected with GND (  )

68 Chapter 2
7.2 GROUNDING THE B&R SYSTEM 2003 UNIT

The CPU or bus controller module must be directly connected to the aluminum frame using an angled metal
connector.

a) The angled metal connector is fastened to the GND terminal on the module:

Supply:
+ 24 VDC
- -

+
+

Project Planning
and Installation
Chapter 2
Aluminum frame
Angled GND
connector

b) Connect the angled metal connector with the aluminum frame (module rack) using the pre-installed
screw and threaded strip:

GND clamp

Threaded strip
in aluminum frame

Angled GND
connector

c) A cable with sufficient cross-section must be connected to the GND terminal for protective grounding
in order to compensate for differences in potential.

Project Planning and Installation 69

7.3 CABLE SHIELDING

The following connections are made with shielded cables (possible exceptions are listed in the respective
module descriptions):

• Analog I/O
• Interface Cable
• Encoder Cable

The cable shield is to be grounded at both ends. The shields are grounded directly to the module housing
on the B&R SYSTEM 2003 side.

If any differences in potential exist between the B&R SYSTEM 2003 and connected elements, transient current
flows over the cable shield (often causes the cable to get warm) and the following steps should be taken:
The cable shield is to be separated and bridged with a high quality capacitor (ceramic or foil capacitors
of at least 47nF with a low impedance at high frequencies).

7.4 USING D-TYPE PLUGS

D-type plugs must be equipped with a metal coated plug housing.

Cable shield
connected with cable
clamp and housing

aaaaaaa
bbbbbbb
bbbbbbb
aaaaaaa
aaaaaaa
bbbbbbb
aaaaaaa
bbbbbbb
aaaaaaa
bbbbbbb
aaaaaaa
bbbbbbb

The shield is connected directly to the plug housing. Connecting the shield by twisting it then attaching
it considerably reduces the shielding effect, and should therefore be avoided.
If metallic screw clamps are not available, the cable shield can be externally grounded with a grounding
clamp (see cable shield grounding).

70 Chapter 2
8 EXTERNAL PROTECTIVE CIRCUIT
An external protective circuit is necessary for relay output modules. It can be installed either on the switching
load, or between the terminal block and the load. Most manufacturers of solenoid operated valves and
contactors offer suitable protective circuit devices for the respective elements.

Possible protective elements are:

• RC element: Can be used for D.C or A.C.

• Varistor: Usually used for A.C.

Project Planning
and Installation
• Inverse Diode: Can only be used for D.C.

Chapter 2
• Diode/Z diode combination: Can only be used for D.C. This type of protective circuit allows shorter
switch-off times.

9 INSTALLATION GUIDELINES
• The B&R SYSTEM 2003 can be installed both vertically and horizontally. Please observe the
installation guidelines in the "Installation Dimensions" section.
• The maximum environmental temperature during operation refers to the air temperature underneath
the module (air inlet).
• Enough distance must be left between devices which cause high electromagnetic interference (e.g.
frequency converters, transformers, motor regulators etc.) and the B&R SYSTEM 2003.The distance
between the devices and the B&R SYSTEM 2003 should be as large as possible. If possible they
should be shielded using an isolation sheet (VACOPERM 7 metal).

Inserting/Removing Modules

• Module may not be inserted or removed when the PCC is turned on unless otherwise stated for that
particular module.
• Unplug cabled connectors before modules are removed.
• Power connections are not allowed to be inserted or removed with voltage applied (remove power).

10 STORAGE AND STORAGE TEMPERATURES

The CPUs are equipped with a backup battery. Storage temperatures from -20 to +60 °C are valid for CPUs.
All other modules can be stored at temperatures from -20 to +70 °C. If applicable, other temperatures are
listed in the technical data for the modules.

Project Planning and Installation 71

11 TEMPERATURE DURING OPERATION, HUMIDITY
The following values are valid for all 2003 modules if other values are not listed in the "Technical Data" section.

Temperature during Operation

Horizontal Installation 0 to 60°C
Vertical Installation 0 to 50°C
Humidity 5 to 95 %, non-condensing

72 Chapter 2
 CHAPTER 3
B&R 2003 MODULES

B&R 2003 Modules

Chapter 3

B&R 2003 Modules Module Overview 73

74 Module Overview Chapter 3
1 MODULE OVERVIEW B&R 2003
The column labeled "Power" contains values for the power provided by a module or required by a module.
In this way, a power balance can be calculated quickly and easily for a certain hardware configuration.

The power supplied by CPUs, Remote I/O and CAN bus controllers is shown with a "+" sign. The power
required by a module is shown with a "-" sign. Add the positive and negative power values to calculate the
power balance. The sum is not allowed to be less than zero.

1.1 SORTED ALPHABETICALLY ACCORDING TO MODULE ID

B&R ID Code

Page
ID Description Power Model No.
AC010 5 bus covers 7AC010.9 451
AC011 5 stress relief attachment including mounting material 7AC011.9 452

B&R 2003 Modules

AC020 1 bus cover 7AC020.9 451
AF101 Adapter module AF101 $C0 -0.3 W 7AF101.7 131

Chapter 3
AI261 1 Input used to evaluate a full-bridge strain gauge, 24 bit resolution $20 -0.6 W 7AI261.7 260
AI294 4 inputs for potentiometer displacement gauge, 13 bit resolution $22 -0.5 W 7AI294.7 277
AI351 1 input ±10 V or 0 - 20 mA, 12 bit resolution + sign U: $02 U/I: -0.3 W 7AI351.70 285
Pot.: $02 Pot.: -0.7 W
I: $03
AI354 4 inputs ±10 V, 12 bit resolution + sign $04 -0.5 W 7AI354.70 293
AI774 4 inputs 0 – 20 mA, 12 bit resolution $06 -0.4 W 7AI774.70 299
AO352 2 outputs ±10 V / 0 - 20 mA $0E -1.2 W 7AO352.70 306
AT324 4 inputs for temperature sensors (PT100 / PT1000 / KTY10-6 / KTY84-130) $3E -0.1 W 7AT324.70 313
AT352 2 inputs for PT100 sensors (3-line) $1A -0.4 W 7AT352.70 320
AT664 4 inputs for thermocouples $0C -0.4 W 7AT664.70 326
BP701.1 Module rack, for 1 module, incl. right side section 7BP701.1 80
BP702 Module rack, for 2 modules 7BP702.0 80
BP702.1 Module rack, for 2 modules, incl. right side section 7BP702.1 80
BP703 Module rack, for 3 modules 7BP703.0 80
BP704 Module rack, for 4 modules 7BP704.0 80
BP705 Module rack, for 5 modules 7BP705.0 80
BP706 Module rack, for 6 modules 7BP706.0 80
BP707 Module rack, for 7 modules 7BP707.0 80
BP708 Module rack, for 8 modules 7BP708.0 80
BP709 Module rack, for 9 modules 7BP709.0 80
BP710 Module rack, for 10 modules 7BP710.0 80
CM211 8 digital inputs, 24 VDC, 20 kHz, one or two channel counter, incremental encoder, $C3 -1.5 W 7CM211.7 334
8 digital outputs, 24 VDC, 0.5 A, comparator function,
2 analog inputs ±10 V or 0 - 20 mA, 12 bit resolution,
2 analog outputs ±10 V, 12 bit resolution
CM411 3 digital inputs, 24 VDC, 50 kHz, one or two channel counter, incremental encoder, $C2 -2.4 W 7CM411.70-1 384
2 digital outputs, 24 VDC, 0.5 A, comparator function,
3 analog inputs ±10 V, 16 bit resolution,
3 analog outputs ±10 V, 16 bit resolution
1)
CP430 CPU, 24 VDC, 100 KByte SRAM, 256 KByte FlashPROM +7 W 7CP430.60-1 102
CP470 CPU, 24 VDC, 100 KByte SRAM, 256 KByte FlashPROM +14 W 1)
7CP470.60-1 102
1)
CP474 CPU, 24 VDC, CP Interface, 100 KByte SRAM, 512 KByte FlashPROM +12.6 W 7CP474.60-1 102
CP476 CPU, 24 VDC, CP Interface, 750 KByte SRAM, 1.5 MByte FlashPROM +12.5 W 1)
7CP476.60-1 114
1)
CP770 CPU, 100 - 240 VAC, 100 KByte SRAM, 256 KByte FlashPROM +14 W 7CP770.60-1 102
CP774 CPU, 100 - 240 VAC, CP Interface, 100 KByte SRAM, 512 KByte FlashPROM +12.6 W 1)
7CP774.60-1 102

1)
Integrated power supply for simple PANELWARE controllers, e.g. P120

B&R 2003 Modules Module Overview 75

 B&R ID Code

Page
ID Description Power Model No.
DI135 4 inputs, 24 VDC, event counter/incremental encoder operation, 1 comparator output, 24 VDC $12 -0.4 W 7DI135.70 140
DI435 8 inputs, 24 VDC, input delay 1 ms $E1 -0.2 W 7DI435.7 159
DI439.7 16 inputs, 24 VDC, input delay 1 ms, termnal block connection $ED -0.4 W 7DI439.7 164
DI439.72 16 inputs, 24 VDC, input delay 1 ms, D-type connection $E9 -0.4 W 7DI439.72 170
DI645 8 inputs, 100 - 240 VAC, input delay 50 ms $E5 -0.2 W 7DI645.7 178
DM435 8 digital inputs, 24 VDC, input delay 1 ms, $E3 -0.5 W 7DM435.7 233
8 digital outputs, 24 VDC, 0.5 A, terminal block connection
DM438 8 digital inputs, 24 VDC, input delay 1 ms, $E7 -0.5 W 7DM438.72 241
8 digital outputs, 24 VDC, 0.5 A
DM465 16 digital inputs, 24 VDC, input delay 1 ms, $F7 -1.1 W 7DM465.7 249
16 digital outputs, 24 VDC, 0.5 A
DO135 4 FET outputs, 12 - 24 VDC, 0.1 A, 100 kHz $14 -0.2 W 7DO135.70 185
DO164 4 FET outputs (4 triac couplers), 48 - 125 VAC, 50 mA, zero voltage input $3C -0.6 W 7DO164.70 197
DO435 8 channels, each channel can be declared either as output or input $EB -0.5 W 7DO435.7 211
Max. 8 FET outputs, 24 VDC, 2 A, max. 8 inputs, 24 VDC, inputs delay 1 ms
DO720 8 relay outputs, 240 VAC / 30 VDC, 2 A $E2 -1.4 W 7DO720.7 219
DO721 4 relay outputs, 240 VAC / 24 VDC, 4 A $E6 -1.4 W 7DO721.7 224
DO722 8 relay outputs, 240 VAC / 24 VDC, 2.5 A $F2 -1.4 W 7DO722.7 228
EX270 CAN bus controller, 24 VDC supply +4 W 7EX270.50-1 84
EX470 CAN bus controller, 24 VDC supply +14 W 1)
7EX470.50-1 90
EX477 Remote I/O bus controller, 24 VDC supply +14 W 7EX477.50-2 95
EX770 CAN bus controller, 100 - 240 VAC supply +14 W 2)
7EX770.50-1 90
EX777 Remote I/O bus controller, 100 - 240 VAC supply +14 W 7EX777.50-1 95
IF311 Interface module with RS232 interface $18 7IF311.7 416
without PW operator panel -0.5 W
with PW operator panel P120 / P121 -1.6 W
IF321 Interface module with RS485/RS422 interface $16 -1.4 W 7IF321.7 416
IF361 Interface module with RS485 interface (PROFIBUS-DP slave) $25 -2.6 W 7IF361.70-1 418
IF371 Interface module with CAN interface $24 -2.5 W 7IF371.70-1 420
ME010 2003 expansion for the CP476, 1 PCMCIA slot $00 -0.35 W 7ME010.9 408
ME020 2003 expansion for CP476, 1 PCMCIA slot, $02 -0.7 W 7ME020.9 411
1 slot for interface module inserts
ME770 Configuration memory for CAN bus controller -0.1 W 7ME770.5 128
NC161 Encoder module, input frequency 100 kHz, incremental or absolute, 32 bit resolution $10 -0.3 W 7NC161.7 423
-I enc * 5.4 V
TB710 Single row terminal block, 10 pin, screw clamps 7TB710.9 454
TB710 Single row terminal block, 10 pin, cage clamps 7TB710.91 454
TB710 30 single row terminal blocks, 10 pin, screw clamps 7TB710:90-01 454
TB710 30 single row terminal blocks, 10 pin, cage clamps 7TB710:91-01 454
TB712 Single row terminal block, 12 pin, screw clamps 7TB712.9 455
TB712 Single row terminal block, 12 pin, cage clamps 7TB712.91 455
TB712 20 single row terminal blocks, 12 pin, screw clamps 7TB712:90-02 455
TB712 20 single row terminal blocks, 12 pin, cage clamps 7TB712:91-02 455
TB718 Single row terminal block, 18 pin, screw clamps 7TB718.9 456
TB718 Single row terminal block, 18 pin, cage clamps 7TB718.91 456
TB718 20 single row terminal blocks, 18 pin, screw clamps 7TB718:90-02 456
TB718 20 single row terminal blocks, 18 pin, cage clamps 7TB718:91-02 456
TB722 2-row terminal block, 22 pin, screw clamps 7TB722.9 457
TB722 2-row terminal block, 22 pin, cage clamps 7TB722.91 457
TB733 3-row terminal block, 33 pin, screw clamps 7TB733.9 458
TB733 3-row terminal block, 33 pin, cage clamps 7TB733.91 458
TB736 2-row terminal block, 36 pin, screw clamps 7TB736.9 459
TB736 2-row terminal block, 36 pin, cage clamps 7TB736.91 459

1)
EX470 with revision 30.xx or higher
2)
EX770 with revision 10.xx or higher

76 Module Overview Chapter 3

 B&R ID Code

Page
ID Description Power Model No.
TB754 3-row terminal block, 54 pin, screw clamps 7TB754.9 460
TB754 3-row terminal block, 54 pin, cage clamps 7TB754.91 460
TB772 4-row terminal block, 72 pin, cage clamps 7TB772.91 461

1.2 SORTED ACCORDING TO GROUP

B&R ID Code

Page
ID Description Power Model No.
Module Racks
BP701.1 Module rack, for 1 module, incl. right side section 7BP701.1 80
BP702 Module rack, for 2 modules 7BP702.0 80

B&R 2003 Modules

BP702.1 Module rack, for 2 modules, incl. right side section 7BP702.1 80
BP703 Module rack, for 3 modules 7BP703.0 80

Chapter 3
BP704 Module rack, for 4 modules 7BP704.0 80
BP705 Module rack, for 5 modules 7BP705.0 80
BP706 Module rack, for 6 modules 7BP706.0 80
BP707 Module rack, for 7 modules 7BP707.0 80
BP708 Module rack, for 8 modules 7BP708.0 80
BP709 Module rack, for 9 modules 7BP709.0 80
BP710 Module rack, for 10 modules 7BP710.0 80
Bus Controller Modules
EX270 CAN bus controller, 24 VDC supply +4 W 7EX270.50-1 84
1)
EX470 CAN bus controller, 24 VDC supply +14 W 7EX470.50-1 90
EX477 Remote I/O bus controller, 24 VDC supply +14 W 7EX477.50-2 95
EX770 CAN bus controller, 100 - 240 VAC supply +14 W 2)
7EX770.50-1 90
EX777 Remote I/O bus controller, 100 - 240 VAC supply +14 W 7EX777.50-1 95
CPUs
CP430 CPU, 24 VDC, 100 KByte SRAM, 256 KByte FlashPROM +7 W 3)
7CP430.60-1 102
3)
CP470 CPU, 24 VDC, 100 KByte SRAM, 256 KByte FlashPROM +14 W 7CP470.60-1 102
CP474 CPU, 24 VDC, CP Interface, 100 KByte SRAM, 512 KByte FlashPROM +12.6 W 3)
7CP474.60-1 102
CP476 CPU, 24 VDC, CP Interface, 750 KByte SRAM, 1.5 MByte FlashPROM +12.5 W 3)
7CP476.60-1 114
3)
CP770 CPU, 100 - 240 VAC, 100 KByte SRAM, 256 KByte FlashPROM +14 W 7CP770.60-1 102
CP774 CPU, 100 - 240 VAC, CP Interface, 100 KByte SRAM, 512 KByte FlashPROM +12.6 W 3)
7CP774.60-1 102
Program Memory Modules
ME770 Configuration memory for CAN bus controller -0.1 W 7ME770.5 128
Analog Interface (AF) Module
AF101 Adapter module AF101 $C0 -0.3 W 7AF101.7 131
Digital Input Modules
DI135 4 inputs, 24 VDC, event counter/incremental encoder operation, 1 comparator output, 24 VDC $12 -0.4 W 7DI135.70 140
DI435 8 inputs, 24 VDC, input delay 1 ms $E1 -0.2 W 7DI435.7 159
DI439.7 16 inputs, 24 VDC, input delay 1 ms, termnal block connection $ED -0.4 W 7DI439.7 164
DI439.72 16 inputs, 24 VDC, input delay 1 ms, D-type connection $E9 -0.4 W 7DI439.72 170
DI645 8 inputs, 100 - 240 VAC, input delay 50 ms $E5 -0.2 W 7DI645.7 178

1)
EX470 with revision 30.xx or higher
2)
EX770 with revision 10.xx or higher
3)
Integrated power supply for simple PANELWARE controllers, e.g. P120

B&R 2003 Modules Module Overview 77

 B&R ID Code

Page
ID Description Power Model No.
Digital Output Modules
DO135 4 FET outputs, 12 - 24 VDC, 0.1 A, 100 kHz $14 -0.2 W 7DO135.70 185
DO164 4 FET outputs (4 triac couplers), 48 - 125 VAC, 50 mA, zero voltage input $3C -0.6 W 7DO164.70 197
DO435 8 channels, each channel can be declared either as output or input $EB -0.5 W 7DO435.7 211
Max. 8 FET outputs, 24 VDC, 2 A, max. 8 inputs, 24 VDC, inputs delay 1 ms
DO720 8 relay outputs, 240 VAC / 30 VDC, 2 A $E2 -1.4 W 7DO720.7 219
DO721 4 relay outputs, 240 VAC / 24 VDC, 4 A $E6 -1.4 W 7DO721.7 224
DO722 8 relay outputs, 240 VAC / 24 VDC, 2.5 A $F2 -1.4 W 7DO722.7 228
Digital Mixed Modules
DM435 8 digital inputs, 24 VDC, input delay 1 ms, $E3 -0.5 W 7DM435.7 233
8 digital outputs, 24 VDC, 0.5 A, terminal block connection
DM438 8 digital inputs, 24 VDC, input delay 1 ms, $E7 -0.5 W 7DM438.72 241
8 digital outputs, 24 VDC, 0.5 A
DM465 16 digital inputs, 24 VDC, input delay 1 ms, $F7 -1.1 W 7DM465.7 249
16 digital outputs, 24 VDC, 0.5 A
Analog Input Modules
AI261 1 Input used to evaluate a full-bridge strain gauge, 24 bit resolution $20 -0.6 W 7AI261.7 260
AI294 4 inputs for potentiometer displacement gauge, 13 bit resolution $22 -0.5 W 7AI294.7 277
AI351 1 input ±10 V or 0 - 20 mA, 12 bit resolution + sign U: $02 U/I: -0.3 W 7AI351.70 285
Pot.: $02 Pot.: -0.7 W
I: $03
AI354 4 inputs ±10 V, 12 bit resolution + sign $04 -0.5 W 7AI354.70 293
AI774 4 inputs 0 – 20 mA, 12 bit resolution $06 -0.4 W 7AI774.70 299
Analog Output Modules
AO352 2 outputs ±10 V / 0 - 20 mA $0E -1.2 W 7AO352.70 306
Temperature Modules
AT324 4 inputs for temperature sensors (PT100 / PT1000 / KTY10-6 / KTY84-130) $3E -0.1 W 7AT324.70 313
AT352 2 inputs for PT100 sensors (3-line) $1A -0.4 W 7AT352.70 320
AT664 4 inputs for thermocouples $0C -0.4 W 7AT664.70 326
Other Modules
CM211 8 digital inputs, 24 VDC, 20 kHz, one or two channel counter, incremental encoder, $C3 -1.5 W 7CM211.7 334
8 digital outputs, 24 VDC, 0.5 A, comparator function,
2 analog inputs ±10 V or 0 - 20 mA, 12 bit resolution,
2 analog outputs ±10 V, 12 bit resolution
CM411 3 digital inputs, 24 VDC, 50 kHz, one or two channel counter, incremental encoder, $C2 -2.4 W 7CM411.70-1 384
2 digital outputs, 24 VDC, 0.5 A, comparator function,
3 analog inputs ±10 V, 16 bit resolution,
3 analog outputs ±10 V, 16 bit resolution
ME010 2003 expansion for the CP476, 1 PCMCIA slot $00 -0.35 W 7ME010.9 408
ME020 2003 expansion for CP476, 1 PCMCIA slot, $02 -0.7 W 7ME020.9 411
1 slot for interface module inserts
Communication Modules
IF311 Interface module with RS232 interface $18 7IF311.7 416
without PW operator panel -0.5 W
with PW operator panel P120 / P121 -1.6 W
IF321 Interface module with RS485/RS422 interface $16 -1.4 W 7IF321.7 416
IF361 Interface module with RS485 interface (PROFIBUS-DP slave) $25 -2.6 W 7IF361.70-1 418
IF371 Interface module with CAN interface $24 -2.5 W 7IF371.70-1 420
Counter and Positioning Modules
NC161 Encoder module, input frequency 100 kHz, incremental or absolute, 32 bit resolution $10 -0.3 W 7NC161.7 423
-I enc * 5.4 V

78 Module Overview Chapter 3

 B&R ID Code

Page
ID Description Power Model No.
Accessories
AC010 5 bus covers 7AC010.9 451
AC011 5 stress relief attachments including mounting material 7AC011.9 452
AC020 1 bus cover 7AC020.9 451
TB710 Single row terminal block, 10 pin, screw clamps 7TB710.9 454
TB710 Single row terminal block, 10 pin, cage clamps 7TB710.91 454
TB710 30 single row terminal blocks, 10 pin, screw clamps 7TB710:90-01 454
TB710 30 single row terminal blocks, 10 pin, cage clamps 7TB710:91-01 454
TB712 Single row terminal block, 12 pin, screw clamps 7TB712.9 455
TB712 Single row terminal block, 12 pin, cage clamps 7TB712.91 455
TB712 20 single row terminal blocks, 12 pin, screw clamps 7TB712:90-02 455
TB712 20 single row terminal blocks, 12 pin, cage clamps 7TB712:91-02 455
TB718 Single row terminal block, 18 pin, screw clamps 7TB718.9 456
TB718 Single row terminal block, 18 pin, cage clamps 7TB718.91 456
TB718 20 single row terminal blocks, 18 pin, screw clamps 7TB718:90-02 456
TB718 20 single row terminal blocks, 18 pin, cage clamps 7TB718:91-02 456

B&R 2003 Modules

TB722 2-row terminal block, 22 pin, screw clamps 7TB722.9 457
TB722 2-row terminal block, 22 pin, cage clamps 7TB722.91 457

Chapter 3
TB733 3-row terminal block, 33 pin, screw clamps 7TB733.9 458
TB733 3-row terminal block, 33 pin, cage clamps 7TB733.91 458
TB736 2-row terminal block, 36 pin, screw clamps 7TB736.9 459
TB736 2-row terminal block, 36 pin, cage clamps 7TB736.91 459
TB754 3-row terminal block, 54 pin, screw clamps 7TB754.9 460
TB754 3-row terminal block, 54 pin, cage clamps 7TB754.91 460
TB772 4-row terminal block, 72 pin, cage clamps 7TB772.91 461
Manuals
B&R 2003 User’s Manual, German MASYS22003-0 462
B&R 2003 User’s Manual, English MASYS22003-E 462

B&R 2003 Modules Module Overview 79

2 MODULE RACKS
2.1 GENERAL INFORMATION

The module racks for the B&R SYSTEM 2003 are aluminum frames. They are installed on mounting rail.

Controller and I/O modules are hung in the module rack and screwed to a threaded strip which is inserted
in the aluminum frame. The electrical connection between the modules is achieved by pushing the modules
together (integrated plug and socket connection in the modules).

We recommend always using the smallest possible module rack. If module slots do remain free, fitting a bus
cover on the first free slot is recommended. In this way, the last module can be protected from damage.

The module address is determined by the controller and the module slot. The CP interface is accessed using
module address 0.

1 2 3 4 5 6 7 8 9 10 Module slot

1 2 3 4 Module address with Ex270

Module address with single width

1 2 3 4 5 6 7 8
controller e.g. CP470, EX470

Module address with double width controllers

0 1 2 3 4 5 6 7 8 (e.g. CP474) and I/O modules that require a
logical slot
Module address with CP474 or CP774
0 1 12 and I/O modules that require one or
two logical slots
Module address with Cp476 and
0 1 16 I/O modules that require one
or two logical slots

BP701

BP702
BP703
BP704
BP705
BP706
BP707
BP708
BP709
BP710

80 Module Racks Chapter 3

2.2 TECHNICAL DATA

B&R 2003 Modules

2.2.1 Module Racks with Two Side Sections (7BP7xx.0)

Chapter 3
Module ID BP702 BP703 BP704

Model Number 7BP702.0 7BP703.0 7BP704.0

Short Description 2003 Module Racks 2003 Module Racks 2003 module racks
for 2 modules for 3 modules for 4 modules

Number of Module Slots 2 3 4

C-UL-US Listed Yes

Material Aluminum

Fastening the Modules Hang modules in the rack and screw into place (threaded strips in frame)

Mounting the Module Rack Integrated mounting mechanics (standard mounting rail)

Dimensions [mm]
Height 115 115 115
Width 1) 161.5 238, 314.5
Depth 23 23 23

1)
Includes 8.5 mm for two side sections and mounting screws.

Module ID BP705 BP706 BP707

Model Number 7BP705.0 7BP706.0 7BP707.0

Short Description 2003 Module Racks 2003 Module Racks 2003 module racks
for 5 modules for 6 modules for 7 modules

Number of Module Slots 5 6 7

C-UL-US Listed Yes

Material Aluminum

Fastening the Modules Hang modules in the rack and screw into place (threaded strips in frame)

Mounting the Module Rack Integrated mounting mechanics (standard mounting rail)

Dimensions [mm]
Height 115 115 115
Width 1) 391, 467.5 544
Depth 23 23 23

1)
Includes 8.5 mm for two side sections and mounting screws.

B&R 2003 Modules Module Racks 81

 Module ID BP708 BP709 BP710

Model Number 7BP708.0 7BP709.0 7BP710.0

Short Description 2003 Module Racks 2003 Module Racks 2003 module racks
for 8 modules for 9 modules for 10 modules

Number of Module Slots 8 9 10

C-UL-US Listed Yes

Material Aluminum

Fastening the Modules Hang modules in the rack and screw into place (threaded strips in frame)

Mounting the Module Rack Integrated mounting mechanics (standard mounting rail)

Dimensions [mm]
Height 115 115 115
Width 1) 620.5 697,773.5
Depth 23 23 23

1)
Includes 8.5 mm for two side sections and mounting screws.

2.2.2 Module Racks with One Side Section (7BP70x.1)

These module racks are e.g. used together with the EX270 CAN bus controller.

Module ID BP701 BP702

Model Number 7BP701.1 7BP702.1

Short Description 2003 Module Racks 2003 module racks

for 1 module, incline. right side section for 2 modules, incl. right side section

Number of Module Slots 1 2

C-UL-US Listed Yes

Material Aluminum

Fastening the Modules Hang modules in the rack and screw into place (threaded strips in frame)

Mounting the Module Rack Integrated mounting mechanics (standard mounting rail)

Dimensions [mm]
Height 115 115
Width 1) 81 157,5
Depth 23 23

1)
Includes 4.5 mm for one side section and mounting screws.

2.3 MOUNTING

Mounting the module racks is described in Chapter 2, "Project Planning and Installation".

82 Module Racks Chapter 3

3 BUS CONTROLLER MODULES
3.1 CAN BUS CONTROLLER

A CAN bus controller takes over the communication with a PCC, PLC or other CAN capable devices.

Additionally, a CAN bus controller handles the following tasks

• Initialization from power on to active operation on a network

• Evaluating and sending input states
• Sending input states cyclically and/or when the input state changes
• Receiving and switching the outputs
• Defined error reaction for network crashes and local problems
• Setting and changing the operating parameters can be done either with a special instruction which
is sent from a CAN client (master) or with configuration memory.

B&R 2003 Modules

Chapter 3
3.2 REMOTE I/O BUS CONTROLLER

A remote I/O bus controller takes over communication between a B&R remote master (B&R SYSTEM 2005,
B&R SYSTEM 2010 or B&R SYSTEM 2000 Logic Scanner) and the B&R 2003 I/O system.

The controller has the following local tasks

• Initialization from power on to active operation on a network

• Evaluating and sending input states (polled by master)
• Receiving and switching the outputs
• Defined error reaction for network crashes and local problems

3.3 OVERVIEW

Module Description

EX270 2003 CAN bus controller, 24 VDC, 4 W supply, 1 CAN interface, electrically isolated, network capable,
Order terminal block TB712 separately!

EX470 2003 CAN bus controller, 24 VDC, 14.5 W supply, 2 CAN interfaces, electrically isolated, network capable

EX477 2003 remote I/O bus controller, 24 VDC, 14 W supply, 1 electrically isolated RS485 interface for connection to remote I/O
bus

EX770 2003 CAN bus controller, 100-240 VAC, 14.5 W supply, 2 CAN interfaces, electrically isolated, network capable

EX777 2003 remote I/O bus controller, 100-240 VAC, 14 W supply, 1 electrically isolated RS485 interface for connection to remote
I/O bus

B&R 2003 Modules Bus Controller Modules 83

3.4 EX270

3.4.1 General Information

The CAN bus controller EX270 is not hung in the module rack, instead it is screwed on the module rack instead
of the left side plate.

3.4.2 Technical Data

Terminal block is not included in the delivery.

Module ID EX270

General Information

Model Number 7EX270.50-1

Short Description 2003 CAN bus controller, 24 VDC, 4 W supply,
1 CAN interface, electrically isolated, network capable,
Order terminal block TB712 separately!

C-UL-US Listed in preparation

Module Type B&R 2003 Controller

Module width 20 mm

Installation The controller is screwed onto the module rack instead of the left side plate

Peripheral

Diagnosis LED Yes

I/O Bus Interface 9 pin D-type socket

Number Switch Used to set the node number and baudrate

84 EX270 Chapter 3
 Module ID EX270

Standard Communication Interface

Application Interface CAN Interface

Electrical Isolation Yes
Connection 12 pin multipoint connector
Max. Distance 1000 m
Max. baudrate 500 kBaud

Power Supply

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Power Consumption Max. 5 W

Output Power for I/O Modules Max. 4 W

and Screw-in Module

Voltage Monitoring The power supply is only activated starting with an input voltage of approx. +15 V.
Therefore the status LED DC-OK is not required.

B&R 2003 Modules

3.4.3 Status Display

Chapter 3
LED Meaning

STATUS (2 color)

Red Reset (Hold)

Green blinking during the boot Boot phase (initialization and connection to the CAN network).
phase
If an error occurs during this phase, the green LED stops blinking.
The error is indicated by periodic blinking of the red LED. In this case, a
hardware reset (switch off/on) is required.

The amount of pulses periodically output provides information about the cause
of the error:

1 red pulse: Node switch set to 0 and configuration EEPROM is invalid

2 red pulses: Error initializing the CAN block

Green blinking with double pulse The controller indicates when time monitoring responds and updates the digital
and analog outputs.

If a CAN object does not appear within the defined time (default: 640 ms), the
effected outputs are reset and the green LED begins to blink (double pulse).
After the first valid object arrives, the current values are immediately accepted.

The green LED only returns to normal operation after a time delay of 30 s. The
time delay is used to identify intermittent problems with the outputs. These
problems are otherwise very difficult to recognize.

Green Normal operation: data is being exchanged

B&R 2003 Modules EX270 85

 LED Meaning

STATUS (2 color)

Orange Faulty outputs. However, the CAN bus controller is still in network operation.
1)
Orange blinking Voltage alarm on a module

Orange blinking with double The total power for the module exceeds the power supply on the EX270.
pulse
The basic load on the digital and analog modules is calculated once when
booting. If a digital module is found which is not entered in the module list for
the operating system, there is generally no power monitoring.
If the power calculation was successful, the analog modules are continually
monitored during operation. One screw-in module is tested per second.

Red blinking Warning:

The node number was changed during operation. The new node number setting
is ignored; the node continues to function.

1)
No longer evaluated by all digital mixed modules starting with Rev. D0.

3.4.4 Connections

The voltage supply and the CAN interface connections are made using a 12 pin terminal block.

The electrically isolated CAN interface is available twice on the plug. The individual CAN connections are linked
with each other which allows a node to be easily connected to a CAN network (see section "Connection
Examples").
For more information on wiring CAN field bus systems, see chapter 2, "Project Planning and Installation",
section "CAN Field Bus".

The Bus controller EX270 is already equipped with a bus termination resistor. To activate it, a jumper must
be placed between pin 1 and pin 2.

Pin Assignment
1 Bridge for termination resistor
2 Bridge for termination resistor
1
1

3 CAN_H
2
3

4 CAN_GND
4

5 CAN_L
5
6 7

6 Shield
8

7 CAN_H
9 10 11 12

8 CAN_GND
12
9 CAN_L
10 Shield
TB712
11 Supply +24 VDC
12 Supply GND

86 EX270 Chapter 3
3.4.5 Connection Examples

With Continued CAN Bus Connection

1
2
CAN_H

3
CAN_GND

4
CAN_L

5
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
Shield
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb

6
CAN_H

7
CAN_GND

8
CAN_L

9 10 11 12
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
Shield
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
+
Supply +24 VDC
= Supply GND
-

B&R 2003 Modules

With Active Bus Termination Resistor

Chapter 3
Termination resistor
active Termination resistor
1

Termination resistor
2

CAN_H
3

CAN_GND
4

CAN_L
5

aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
Shield
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
6
7
8
9 10 11 12

= Supply +24 VDC

Supply GND
-

B&R 2003 Modules EX270 87

3.4.6 Node Number, Start Baudrate

The node number and start baudrate are set with the two number switches on the CAN bus controller:
Start baudrate, see section "Automatic Baudrate Recognition".

SW1

SW0

SW1 SW0 Node Number Start Baudrate [kBit/s]

0 0 S-EEPROM S-EEPROM

0 1 ... F 1 ... 15 250

1 0 ... F 16 ... 31 250

2 0 ... F 32 ... 47 250

3 0 ... F 48 ... 63 250

4 0 S-EEPROM S-EEPROM
4 1 ... F 1 ... 15 125

5 0 ... F 16 ... 31 125

6 0 ... F 32 ... 47 125

7 0 ... F 48 ... 63 125

8 0 S-EEPROM S-EEPROM

8 1 ... F 1 ... 15 20
9 0 ... F 16 ... 31 20

A 0 ... F 32 ... 47 20
B 0 ... F 48 ... 63 20

C 0 S-EEPROM S-EEPROM
C 1 ... F 1 ... 15 500

D 0 ... F 16 ... 31 500

E 0 ... F 32 ... 47 500

F 0 ... F 48 ... 63 500

Special Function - Node Number 0 !

If node number 0 is selected using number switch, the CAN bus controller uses the operating parameters
from the internal S-EEPROM.
The S-EEPROM is programmed using the CAN Library for PG2000 and the CAN Configurator. The operating
parameters are explained in chapter 5, "CAN Bus Controller Functions", section "Operating Parameters".

88 EX270 Chapter 3
3.4.7 Automatic Baudrate Recognition

After booting, the bus controller EX270 goes into "Listen Only" Mode. That means the controller behaves
passively on the bus and only listens.
The EX270 tries to receive valid objects. If an error occurs when receiving, the controller switches to the next
baudrate from the search table.
If no objects are received, all baudrates are tested cyclically. This procedure is repeated until valid objects
are received.

Start Baudrate

The bus controller begins the search with this baudrate. The start baudrate can be defined in three different
ways:

• Set using the node number switch

• Read from the S-EEPROM (node number = 0)
• The last recognized baudrate is used to begin the search after a software reset (command code 20)

B&R 2003 Modules

Chapter 3
Search Table

The controller tests the baudrate according to this table. Beginning with the start baudrate, the baudrate
is switched to the next lower value.
At the end of the table, the controller starts searching from the beginning again.

Baudrate
1000 kBaud
500 kBaud
250 kBaud
125 kBaud
50 kBaud
20 kBaud
10 kBaud

B&R 2003 Modules EX270 89

3.5 EX470 / EX770

3.5.1 Technical Data

EX470 EX770

Module ID EX470 EX770

General Information

Model Number 7EX470.50-1 7EX770.50-1

Short Description 2003 CAN bus controller, 24 VDC, 2003 CAN bus controller, 100-240 VAC,
14.5 W supply, 2 CAN interfaces 14.5 W supply, 2 CAN interfaces,
electrical isolation, network capable electrical isolation, network capable

C-UL-US Listed Yes

Module Type B&R 2003 Controller

Module width B&R 2003 single width

Module slot 1

Environmental Temp. in Operation 0 - 60 °C 1) 2)

Peripheral

Diagnosis LEDs Yes

I/O Bus Interface 9 pin D-type socket

Number Switch Used to set the node number and baudrate

Standard
Communication Interfaces

Application Interface IF1 CAN Interface (left)

Electrical Isolation Yes
Connection 9 pin D-type plug
Max. distance 1000 m
Max. baudrate 500 kBaud

Application Interface IF2 CAN/ID Interface (right)

Electrical Isolation Yes
Connection 9 pin D-type socket
Max. Distance 1000 m
Max. baudrate 500 kBaud

90 EX470 / EX770 Chapter 3

 Module ID EX470 EX770

Power Supply

Input Voltage
Minimum 18 VDC 85 VAC
Nominal 24 VDC 100 - 240 VAC
Maximum 30 VDC 264 VAC
Input Voltage Frequency — 47 - 63 Hz

Power Consumption Max. 20 W

Output Power for I/O Modules 14.5 W 1) 2)

and Screw-in Modules

1)
EX470 with revision 30.xx or higher
2)
EX770 with revision 10.xx or higher

3.5.2 Status Display

LED Meaning

B&R 2003 Modules

STATUS (2 color)

Chapter 3
Red Reset (Hold)

Green blinking during the boot Boot phase (initialization and connection to the CAN network).
phase
If an error occurs during this phase, the green LED stops blinking.
The error is indicated by periodic blinking of the red LED. In this case, a
hardware reset (switch off/on) is required.

The amount of pulses periodically output provides information about the cause
of the error:

1 red pulse: Node switch set to 0 and configuration EEPROM is invalid

2 red pulses: Error initializing the CAN block

Green blinking with double pulse Starting with rev. xx.24, the controller indicates when time monitoring responds
and updates the digital and analog outputs.

If a CAN object does not appear within the defined time (default: 640 ms), the
effected outputs are reset and the green LED begins to blink (double pulse).
After the first valid object arrives, the current values are immediately accepted.

The green LED only returns to normal operation after a time delay of 30 s. The
time delay is used to identify intermittent problems with the outputs. These
problems are otherwise very difficult to recognize.

Green Normal operation: data is being exchanged

Orange Faulty outputs. However, the CAN bus controller is still in network operation.
1)
Orange blinking Voltage alarm on a module

1)
No longer evaluated by all digital mixed modules starting with Rev. E0.

B&R 2003 Modules EX470 / EX770 91

 LED Meaning

STATUS (2 color)

Orange blinking with double The total power for the module exceeds the power supply on the bus controller.
pulse
The basic load on the digital and analog modules is calculated once when
booting. If a digital module is found which is not entered in the module list for
the operating system, there is generally no power monitoring.
If the power calculation was successful, the analog modules are continually
monitored during operation. One screw-in module is tested per second.

Red blinking Warning:

The node number was changed during operation. The new node number setting
is ignored; the node continues to function.

DC OK (orange)

Lit The internal power supply voltage is OK

Not lit All outputs are reset and the entire bus node reinitialized

3.5.3 Power Supply

The CAN bus controller is available in two variants. The major difference between the two variants is the supply
voltage. The power connecter pin assignments are printed on the modules:

EX470 EX770

Both + pins are connected and both − pins are Both N pins are connected and both L pins are
connected internally connected internally

92 EX470 / EX770 Chapter 3

3.5.4 Interface Pin Assignments

The CAN bus controller has two interfaces:

IF1 IF2

IF1 - CAN IF2 - CAN / ID

B&R 2003 Modules

9 pin D-type plug 9 pin D-type socket

1 5

Chapter 3
6 9

9 6
5 1

Pin Assignment Pin Assignment

1 n. c. 1 res.
2 CAN_L 2 CAN_L
3 CAN_GND 3 CAN_GND
4 n. c. 4 res.
5 n. c. 5 res.
6 res. 6 res.
7 CAN_H 7 CAN_H
8 n. c. 8 res.
9 n. c. 9 res.

res.=> These connections are reserved for a possible configuration memory.

Both interfaces are electrically isolated. The CAN assignment for both interfaces are identical. The individual
CAN connections for both interfaces are connected with each other. Therefore both interfaces can be used
to connect nodes in a CAN network.

However, it is recommended that you use the T-connector AC911 (see Chapter 7 "Accessories") for coupling
to a CAN network. On one hand, this has the advantage that the CAN/ID interface remains free for expansion
purposes (configuration memory area). On the other hand, a node can also be easily separated from the
power supply, without interrupting the network. Also, a terminal resistance is integrated into the T-connector
for the bus termination, which can be switched on or off.

B&R 2003 Modules EX470 / EX770 93

3.5.5 Wiring

For more information on wiring CAN field bus systems, see chapter 2, "Project Planning and Installation",
section "CAN Field Bus".

3.5.6 Node Number, Baudrate

The node number and baudrate are set with the two number switches on the CAN bus controller:

SW1 SW0

SW1 SW0 Node Number Baudrate [kBit/s]

0 0 ME770 ME770

0 1 ... F 1 ... 15 250

1 0 ... F 16 ... 31 250

2 0 ... F 32 ... 47 250

3 0 ... F 48 ... 63 250

4 0 ME770 ME770
4 1 ... F 1 ... 15 125

5 0 ... F 16 ... 31 125

6 0 ... F 32 ... 47 125

7 0 ... F 48 ... 63 125

8 0 ME770 ME770

8 1 ... F 1 ... 15 20

9 0 ... F 16 ... 31 20
A 0 ... F 32 ... 47 20

B 0 ... F 48 ... 63 20

C 0 ME770 ME770

C 1 ... F 1 ... 15 500

D 0 ... F 16 ... 31 500

E 0 ... F 32 ... 47 500

F 0 ... F 48 ... 63 500

Special Function - Node Number 0 !

If node number 0 is selected using number switch, the CAN bus controller uses the operating parameters
from the configuration memory ME770. If no configuration memory is available, the CAN bus controller
remains inactive, i.e. it is not initialized.
The configuration memory is programmed using the CAN Library for PG2000 and the CAN Configurator.
The operating parameters are explained in chapter 5, "CAN Bus Controller Functions", section "Operating
Parameters".

94 EX470 / EX770 Chapter 3

3.6 EX477 / EX777

3.6.1 Technical Data

B&R 2003 Modules

Chapter 3
EX477 EX777

Module ID EX477 EX777

General Information

Model Number 7EX477.50-2 7EX777.50-1

Short Description 2003 remote I/O bus controller, 24 VDC, 2003 remote I/O bus controller, 100-240 VAC,
14 W supply, 1 electrically isolated 14 W supply, 1 electrically isolated
RS485 interface for connection RS485 interface for connection
to remote I/O bus to remote I/O bus

C-UL-US Listed Yes

Module Type B&R 2003 Controller

Module width B&R 2003 single width

Module slot 1

Peripheral

Diagnosis LEDs Yes

I/O Bus Interface 9 pin D-type socket

Number Switch Used to set the remote address

Standard
Communication Interface

Interface Type RS485

Connection 9 pin D-type socket
Electrical Isolation Yes
Baudrates Depends on the distance
100 kBit/s Max. 1200 m
181 kBit/s Max. 1000 m
500 kBit/s Max. 400 m
1000 kBit/s Max. 200 m
2000 kBit/s Max. 100 m

B&R 2003 Modules EX477 / EX777 95

 Module ID EX477 EX777

Remote I/O Bus

Access Procedure Master/Slave Principle
Number of Slaves Max. 31 (without repeater)
Topology Physical bus
Bus Connection Direct
Transfer Media Shielded, twisted pair
Termination Resistor External

Power Supply

Input Voltage
Minimum 18 VDC 85 VAC
Nominal 24 VDC 100 - 240 VAC
Maximum 30 VDC 264 VAC

Input Voltage Frequency — 47 - 63 Hz

Power Consumption Max. 20 W

Output Power for I/O Modules 14 W

and Screw-in Modules

3.6.2 Status Display

LED Meaning

STATUS (green)

Blinking Boot phase:

- Initialization and connection to the Remote I/O network

- Automatic baudrate recognition

Lit Normal operation:

The initialization and connection to the Remote I/O network is complete, data is
being exchanged with the master

Not lit (if DC OK is lit) The connection to the Remote I/O network is complete, but data is not being
exchanged with the master

DC OK (orange)

Lit The internal power supply voltage is OK

Not lit All outputs are reset and the entire bus node reinitialized

96 EX477 / EX777 Chapter 3

3.6.3 Power Supply

The remote I/O bus controller is available in two different versions depending exclusively on their supply
voltage. The power connecter pin assignments are printed on the modules:

EX477 EX777

Both + pins are connected and both − pins are Both N pins are connected and both L pins are
connected internally connected internally

B&R 2003 Modules

3.6.4 Remote Address

Chapter 3
The address of the remote slave station is set using number switches. Addresses in the range from 1 to 98
are allowed. However, a maximum of 31 remote slaves can be connected to a remote master (without
repeater).

3.6.5 Interface Pin Assignments

Pin Assignment
1 Shield Shield connection (housing)
2 --- Reserved
9 pin D-type socket
3 DATA Data
5
9 4 CNTRL Transmit Enable (control line)
5 GND Electrically isolated supply
6 +5 V / 50 mA Electrically isolated supply
6 (e.g. for bus termination)
1
7 --- Reserved
8 DATA\ Data\
9 CNTRL\ Transmit Enable\

B&R recommends using bus connector 0G1000.00-090 when connecting to a remote I/O network. It is
available as T-connector and already has the correct termination resistor (can be switched on-/off).

B&R 2003 Modules EX477 / EX777 97

3.6.6 Wiring

Wiring remote I/O networks is described in Chapter 2 "Project Planning and Installation", section "Remote
I/O Bus".

3.6.7 Repeater or Fibre Optic Connection

The control signal CNTRL ("Transmit Enable") is output by the bus controller and serves to directionally control
a repeater or a fibre optic connection. It is a 5 V differential signal:

CNTRL CNTRL\ RS485

0 1 Receive (default)

1 0 Transmit

98 EX477 / EX777 Chapter 3

4 CPUS
4.1 GENERAL INFORMATION

The CPU is operated on the far left of the module rack. The modules has status LEDs and connection plugs
for an RS232 and a CAN interface.

The CPUs CP474/CP476/CP774 are equipped with four slots for screw-in modules. The required screw-in
modules are inserted into the CP interface and screwed firmly into place.

4.2 RS232 INTERFACE

The RS232 interface is primarily intended for programming the CPU. It can also be used as a general interface
(e.g. P121 visualization, printer, bar code reader, etc.).

4.3 CAN INTERFACE

B&R 2003 Modules

Standard field bus interface for communication with other control systems. Remote I/O expansion using B&R

Chapter 3
2003 components and a CAN bus controller, e.g. EX470.

4.4 LOCAL I/O EXPANSION USING B&R 2003 MODULES

• Digital I/O (24 VDC or 120/230 VAC)

• Analog I/O (±10 V, 0 - 20 mA, thermocouple, PT100, etc.)
• Incremental encoder or SSI encoder connection (100 kHz, +5 VDC encoder supply)

4.5 LOCAL I/O ON THE CPU (4 SLOTS)

The CPUs CP474/CP476/CP774 are equipped with four slots for screw-in modules. The following screw-in
modules can be inserted:

• Analog I/O Modules

• Incremental encoder or SSI encoder connection (B&R 2003)
• Digital I/O (24 VDC technology)
• Additional serial interfaces (max. 3 channels)

B&R 2003 Modules CPUs 99

4.6 APPLICATION EXAMPLES

• Counting and measuring digital signals (4 MHz)

• Positioning (analog)
• Stepper motor control
• Drum sequencer
• Pulse width modulated outputs
• Reaction of digital outputs to input events in the µs range

4.7 PROGRAMMING

The CPU is programmed using the programming system PG2000 or Automation Studio™. Several
programming languages are available:

PG2000 Automation Studio™

Instruction List (IL) Automation Basic (previously PL2000)

Ladder Diagram (LAD) ANSI C

PL2000 High Level Language (structured IEC 1131 Ladder Diagram (LAD)
text)

IEC 1131 Sequential Function Chart (SFC)

IEC 1131 Structured Text (ST)

IEC 1131 Instruction List (IL)

4.8 BACKUP BATTERY

Data buffering and nonvolatile operation of the real-time clock are guaranteed by the lithium battery provided.

4.9 PROGRAMMING THE FLASHPROM

Programming and deleting the built-in FlashPROM memory takes place using the programming system.

4.10 LEGEND SHEETS

A legend sheet can be slid into the front of the CPUs CP474/CP476/CP774 from above. These sheets can
be used for labelling the screw in modules.

100 CPUs Chapter 3

4.11 OVERVIEW

Module Description

CP430 2003 CPU, 100 KB SRAM, 256 KB FlashPROM, 24 VDC, 7 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, max. 64 digital / 32 analog I/O points

CP470 2003 CPU, 100 KB SRAM, 256 KB FlashPROM, 24 VDC, 14 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, max. 128 digital / 64 analog I/O points

CP474 2003 CPU, 100 KB SRAM, 512 KB FlashPROM, 24 VDC, 12.6 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, 4 slots for screw-in modules,
max. 208 digital / 80 analog I/O points

CP476 2003 CPU, 750 KB SRAM, 1.5 MB FlashPROM, 24 VDC, 12.5 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, 4 slots for screw-in modules,
system bus for expansion modules, max. 272 digital / 80 analog I/O points

CP770 2003 CPU, 100 KB SRAM, 256 KB FlashPROM, 100-240 VAC, 14 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, max. 128 digital / 64 analog I/O points

CP774 2003 CPU, 100 KB SRAM, 512 KB FlashPROM, 100-240 VAC, 12.6 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, 4 slots for screw-in modules,
max. 208 digital / 80 analog I/O points

B&R 2003 Modules

Chapter 3

B&R 2003 Modules CPUs 101

4.12 CP430, CP470, CP474, CP770, CP774

4.12.1 Order Data

CP430, CP470, CP770 CP474, CP774

Model Number Short Description

7CP430.60-1 2003 CPU, 100 KB SRAM, 256 KB FlashPROM, 24 VDC, 7 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, max. 64 digital / 32 analog I/O points

7CP470.60-1 2003 CPU, 100 KB SRAM, 256 KB FlashPROM, 24 VDC, 14 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, max. 128 digital / 64 analog I/O points

7CP474.60-1 2003 CPU, 100 KB SRAM, 512 KB FlashPROM, 24 VDC, 12.6 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, 4 slots for screw-in modules,
max. 208 digital / 80 analog I/O points

7CP770.60-1 2003 CPU, 100 KB SRAM, 256 KB FlashPROM, 100-240 VAC, 14 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, max. 128 digital / 64 analog I/O points

7CP774.60-1 2003 CPU, 100 KB SRAM, 512 KB FlashPROM, 100-240 VAC, 12.6 W supply, 1 RS232 interface,
1 CAN interface, CAN: electrically isolated, network capable, 4 slots for screw-in modules,
max. 208 digital / 80 analog I/O points

4.12.2 Technical Data

Module ID CP430 CP470/CP770 CP474/CP774

General Information

C-UL-US Listed in preparation Yes Yes

Module Type B&R 2003 CPU B&R 2003 CPU B&R 2003 CPU

Module Width B&R 2003 single width B&R 2003 single width B&R 2003 double width

Module Slot 1 1 1+2

102 CP430, CP470, CP474, CP770, CP774 Chapter 3

 Module ID CP430 CP470/CP770 CP474/CP774

Processor Section

Command Cycle Time Average value with 70 % bit and 30 % analog processing

1.6 µs 1.6 µs 0.8 µs

Standard Memory
User RAM 100 KByte SRAM 100 KByte SRAM 100 KByte SRAM
System PROM 256 KByte FlashPROM 256 KByte FlashPROM 512 KByte FlashPROM
User PROM 256 KByte FlashPROM 256 KByte FlashPROM 512 KByte FlashPROM

Data Buffering
Backup Battery Lithium battery 3 V / 950 mAh
Buffer Current
Typical 1.6 µA 1.6 µA 2.2 µA
Maximum 60 µA 60 µA 110 µA

HW Watchdog Yes

Voltage Monitoring The internal supply is monitored for overvoltage and undervoltage

Peripheral

Real-time Clock Nonvolatile

Resolution 1s

B&R 2003 Modules

Status Display LEDs

Chapter 3
I/O Bus Interface 9 pin D-type socket

Slots for Screw-in Modules No No 4

Suitable for
IF Modules 1-3

Standard Communication
Interfaces

Application Interface IF1 RS232

Electrical Isolation No
Design 9 pin D-type plug
Max. Distance 15 m / 19200 Baud
Max. Baudrate 115.2 kBaud

Application Interface IF2 CAN

Electrical Isolation Yes
Design 9 pin D-type plug
Max. Distance 1000 m
Max. Baudrate 500 kBaud

Power Supply CP430 CP470/CP474 CP770/CP774

Input Voltage
Minimum 18 VDC 18 VDC 85 VAC
Nominal 24 VDC 24 VDC 100 - 240 VAC
Maximum 30 VDC 30 VDC 264 VAC
Input Voltage Frequency --- --- 47 - 63 Hz

Power Consumption Max. 9.5 W Max. 20 W Max. 20 W

Output Power for I/O Ports 7 W 1) 14 W 1) 12.6 W 1) 14 W 1)

12.6 W 1)

1)
Integrated power supply on pin 4 of the RS232 interface for simple PANELWARE controllers, e.g. P120.

B&R 2003 Modules CP430, CP470, CP474, CP770, CP774 103

4.12.3 Status Display

LED Meaning

CAN Data transfer to or from CAN controller

RS232 Indicates if data is being transmitted or received

ERR Lit in Service mode

RUN Lit in RUN and in Service mode

RDY Leuchtet im Service-Modus

MODE Lit when programming FlashPROM

1, 2, 3, 4 These LEDs show the operating state of the respective screw-in module.

Not lit Screw-in module defective or not inserted

Blinking slowly Communication error with screw-in module

Blinking quickly Screw-in module is new or has been exchanged with another module type

Lit Screw-in module is ready for operation

4.12.4 Power Supply

The CPUs are either supplied with 24 VDC or with 100 to 240 VAC. The pin assignments are printed on
the module.

CP430, CP470, CP474 CP770, CP774

Both + pins are connected and both − pins are Both N pins are connected and both L pins are
connected internally connected internally

104 CP430, CP470, CP474, CP770, CP774 Chapter 3

4.12.5 Interfaces

The CPU has two interfaces:

CAN RS232

4.12.6 CAN Bus

The electrically isolated standard field bus interface is used for the following tasks:

B&R 2003 Modules

• Communication with other control systems

Chapter 3
• Remote I-O expansion using B&R 2003 components and a CAN bus controller

It is recommended that you use the T-connector AC911 (see Chapter 7 "General Accessories") when
coupling to a CAN network. A terminal resistance is integrated into the T-connector for the bus termination,
which can be switched on or off.
For more information on wiring CAN field bus systems, see chapter 2, "Project Planning and Installation",
section "CAN Field Bus".

Pin Assignment
1 n. c.
2 CAN_L
9 pin D-type plug
3 CAN_GND
1
6 4 n. c.
5 n. c.
6 res.
9
5 7 CAN_H
8 n. c.
9 n. c.

B&R 2003 Modules CP430, CP470, CP474, CP770, CP774 105

4.12.7 RS232 Interface

This non-electrically isolated interface is primarily intended for programming the CPU. The RS232 interface
can also be used as a general interface (e.g. P121 visualization, printer, bar code reader, etc.).

Pin Assignment
1 n. c. Reserved
9 pin D-type plug 2 RXD Receive Signal
1 3 TXD Transmit Signal
6
4 +5 VDC / max. 500 mA Panel Supply
5 GND Ground
6 n. c. Reserved
9
5 7 RTS Request To Send
8 CTS Clear To Send
9 n. c. Reserved

4.12.8 MODE Switch

The operating mode is set with the MODE switch. The switch setting can be evaluated by the application
program at any time. If the switch position is changed during operation, a warning can be generated. The
operating system only interprets the switch position when switched on.

Switch Position Description

0 Programming System Flash (see respective section)

1-8 Freely available for use in an application (e.g. CAN node number)

9-E Reserved for B&R expansions – these settings are not allowed to be used!

F Diagnose mode

106 CP430, CP470, CP474, CP770, CP774 Chapter 3

4.12.9 Programming System Flash

General Information

The CPUs are delivered with an operating system. The operating system can be updated using the
programming system.

An operating system update is possible using PG2000 V 2.41 and higher.

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Operating System Update

When updating the operating system, the following procedure must be followed:

1) Establish online connection between programming device (PC or Industrial PC) and the CPU.
2) Start PG2000 programming system.

B&R 2003 Modules

3) In PG2000, call the function PCCSW Update (see menu item Service in the pull-down menu System).

Chapter 3
4) A dialog box is shown where you can set the transfer rate (baudrate) for the update procedure and
the PC interface used for the online connection (e.g. 57600 Baud, COM1).
5) Another dialog box is opened when you select [ OK ].
6) The operating system version can be selected in this dialog box. After closing this dialog box by selecting
[ Yes ], the system ROM is deleted (incl. operating system). Then the selected operating system version
is transferred to the system ROM. The update progress is shown in the message line.

The User Flash will be deleted!

7) Switch PCC off and then on again.

8) The PCC is now ready for use.

The operating system update is not only possible via an online connection, it is also
possible via a CAN network or a serial network (INA2000 protocol).

B&R 2003 Modules CP430, CP470, CP474, CP770, CP774 107

4.12.10 CP Interface

The CPUs CP474 and CP774 are equipped with four slots for screw-in modules. The required screw-in
modules are inserted into the CP interface and screwed firmly into place.

The screw-in interface modules can be used with slots 1, 2 and 3.

108 CP430, CP470, CP474, CP770, CP774 Chapter 3

Overview

The following screw-in modules can be used on the CP Interface.

Module Type Description

7AI261.7 Analog IN 1 input to evaluate a full-bridge strain gauge

7AI294.7 Analog IN 4 inputs for potentiometer displacement gauge

7AI351.70 Analog IN 1 x ±10 V or 1 x 0 - 20 mA (1 x ±20 mA also possible)

Potentiometer operation

7AI354.70 Analog IN 4 x ±10 V

7AI774.70 Analog IN 4 x 0 - 20 mA (4 x ±20 mA also possible)

7AO352.70 Analog OUT 2 x ±10 V / 0 - 20 mA

7AT324.70 Analog IN 4 x Temperature sensor (PT100, PT1000, KTY10 or KTY84)

7AT352.70 Analog IN 2 x PT100 3-wire

B&R 2003 Modules

7AT664.70 Analog IN 4 x Thermocouple

Chapter 3
7DI135.70 Digital IN 4 x 24 VDC, 50 kHz

7DO135.70 Digital OUT 4 x 12 - 24 VDC, 0.1 A, 100 kHz

7DO164.70 Digital OUT 4 x 48 - 125 VAC, 50 mA, nonvolatile input

7IF311.7 Interface 1 x RS232

7IF321.7 Interface 1 x RS485/RS422

7IF361.70-1 Interface 1 x PROFIBUS DP-Slave

7IF371.70-1 Interface 1 x CAN

7NC161.7 Encoder Module 1 x 100 kHz, 5 / 24 VDC

Commands

The following commands can be used on the CP Interface:

• Reading the screw-in module type

• Switching off automatic mode
• Switching on automatic mode

The commands are described in section "AF101".

4.12.11 Legend Sheets

A legend sheet can be slid into the front of the CPUs CP474 and CP774 from above. These sheets can be
used for labelling the screw in modules.

B&R 2003 Modules CP430, CP470, CP474, CP770, CP774 109

4.12.12 Data/Real-time Clock Buffering

The battery voltage is checked cyclically. The cyclic load test of the battery does not considerably shorten
the battery life, instead it gives an early warning of weakened buffer capacity.
The status information, "Battery OK" is available from the B&R-TRAP function, "SYS_battery".

4.12.13 System Variable SYS2003

General Information

The system variable SYS2003 is a structure containing the elements "io_scan" and "io_refresh". It must be
declared in a task as PCC global.

Element Variable Type Description

io_scan INT16 Duration of the last I/O cycle in µs

io_refresh INT8 0 .... I/O data is older than one cycle

1 .... I/O data is current

If digital I/O variables are used in the HSTC, the system variable SYS2003 will also be
placed in the HSTC. Values in lower task classes will therefore not be consistent.
If no digital I/Os are placed in the HSTC, the SYS2003 variable will use the 10 ms
operating system clock.

110 CP430, CP470, CP474, CP770, CP774 Chapter 3

4.12.14 Exchanging the Battery

Battery Data

Lithium Battery 3 V / 950 mAh

Model Number 0AC201.9 (5 lithium batteries)

Storage Time Max. 3 years at 30 °C

Relative Humidity 0 to 95 % (non-condensing)

Buffer Duration

Buffer Current CP470 / CP770 CP474 / CP774

Typical 1.6 µA 2.2 µA

B&R 2003 Modules

Maximum 60 µA 110 µA

Chapter 3
B&R recommend changing the batteries after five years of operation.

Procedure

The product design allows battery changing to be carried out with the PCC switched on of off. In some
countires, safety regulations do not allow batteries to be changed while the module is switched on.

Data stored in RAM will be lost if the battery is changed with the PCC switched off!

1) Touch the mounting rail or earth connection (not the power supply!) in order to discharge any electrostatic
charge from your body.
2) Remove the cover from the lithium battery holder using a screwdriver.

B&R 2003 Modules CP430, CP470, CP474, CP770, CP774 111

3) Remove the battery from the holder by pulling the removal strip (don’t use uninsulated tools -> risk of
short circuiting).
The battery should not be held by its edges. Insulated tweezers may be used for removing the battery.

Right: Wrong:

4) Insert the new battery with correct polarity. The removal strip should be protruding from the battery holder
and the "+" side of the battery should be facing downward.
In order to be able to remove the battery again in future, the removal strip must protrude from the upper
side of the battery.

Removal strip must protrude

from the upper side of the
battery

5) Now wrap the end of the removal strip over the top of the battery and insert it underneath the battery
so that it does not protrude from the battery holder.

112 CP430, CP470, CP474, CP770, CP774 Chapter 3

6) Replace cover. Ensure that the slot in the edge of the cover faces the front of the module ➊.
Insert the upper edge of the cover in the battery holder opening ➋. Press the lower end of the cover
home firmly ➌.

RDY MODE CP470

➋
➊

B&R 2003 Modules

Lithium batteries are considered hazardous waste! Used batteries should be disposed
of accordingly.

Chapter 3

B&R 2003 Modules CP430, CP470, CP474, CP770, CP774 113

4.13 CP476

4.13.1 General Information

With the addition of the CP476, the B&R SYSTEMS 2003 now has a CPU with outstanding technical properties.

Features
• 750 KByte User SRAM
• 1.5 MByte User FlashPROM
• Additional I/O processor
• System bus for expansions
• CP Interface with four slots
• Two node number switches

Memory capacity was increased to meet the requirements of our customers.

The CP476 extends the CPU performance spectrum for the B&R SYSTEM 2003 in the upward direction.
Compared to the CP474, the new CPU increases performance by at least a 50 % because the clock frequency
is 50 % higher and the integration of an additional I/O processor. This reduces the interrupt load considerably
and decreases the analog update time on the left side by max. the factor 2 (screw-in modules 1 and 2 as
well as 3 and 4 are processed parallel to each other). The I/O update on the left side tales place independently
of the right side.

The CPU CP476 is equipped with a system bus for expansions. The following expansions can be connected:
• ME010 expansion module for PCMCIA memory cards
• ME020 expansion module for PCMCIA memory cards and a slot for B&R SYSTEM 2005 interface
module inserts

Two CAN node number switches guarantee that an offset no longer has to be set. The actual node number
always corresponds to the switch setting.

114 CP476 Chapter 3

4.13.2 Technical Data

Module ID CP476

General Information

B&R 2003 Modules

Model Number 7CP476.60-1

Chapter 3
Short Description 2003 CPU, 750 KB SRAM, 1,5 MB FlashPROM, 24 VDC, 12,5 W supply,
1 RS232, 1 CAN interface, CAN: electrical isolation, network capable,
4 slots for screw-in modules, system bus for expansion modules,
max. 272 digital / 80 analog I/O points

C-UL-US Listed in preparation

Module Type B&R 2003 CPU

Module Width B&R 2003 double width

Module Slot 1+2

Processor Section

Additional I/O Processor Handles I/O data points

Instruction Cycle Time (average value 0.5 µs

for 70 % bit and 30 %
analog processing)

Standard Memory
User RAM 750 KByte SRAM
System PROM 512 KByte FlashPROM
User PROM 1.5 MByte FlashPROM

Data Buffering
Backup Battery Lithium Battery 3 V / 950 mAh
Buffer Current
Typical 2.2 µA
Maximum 110 µA

HW Watchdog Yes

Voltage Monitoring The internal supply is monitored for overvoltage and undervoltage

B&R 2003 Modules CP476 115

 Module ID CP476

Peripheral

Real-time Clock Nonvolatile

Resolution 1s

Status Display LEDs

I/O Bus Interface (right side) 9 pin D-type socket

System Bus for Expansions (left side) PCMCIA memory card ME010
B&R SYSTEM 2005 interface module insert ME020

Slots for Screw-in Modules 4

Suitable for IF Modules 1-3

Standard Communication Interfaces

Application Interface IF1 RS232

Electrical Isolation No
Connection 9 pin D-type plug
Max. Distance 15 m / 19200 Baud
Max. Baudrate 115.2 kBaud

Application Interface IF2 CAN

Electrical Isolation Yes
Connection 9 pin D-type plug
Max. Distance 1000 m
Max. Baudrate 500 kBaud

Power Supply

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Power Consumption Max. 20 W

Output Power for I/O Ports 12.5 W 1)

1)
Integrated power supply on pin 4 of the RS232 interface for simple PANELWARE controllers, e.g. P120.

116 CP476 Chapter 3

4.13.3 Status Display

LED Meaning

CAN Data transfer to or from CAN controller

RS232 Indicates if data is being transmitted or received

ERR Lit in Service mode

RUN Lit in RUN and in Service mode

RDY Lit in Service mode

MODE Lit when programming FlashPROM

1, 2, 3, 4 These LEDs show the operating state of the respective screw-in module.

Not lit Screw-in module defective or not inserted

Blinking slowly Communication error with screw-in module

Blinking quickly Screw-in module is new or has been exchanged with another module type

B&R 2003 Modules

Lit Screw-in module is ready for operation

Chapter 3
4.13.4 Power Supply

The CPU CP476 is supplied with 24 VDC. The pin assignments are printed on the module. Both + pins are
connected and both − pins are connected internally.

B&R 2003 Modules CP476 117

4.13.5 Interfaces

The CPU has two interfaces:

CAN RS232

4.13.6 CAN Bus

The electrically isolated standard field bus interface is used for the following tasks:

• Communication with other control systems

• Remote I-O expansion using B&R 2003 components and a CAN bus controller

It is recommended that you use the T-connector AC911 (see Chapter 7 "General Accessories") when
coupling to a CAN network. A terminal resistance is integrated into the T-connector for the bus termination,
which can be switched on or off.
For more information on wiring CAN field bus systems, see chapter 2, "Project Planning and Installation",
section "CAN Field Bus".

Pin Assignment
1 n. c.
2 CAN_L
9 pin D-type plug
3 CAN_GND
1
6 4 n. c.
5 n. c.
6 res.
9
5 7 CAN_H
8 n. c.
9 n. c.

118 CP476 Chapter 3

4.13.7 RS232 Interface

This non-electrically isolated interface is primarily intended for programming the CPU. The RS232 interface
can also be used as a general interface (e.g. P121 visualization, printer, bar code reader, etc.).

Pin Assignment
1 n. c. Reserved
9 pin D-type plug 2 RXD Receive Signal

1 3 TXD Transmit Signal

6
4 +5 VDC / max. 500 mA Panel Supply
5 GND Ground
6 n. c. Reserved
9
5 7 RTS Request To Send
8 CTS Clear To Send
9 n. c. Reserved

B&R 2003 Modules

Chapter 3
4.13.8 CAN Node Number Switch

The CAN node number is set with the two hex switches. The switch setting can be evaluated by the application
program at any time. If the switch position is changed during operation, a warning can be generated. The
operating system only interprets the switch position when switched on.
The settings 00, FD and FF are reserved for special functions.

Switch Position Description

00 Programming System Flash (see respective section)

FD Update MEMCARD (see ME010 and ME020)

FF Diagnose mode

B&R 2003 Modules CP476 119

4.13.9 Programming System Flash

General Information

The CPUs are delivered with an operating system. The operating system can be updated using the
programming system.

An operating system update is possible using PG2000 V 2.41 and higher.

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Operating System Update

When updating the operating system, the following procedure must be followed:

1) Establish online connection between programming device (PC or Industrial PC) and the CPU.
2) Start PG2000 programming system.
3) In PG2000, call the function PCCSW Update (see menu item Service in the pull-down menu System).
4) A dialog box is shown where you can set the transfer rate (baudrate) for the update procedure and
the PC interface used for the online connection (e.g. 57600 Baud, COM1).
5) Another dialog box is opened when you select [ OK ].
6) The operating system version can be selected in this dialog box. After closing this dialog box by selecting
[ Yes ], the system ROM is deleted (incl. operating system). Then the selected operating system version
is transferred to the system ROM. The update progress is shown in the message line.

The User Flash will be deleted!

7) Switch PCC off and then on again.

8) The PCC is now ready for use.

The operating system update is not only possible via an online connection, it is also
possible via a CAN network or a serial network (INA2000 protocol).

120 CP476 Chapter 3

4.13.10 CP Interface

The CPU is equipped with four slots for screw-in modules. The required screw-in modules are inserted into
the CP interface and screwed firmly into place.

To reduce the load on the CPU, an additional I/O processor handles operation of the all I/O data points on
the CP interface and the I/O bus interface (right side).
The I/O processor handles slots 1 and 3 as well as 2 and 4 in succession (multiplex operation). That means
slots 1 and 2 as well as 3 and 4 are operated parallel to each other.

The screw-in interface modules can be used with slots 1, 2 and 3.

B&R 2003 Modules

Chapter 3

B&R 2003 Modules CP476 121

Overview

The following screw-in modules can be used on the CP Interface.

Module Type Description

7AI261.7 Analog IN 1 input to evaluate a full-bridge strain gauge

7AI294.7 Analog IN 4 inputs for potentiometer displacement gauge

7AI351.70 Analog IN 1 x ±10 V or 1 x 0 - 20 mA (1 x ±20 mA also possible)

Potentiometer operation

7AI354.70 Analog IN 4 x ±10 V

7AI774.70 Analog IN 4 x 0 - 20 mA (4 x ±20 mA also possible)

7AO352.70 Analog OUT 2 x ±10 V / 0 - 20 mA

7AT324.70 Analog IN 4 x Temperature sensor (PT100, PT1000, KTY10 or KTY84)

7AT352.70 Analog IN 2 x PT100 3-wire

7AT664.70 Analog IN 4 x Thermocouple

7DI135.70 Digital IN 4 x 24 VDC, 50 kHz

7DO135.70 Digital OUT 4 x 12 - 24 VDC, 0.1 A, 100 kHz

7DO164.70 Digital OUT 4 x 48 - 125 VAC, 50 mA, nonvolatile input

7IF311.7 Interface 1 x RS232

7IF321.7 Interface 1 x RS485/RS422

7IF361.70-1 Interface 1 x PROFIBUS DP-Slave

7IF371.70-1 Interface 1 x CAN

7NC161.7 Encoder Module 1 x 100 kHz, 5 / 24 VDC

Commands

The following commands can be used on the CP Interface:

• Reading the screw-in module type

• Switching off automatic mode
• Switching on automatic mode

The commands are described in section "AF101".

4.13.11 Legend Sheets

A legend sheet can be slid into the front of the CPU CP476 from above. These sheets can be used for labelling
the screw in modules.

122 CP476 Chapter 3

4.13.12 Data/Real-time Clock Buffering

The battery voltage is checked cyclically. The cyclic load test of the battery does not considerably shorten
the battery life, instead it gives an early warning of weakened buffer capacity.
The status information, "Battery OK" is available from the B&R-TRAP function, "SYS_battery".

4.13.13 System Variable SYS2003

General Information

The system variable SYS2003 is a structure containing the elements "io_scan" and "io_refresh". It must be
declared in a task as PCC global.

Element Variable Type Description

io_scan INT16 Duration of the last I/O cycle in µs

io_refresh INT8 0 .... I/O data is older than one cycle

B&R 2003 Modules

1 .... I/O data is current

Chapter 3
If digital I/O variables are used in the HSTC, the system variable SYS2003 will also be
placed in the HSTC. Values in lower task classes will therefore not be consistent.
If no digital I/Os are placed in the HSTC, the SYS2003 variable will use the 10 ms
operating system clock.

B&R 2003 Modules CP476 123

4.13.14 Exchanging the Battery

Battery Data

Lithium Battery 3 V / 950 mAh

Model Number 0AC201.9 (5 lithium batteries)

Storage Time Max. 3 years at 30 °C

Relative Humidity 0 to 95 % (non-condensing)

Buffer Duration

Buffer Current CP476

Typical 2.2 µA

Maximum 110 µA

B&R recommend changing the batteries after five years of operation.

Procedure

The product design allows battery changing to be carried out with the PCC switched on of off. In some
countires, safety regulations do not allow batteries to be changed while the module is switched on.

Data stored in RAM will be lost if the battery is changed with the PCC switched off!

1) Touch the mounting rail or earth connection (not the power supply!) in order to discharge any electrostatic
charge from your body.
2) Remove the cover from the lithium battery holder using a screwdriver.

124 CP476 Chapter 3

3) Remove the battery from the holder by pulling the removal strip (don’t use uninsulated tools -> risk of
short circuiting).
The battery should not be held by its edges. Insulated tweezers may be used for removing the battery.

Right: Wrong:

4) Insert the new battery with correct polarity. The removal strip should be protruding from the battery holder

B&R 2003 Modules

and the "+" side of the battery should be facing downward.

Chapter 3
In order to be able to remove the battery again in future, the removal strip must protrude from the upper
side of the battery.

Removal strip must protrude

from the upper side of the
battery

5) Now wrap the end of the removal strip over the top of the battery and insert it underneath the battery
so that it does not protrude from the battery holder.

B&R 2003 Modules CP476 125

6) Replace cover. Ensure that the slot in the edge of the cover faces the front of the module ➊.
Insert the upper edge of the cover in the battery holder opening ➋. Press the lower end of the cover
home firmly ➌.

RDY MODE CP476

Ë
Ê

Lithium batteries are considered hazardous waste! Used batteries should be disposed
of accordingly.

126 CP476 Chapter 3

5 PROGRAM MEMORY MODULES
5.1 OVERVIEW

Module Description
ME770 2003 configuration memory for CAN bus controller

B&R 2003 Modules

Chapter 3

B&R 2003 Modules Program Memory Modules 127

5.2 ME770

5.2.1 General Information

All operating parameters for a node are stored in nonvolatile configuration memory. When switched on, the
node is initialized with the parameters in the configuration memory.

Data is taken from configuration memory if,

a) The node number set on the module corresponds to the one stored, or
b) the node number on the module die is set to 0.

Only insert or remove the configuration memory from the controller without power
applied.

5.2.2 Technical Data

Module ID ME770

Model Number 7ME770.5

Short Description 2003 configuration memory for CAN bus controller

C-UL-US Listed Yes

Memory Type 4 KBit S-EEPROM

Programming
ME770 Must be connected to CAN bus controller
Programmed using CAN Library for PG2000
CAN Configurator

Interface Connection 9 pin D-type plug

Power Consumption 0.1 W

128 ME770 Chapter 3

6 ANALOG INTERFACE (AF) MODULE
6.1 GENERAL INFORMATION

Screw-in modules are installed either on the CP interface or on the adapter module and then screwed into
place:

B&R 2003 Modules

Chapter 3

6.2 OVERVIEW

Module Description

AF101 2003 adapter module, 4 slots for screw-in modules

B&R 2003 Modules Analog Interface (AF) Module 129

6.3 SCREW-IN MODULES

The following screw-in modules can be used on the adapter module:

Module Type Description

7AI261.7 Analog IN 1 Input used to evaluate a full-bridge strain gauge

7AI294.7 Analog IN 4 inputs for potentiometer displacement gauge

7AI351.70 Analog IN 1 x ±10 V or 1 x 0 - 20 mA (1 x ±20 mA also possible), potentiometer operation

7AI354.70 Analog IN 4 x ±10 V

7AI774.70 Analog IN 4 x 0 - 20 mA (4 x ±20 mA also possible)

7AO352.70 Analog OUT 2 x ±10 V / 0 - 20 mA

7AT324.70 Analog IN 4 x temperature sensor (PT100, PT1000, KTY10 or KTY84)

7AT352.70 Analog IN 2 x PT100 3-line

7AT664.70 Analog IN 4 x thermocouple

7DI135.70 Digital IN 4 x 24 VDC, 50 kHz

7DO135.70 Digital OUT 4 x 12 - 24 VDC, 0.1 A, 100 kHz

7DO164.70 Digital OUT 4 x 48 - 125 VAC, 50 mA, nonvolatile input

7NC161.7 Encoder module 1 x 100 kHz, 5 / 24 VDC

130 Analog Interface (AF) Module Chapter 3

6.4 AF101

6.4.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID AF101

General Information

Model Number 7AF101.7

Short Description 2003 Adapter Module

4 slots for screw-in modules

C-UL-US Listed Yes

B&R ID Code $C0

Amount

CP430, EX270 2

CP470, CP770 4
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Adapter Interface 4 slots for screw-in modules

Electrical Isolation No

Status LEDs For each channel

Power Consumption Max. 0.3 W

Mechanical Properties

Dimensions B&R 2003 single width

Always operate the adapter module directly to the right of the CPU!

Adapter modules are only allowed to be used in the first four module slots on the B&R 2003 system.

B&R 2003 Modules AF101 131

6.4.2 Status LEDs

The green status LEDs on the adapter modules indicate the operational status of each slot:

LED Status Meaning

Not lit Screw-in module defective or not inserted

Blinking slowly Communication error with screw-in module

Blinking quickly Screw-in module is new or has been exchanged with another module type

Lit Screw-in module is ready for operation

6.4.3 Legend Sheets

The legend sheets supplied with the module are slid into the module front from the top of the module. These
sheets can be used for labelling the screw in modules.

6.4.4 Accessing the Screw-in Modules

Every module description contains a "variable declaration" section. This section outlines the method for
declaring variables in PG2000.
The channel number to be accessed is given in the VD Channel column with the data or configuration words.
When accessing configuration words using I/O function blocks, an offset value must be added to the VD
channel, according to which slot the screw-in module occupies on the AF101.

Data Word

When data is accessed using a data word, an offset does not need be added to the VD channel number,
since the slot number is given in the variable declaration.

Configuration Word

When accessing configuration words using I/O function blocks, an offset value must be added to the VD
channel, according to which slot the screw-in module occupies on the AF101.
The internal offset used to address the required configuration word, is calculated using the following formula:

Internal offset = VD channel + (sl - 1) x 32

Internal offset ........ Internal offset used to access the required configuration word
VD channel ............ The channel entered in the variable declaration
sl ............................ Slot number (1 - 4) of the screw-in module on the AF101

Refer to the example in Chapter 4, "Module Addressing".

132 AF101 Chapter 3

6.4.5 Commands - AF101

Controller

The commands are available to the following controllers/access types:

Controller / Access Type Command available

CPU - PCC 2003 Yes

Remote Slaves No

CAN Slaves No

Access using CAN Identifier No

Command Execution

I/O function blocks are used to execute commands on the AF101. A shovel instruction must be generated
for reading configuration word 14 (VD channel 28) of a screw-in module.
The variable used to store the command response is initialized with the command word. After successful

B&R 2003 Modules

execution of the shovel instruction, the command response is saved in the variable.

Chapter 3
The AF101 commands Automatic mode on/off are available from revision 02.00 of the AF101 software. The
software version of the AF101 module can be determined from the last two digits of the version number shown
on the serial number label (Rev. xx.11 -> SW revision 01.10, Rev. xx.20 -> SW revision 02.00).

1) Read B&R ID code for the screw-in module

The variable must be initialized with 0 in order read the B&R ID code. Don’t forget to enter the channel offset
for the respective slot!

Command Word $0000

Command Response $xxyy xx .... B&R ID Code
yy .... Reserved

2) Read B&R ID code for the AF101 module

Command Word $8000

Command Response $C000 B&R ID Code AF101

B&R 2003 Modules AF101 133

3) Automatic mode

Starting with software revision 02.00 of the AF101, the data word will be written by default to an automatically
generated I/O image (automatic mode). Read commands are executed by accessing this I/O image.
Special applications of screw-in modules sometimes require the automatic I/O image generation to be
switched off (e.g. for the AI261 this makes certain that the scaled value or calibrated raw value is only read
once per data output cycle).
When the I/O image generator is switched off, the commands for editing the data words are written directly
to the screw-in modules instead.
Automatic mode is not available on AF101 modules with a software revision <02.00. These modules behave
in the same way as modules with a software revision ≥02.00 where automatic mode has been switched off.

3.1) Switching off automatic mode

This command is only available to AF101 modules with a SW revision ≥ 02.00 (AF101 modules with SW revision
< 02.00 behave in the same way as modules with a SW revision ≥02.00 where automatic mode has been
switched off).

Command Word $8400

Command Response $F400 Command executed - AF101 SW Rev. ≥02.00
$C000 AF101 SW Rev. <02.00

3.2) Switching on automatic mode

This command is only available to AF101 modules with a SW revision ≥02.00. Automatic mode is not available
on AF101 modules with a software revision <02.00.

Command Word $8500

Command Response $F500 Command executed - AF101 SW Rev. ≥02.00
$C000 AF101 SW Rev. <02.00

134 AF101 Chapter 3

6.4.6 Program Example

In this program, the shovel instructions for the following commands are defined and executed in the INIT-
SP :

• Read B&R ID code for the screw-in module

• Read B&R ID code for the AF101 module
• Switching off automatic mode

Task Overview

The application program is divided into the following tasks:

B&R 2003 Modules

Chapter 3
I/O Library

Before using the function blocks to handle configuration words, you must import the I/O library (starting with
V 01.60) into the project database. The function, Import Library in the File menu is provided for this purpose.
The I/O library must be entered in the GDM as a system module.

AF101

This task processes the screw-in modules on the AF101 adapter module.
The shovel instructions required for carrying out commands on the AF101 module are defined in the INIT-
SP.

B&R 2003 Modules AF101 135

INIT-SP

Project: af_auto File: InitSP : af101

Err_Ptest = 0
AF101_slot = 1
AT664_slot = 1

;#############################################################################
;## Multipler for physical shovel instructions to read ##
;## parameter word 14 for the AT664 on the AF101, Slot 1 ##
;#############################################################################
IO_struct.io_type=5 ;2003 IO
IO_struct.master_no=1 ;Master always 1
IO_struct.slave_no=0 ;Slave number always 0
IO_struct.module_adr=AF101_slot ;Module slot
IO_struct.intern_off= 32*(AT664_slot -1)+ 14 *2 ;Register no. 14 on ScrM = AT664_slot
IO_struct.mode=%00100000 ;Read, normal
IO_struct.data_len=2 ;2*Byte
IO_struct.reserve=0 ;Not used
IO_struct.data_adr=adr(AT_reg14) ;Address of the data area containing the
;image for parameter word 14
AT_reg14 = $0000 ;0 required to read the module type

;Declare shovel instruction #0

IO_mphydef(1,adr(IO_struct),adr(af_sc_buf),0,status_mp1,af_ident)

if status_mp1=0 then
loop ;Carry out shovel instruction cyclically...
IO_data(1,af_ident,status_dat)
exitif status_dat <> 5559 ;...until shovelling is no longer active
endloop
endif

if status_dat=0 then
AT664_typ = AT_reg14
endif

;#############################################################################
;## Multipler for physical shovel instructions to read ##
;## parameter word 14 (=code) on the AF101 module ##
;#############################################################################
IO_struct.io_type=5 ;2003 IO
IO_struct.master_no=1 ;Master always 1
IO_struct.slave_no=0 ;Slave number always 0
IO_struct.module_adr=AF101_slot ;Module slot
IO_struct.intern_off= 14 *2 ;Register no. 14 on the AF101
IO_struct.mode=%00100000 ;Read, normal
IO_struct.data_len=2 ;2*Byte
IO_struct.reserve=0 ;Not used
IO_struct.data_adr=adr(AF_reg14) ;Address of the data area containing the
;image for parameter word 14
AF_reg14 = $8000 ;Read AF101 code

IO_mphydef(1,adr(IO_struct),adr(af_sc_buf),0,status_mp2,af_ident)

if (status_mp2=0) then
loop ;Carry out shovel instruction cyclically...
IO_data(1,af_ident,status_dat)
exitif status_dat <> 5559 ;...until shovelling is no longer active
endloop
endif

136 AF101 Chapter 3

 if status_dat=0 then
AF_code = AF_reg14
endif

;#############################################################################
;## AF101 Switch off automatic mode ##
;#############################################################################

;Shovel instruction can be used further

AF_reg14 = $8400 ;Command switch off automatic mode
AUTO = 1 ;Automatic mode still active

if (status_mp2=0) then
loop ;Carry out shovel instruction cyclically...
IO_data(1,af_ident,status_dat)
exitif status_dat <> 5559 ;...until shovelling is no longer active
endloop

if (status_dat=0) and (AF_reg14=$F400) then

;Automatic mode switched off successfully
AUTO = 0 ;Automatic mode inactive
else if (status_dat=0) and (AF_reg14=$C000) then

B&R 2003 Modules

;AF101 SW Rev. < 2.00 -> No automatic mode
AUTO = 0 ;Automatic mode inactive

Chapter 3
endif
endif

Variable Declaration

Data Type

A structure will be defined for the variable „IO_struct“ using the data type typedef . Once the structure name
IO_struct has been entered, the structure elements can be entered in a dialog box.

B&R 2003 Modules AF101 137

7 DIGITAL INPUT MODULES
7.1 GENERAL INFORMATION

Digital input modules are used to convert the binary signals for a process into the internal signal level required
for the PCC. The states of the digital inputs are shown with status LEDs. The relevant differences in
characteristics for the input modules are:

• Number of inputs
• Input voltage
• Input delay (filter)
• Special functions (e.g. counter inputs)

7.2 INPUT FILTER

An input filter is available for each input. The input delay is listed in the respective technical data section.
Disturbance pulses which are shorter than input delay are suppressed by the input filter.

Input
Signal

Time

Signal after
the filter
tdelay tdelay tdelay

Time

tdelay ... Input delay

138 Digital Input Modules Chapter 3

7.3 SCREW-IN MODULE OVERVIEW

Module DI135

Number of Inputs 4

Nominal Input Voltage 24 VDC

Input Frequency
Incremental Encoder Operation 50 kHz
Event Counter Operation 100 kHz

Number of Outputs 1

Nominal Switching Voltage 24 VDC

Continuous Current 0.5 A

Switching Frequency Max. 20 kHz with resistive load

7.4 I/O MODULE OVERVIEW

Module DI435 DI439.7 DI439.72 DI645

B&R 2003 Modules

Number of Inputs 8 16 16 8

Chapter 3
Input Voltage 24 VDC 24 VDC 24 VDC 100 - 240 VAC

Input Delay 1 ms 1 ms 1 ms 50 ms

Remarks Conn.: Pin connector Conn.: D-type plug

7.5 PROGRAMMING

The digital inputs are accessed directly in the application program using a variable name. The relationship
between the input channel for a certain module and the variable name is defined in the variable declaration.
The declaration is made identically for each programming language using a table editor.

B&R 2003 Modules Digital Input Modules 139

7.6 DI135

7.6.1 Technical Data

Module ID DI135

General Information

Model Number 7DI135.70

Short Description 2003 digital input module, 4 inputs 24 VDC, sink,

incremental encoder operation: 50 kHz, event counter operation: 100 kHz,
1 comparator output 24 VDC, screw-in module,
Order terminal block TB712 separately!

C-UL-US Listed Yes

B&R ID Code $12

Module Type B&R 2003 screw-in module

Slot AF101 adapter module, CP interface

Power Consumption Max. 0.4 W

Inputs

Number of Inputs 4

Wiring Sink

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Input Frequency
Incremental Encoder Operation 50 kHz
Event Counter 100 kHz

Switching Threshold
LOW <5 V
HIGH >15 V

Input Delay Max. 3 µs (at 18 - 30 V)

Input Current at Nominal Voltage 8 mA

Electrical Isolation Input - PCC

140 DI135 Chapter 3

 Module ID DI135

Incremental Encoder

Signal Form Square wave pulse

Evaluation 4-fold
Input Frequency 50 kHz

Count Frequency 200 kHz

Phase Offset between Channel A and B 90° ±25°

Counter Size 32 Bit

Inputs
Input 1 Channel A
Input 2 Channel B
Input 3 Reference pulse R
Input 4 Reference enable switch ENR

Event Counter

Signal Form Square wave pulse

Input Frequency 100 kHz

Counter Size 2 x 16 Bit

B&R 2003 Modules

Inputs

Chapter 3
Input 1 Counter 1
Input 2 Counter 2

Outputs

Number of Outputs 1

Operating Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Continuous Current 0.5 A

Maximum Switching Frequency 20 kHz with resistive load

Negative Anode Potential 45 V to 55 V

Diagnosis Reverse polarity protection, short-circuit protection, software monitor status 1)

Electrical Isolation Output - PCC

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

1)
Incremental encoder operation: Module status in data word 0
Event Counter Operation: Module status in data word 2

B&R 2003 Modules DI135 141

7.6.2 Four Digital High Speed Inputs

All four inputs are sent to TPU. If the module is inserted e.g. in slot 1 of the CP interface on a CP474, input
1 can be evaluated using the LTX function LTXdi0().

Performance Characteristics

• Counting and measuring digital signals (internal measuring frequency 4 MHz)

• Gate measurement
• Frequency measurement
• Event counting
• Incremental encoder operation
• Reaction to input events in the µs range
• Local counter status monitoring with direct output control

7.6.3 24 V Incremental Encoder / Encoder Signal Evaluation

Inputs 1 and 2 correspond to encoder signals A and B. The encoder signal is generally processed using
4-fold evaluation. The scan time (count generation) is less than 1 ms, but respective hardware allows an input
frequency of 50 kHz.

Position Description:
• 32 bit (Long) and status word including referencing bit (data consistency)

Local Referencing Support:

• Clear counter without conditions (directly after receiving command)
• Clear counter after receiving the reference pulse
• Clear counter after receiving the first reference pulse with active reference enable switch

Input 3 is used as a reference signal if required.

Input 4 is used as a reference enable switch if required.

7.6.4 Event Counter

• 16-Bit counter, counts every rising edge or both edges on input 1

• 16-Bit counter, counts every rising edge or both edges on input 2
• The counters are cyclic (..., $FFFE, $FFFF, $0000, $0001, ...) and can be cleared separately on
command

142 DI135 Chapter 3

7.6.5 Comparator

Local counter status monitoring with direct output control (+24 VDC/0.5 A) and a reaction time of 500 µs.
The comparator is either assigned to event counter 2 (16 Bit, Input 2) or to the position counter (encoder
operation).

B&R 2003 Modules

Chapter 3

B&R 2003 Modules DI135 143

7.6.6 Input/Output Diagram

High-side
switch
Us

Comparator output
1 Out
1 O (Out.)
Status
GND
2
2 (GND)

Diagnosis status

3
3 I1 (A) 0.7 - 3 µs

Signal processing
Local processor port
4
4 I2 (B) 0.7 - 3 µs

5
5 I3 (R) 0.7 - 3 µs

6
6 I4 (ENR) 0.7 - 3 µs

ENR

TPU line channel 0

7
7 TPU line channel 1
+24 VDC
TPU line channel 2
supply
8
8 TPU line channel 3

144 DI135 Chapter 3

7.6.7 Connections

Pin Assignment
1 Output (comparator)
2 GND
1 3 Shield

1
2
4 Input 1 (encoder signal A)
3
4
5 5 Input 2 (encoder signal B)
6 Shield
6 7

7 Input 3 (encoder signal R)

8

8 Input 4 (reference enable switch ENR)

9 10 11 12

9 Shield
12 10 +24 VDC for output or encoder
11 +24 VDC for output or encoder
TB712 12 +24 VDC for output or encoder

B&R 2003 Modules

7.6.8 Connection Examples

Chapter 3
Wiring Example Inputs/Outputs

Relay

aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Output
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
1

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Initiator 1
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
GND
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
2

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+ aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
3

bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Input 1
4

Input 2
Initiator 2
5

Shield
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+ aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
6

bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Input 3
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
7

bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

Input 4
8

bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Shield
9 10 11 12

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
0.5 A fuse (slow-blow)
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+24 VDC
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+ aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+24 VDC
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

=
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+24 VDC
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa

Supply:
+24 VDC, Protect with 0.5 A slow-blow fuse!

B&R 2003 Modules DI135 145

Wiring Example Incremental Encoder (encoder connection)

Relay

aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Output

1
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
GND

2
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
E aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield

3
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
n A
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
c aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
A

4
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
o B aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
B

5
d
e R bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Shield

6
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
r aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
R

7
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
ENR

8
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Shield

9 10 11 12
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

Reference Enable Switch ENR

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+24 VDC
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+24 VDC
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+24 VDC
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
0.5 A Fuse (slow-blow) aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+ aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

=
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

Supply:

+24 VDC, Protect with 0.5 A slow-blow fuse!

146 DI135 Chapter 3

7.6.9 Variable Declaration for Incremental Encoder Operation

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Incremental Encoder Operation with PCC 2003 and Remote Slaves

B&R 2003 Modules

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Chapter 3
Data Access VD Data VD Module VD R W Description
Type Type Chan.

Data word 0 WORD Transp. In 0 ● Module status

Data word 1 INT32 Transp. In 2 ● Counter value

Configuration word 4 INT32 Transp. In 8 ● Counter value at positive edge of the reference enable
switch
INT32 Transp. Out 8 ● Threshold value 1

Configuration word 6 INT32 Transp. In 12 ● Counter value at negative edge of the reference enable
switch
INT32 Transp. Out 12 ● Threshold value 2
Configuration word 8 WORD Transp. Out 16 ● Incremental encoder / comparator control

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules DI135 147

Incremental Encoder Operation with CAN Slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT32 Transp. In 0 ● Counter value

Data word 2 WORD Transp. In 4 ● Module status

Configuration word 4 INT32 Transp. In 8 ● Counter value at positive edge of the reference enable
switch

INT32 Transp. Out 8 ● Threshold value 1

Configuration word 6 INT32 Transp. In 12 ● Counter value at negative edge of the reference enable
switch
INT32 Transp. Out 12 ● Threshold value 2

Configuration word 8 WORD Transp. Out 16 ● Incremental encoder / comparator control

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2000 users have to exchange the two counter status words so that the high word
is first (Motorola format)!

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the DI135. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four DI135 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Counter LL Counter ML Counter MH Counter HH Status L Status H free

2 543 Counter LL Counter ML Counter MH Counter HH Status L Status H free

3 544 Counter LL Counter ML Counter MH Counter HH Status L Status H free

4 545 Counter LL Counter ML Counter MH Counter HH Status L Status H free

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

148 DI135 Chapter 3

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description

12 - 15 x ....not defined, masked out

11 0 ....Counter reading not accepted

1 ....Counter reading when the first positive edge arrives from
Reference Enable Switch
10 0 ....Counter reading not accepted
1 ....Counter reading when the first negative edge arrives from the
reference enable switch
8-9 x ....not defined, masked out

7 0 ....Referencing is in progress
1 ....Counter is referenced (reset occurs after receiving a reference
command)

B&R 2003 Modules

6 changes state after each successful reference

Chapter 3
5 0 ....Comparator Output: No error
1 ....Comparator Output: An overload error can only be indicated
when the comparator output is set.

4 Comparator output state

3 Level of the encoder input A

2 Level of the encoder input B

1 Level of the reference enable switch

0 1) Bit 0 in configurations word 14 = 0

Level of reference pulses
2) Bit 0 in configurations word 14 = 1
Level of the connection between reference pulse and reference
enable switch
Normal and inverted reference pulses must be differentiated.
The change over for bit 2 occurs in configuration word 14
(refer to the explanation that follows).

x x x x x x

15 8 7 0

B&R 2003 Modules DI135 149

Normal Reference Pulse:

Path/state and timing diagrams for incremental encoder operation are shown for the
NC161 encoder module. These diagrams are also valid for the DI135.

Bit 0 in Data Word 0 is always 1 when the level of the reference enable switch is 0.
Bit 0 only takes the level of the reference pulse when the level of the reference enable switch is 1.

Bit 0 = Input 3 or (not Input 4)

Input 3 Input 4 Bit 0

Reference Pulse Reference Enable Switch Data Word 0

0 0 1

1 0 1
0 1 0

1 1 1

Inverted Reference Pulse:

Bit 0 in data word 0 is always 1 when the level of the reference enable switch is 0.
Bit 0 only takes the level of the inverted reference pulse when the state of the reference enable switch is 1.

Bit 0 = (not Input 3) or (not Input 4)

Input 3 Input 4 Bit 0

Reference Pulse Reference Enable Switch Data Word 0

0 0 1

1 0 1
0 1 1

1 1 0

150 DI135 Chapter 3

Data Word 1 (read)

Counter Value MSW

Data Word 2 (read)

Counter Value LSW

Configuration Words 4+5 (read)

After setting bit 11 in configuration word 8, the configuration words receive the latched counter value with
the first positive edge of the reference enable switch. The value is valid if bit 11 is set in data word 0.
Please refer to the timing diagram "Latching the Counter Value" in section "NC161".

Configuration Words 4+5 (write)

B&R 2003 Modules

Threshold value 1 (32 Bit)

Chapter 3
Threshold value 1 must always be ≤ threshold value 2 .
Threshold values are internally arranged in increasing order including sign.

Configuration Words 6+7 (read)

After setting bit 10 in configuration word 8, the configuration words receive the latched counter value with
the first negative edge of the reference enable switch. The value is valid if bit 10 is set in data word 0.
Please refer to the timing diagram "Latching the Counter Value" in section "NC161".

Configuration Words 6+7 (write)

Threshold value 2 (32 Bit)

B&R 2003 Modules DI135 151

Configuration Word 8 (write)

Incremental encoders and comparators are configured using configuration word 8.

Bit Description

12 - 15 0
11 0 ... Counter reading cannot be taken
1 ... Counter reading taken when the first positive edge arrives from
the reference enable switch (see configuration words 4 and 5)1)

10 0 ... Counter reading cannot be taken

1 ... Counter reading taken when the first negative edge arrives
from the reference enable switch (see configuration words 6
and 7) 1)

5-9 0
4 0 ... No effect on counter
1 Counter reset (referenced)
The counter will be reset depending on the controller signal in
configuration word 14 when positive edge of bit4 arrives. Bit 4
must then be reset and set again before a new reference can
be taken.
3 0 ... Comparator off
The comparator output will be set to level defined in bit 0.
1 ... Comparator on

2 0 ... Comparator output unconditional

The comparator output will be set to the level defined in Bit 0, if
Threshold Value 1 < Counter≤ Threshold Value 2
1 ... Comparator output conditional
Reference enable switch = 1
The comparator output will be treated as "comparator output
unconditional".
Reference enable switch = 0
The compatator output will be set to the level defined in bit 0.
1 0
0 Level of comparator output

0 0 0 0 0 0 0 0 0 0

15 8 7 0

1)
The counter value is only taken once. Bit 10 and bit 11 must be reset for the value to be taken again. Bit 10 and bit 11 can be set again in
configuration word 8 after the corresponding bit in the module status bit has gone to 0.

Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched). The module status is written
to data word 0.

152 DI135 Chapter 3

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $12

0-7 x.... Not defined, masked out

0 0 0 1 0 0 1 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

B&R 2003 Modules

13 - 15 0
12 0 ... Incremental encoder operation

Chapter 3
1 ... Event counter operation
6 - 11 0

5 0 ... No influence on counter direction

1 ... Reversed counter direction
3-4 0

2 0 ... No influence on reference pulse

1 ... Reference pulse is inverted. This change is used for encoders
with high pulses.

1 0 ... Counter set immediately to 0. In data word 0 (module status),

bit 7 is set directly to1 and the counter reset.
1 ... Counter continues to function. In data word 0 (module status)
bit 7 is set directly to 0 (limited reference).
If the reference pulse is recorded, bit 7 in data word 0 will be set
to 1 depending on the status of bit 0 in configuration word 14,
and reset again with a positive edge in configuration 14.
0 0 ... Reference enable switch ignored
(referenced with reference pulse)
1 ... Reference enable switch activated
(reference pulse and reference enable switch)

0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

Path/state and timing diagrams for incremental encoder operation are shown for the
NC161 encoder module. These diagrams are also valid for the DI135.

B&R 2003 Modules DI135 153

7.6.10 Variable Declaration for Event Counter Operation

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Event Counter Operation

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 WORD Transp. In 0 ● Counter value of counter 2

Data word 1 WORD Transp. In 2 ● Counter value of counter 1

Data word 2 WORD Transp. In 4 ● Module status

Configuration word 4 WORD Transp. In 8 ● Counter value of counter 1 at positive edge of the
reference enable switch
Configuration word 5 WORD Transp. In 10 ● Counter value of counter 2 at positive edge of the
reference enable switch
WORD Transp. Out 10 ● Threshold value 1 for counter 2

Configuration word 6 WORD Transp. In 12 ● Counter value of counter 1 at negative edge of the
reference enable switch
Configuration word 7 WORD Transp. In 14 ● Counter value of counter 2 at negative edge of the
reference enable switch
WORD Transp. Out 14 ● Threshold value 2 for counter 2

Configuration word 8 WORD Transp. Out 16 ● Counter / comparator control

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

154 DI135 Chapter 3

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the DI135. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four DI135 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Counter 2L Counter 2H Counter 1L Counter 1H Status L Status H free

2 543 Counter 2L Counter 2H Counter 1L Counter 1H Status L Status H free

3 544 Counter 2L Counter 2H Counter 1L Counter 1H Status L Status H free

4 545 Counter 2L Counter 2H Counter 1L Counter 1H Status L Status H free

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1

B&R 2003 Modules

ma .... Module address of the AF101 = 1

Chapter 3
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data Word 0 (read)

Counter value of counter 2.

Data Word 1 (read)

Counter value of counter 1.

B&R 2003 Modules DI135 155

Data Word 2 (read)

Data word 2 includes the module status time constant for both counter values.

Bit Description

12 - 15 x ....Not defined, masked out

11 0 ....Counter status not accepted

1 ....Counter status when the first positive edge of the reference
enable switch arrives.
10 0 ....Counter status not accepted
1 ....Counter status when the first negative edge of the reference
enable switch arrives.

6-9 x ....Not defined, masked out

5 0 ....Comparator output: no error
1 ....Comparator output: Overload error indicated.
4 Output status of the comparator

3 Level encoder input A: Counter 1

2 Level encoder input B: Counter 2

1 Level of the reference enable switch

0 Level of reference pulses

x x x x x x x x

15 8 7 0

Configuration Word 4 (read)

After setting bit 11 in configuration word 8, the configuration word receives the latched counter value of
counter 1 with the first positive edge of the reference enable switch. The value is valid if bit 11 is set in data
word 2.
Please refer to the timing diagram "Latching the Counter Value" in section "NC161".

Configuration Word 5 (read)

After setting bit 11 in configuration word 8, the configuration word receives the latched counter value of
counter 2 with the first positive edge of the reference enable switch. The value is valid if bit 11 is set in data
word 2.
Please refer to the timing diagram "Latching the Counter Value" in section "NC161".

Configuration Word 5 (write)

Threshold value 1 (16 Bit) for counter 2.

Threshold value 1 must always be ≤ threshold value 2 .

Threshold values are internally arranged in increasing order.

Configuration Word 6 (read)

After setting bit 10 in configuration word 8, the configuration word receives the latched counter value of
counter 1 with the first negative edge of the reference enable switch. The value is valid if bit 10 is set in data
word 2.
Please refer to the timing diagram "Latching the Counter Value" in section "NC161".

#$ ,1!# +D=FJAH!

Configuration Word 7 (read)

After setting bit 10 in configuration word 8, the configuration word receives the latched counter value of
counter 2 with the first negative edge of the reference enable switch. The value is valid if bit 10 is set in data
word 2.
Please refer to the timing diagram "Latching the Counter Value" in section "NC161".

Configuration Word 7 (write)

Threshold value 2 (16 Bit) for counter 2.

Configuration Word 8 (write)

Event counters and comparators are configured using configuration word 8.

Bit Description

B&R 2003 Modules

12 - 15 0

Chapter 3
11 0 ....Counter reading cannot be taken
1 ....Counter reading taken when the first positive edge arrives from
the reference enable switch (see configuration words 4 and 5)

10 0 ....Counter reading cannot be taken

1 ....Counter reading taken when the first negative edge arrives
from the reference enable switch (see configuration words 6
and 7)

6-9 0
5 0 ....No effect on counter 2
1 ....Reset counter 2 immediately

4 0 ....No effect on counter 1

1 ....reset counter 1 immediately
3 0 ....Comparator off
The comparator output will be set to level defined in bit 0.
1 ....Comparator on

2 0 ....Comparator output unconditional

The comparator output will be set to the level defined in Bit 0, if
Threshold Value 1 < Counter≤ Threshold Value 2
1 ....Comparator output conditional
Reference enable switch = 1
The comparator output will be treated as "comparator output
unconditional".
Reference enable switch = 0
The compatator output will be set to the level defined in bit 0.
1 0

0 Level of the comparator output

0 0 0 0 0 0 0 0 0

15 8 7 0

B&R 2003 Modules DI135 157

Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched). The module status is written
to data word 0.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $12

0-7 x ....Not defined, masked out

0 0 0 1 0 0 1 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

13 - 15 0
12 0.... Encoder operation
1.... Event counter

6 - 11 0
5 0.... Normal count direction
1.... Reverse count direction

4 0
3 0.... Only count positive edges
1.... Count both edges

0-2 0

0 0 0 1 0 0 0 0 0 0 0 0 0 0

15 8 7 0

#& ,1!# +D=FJAH!

7.7 DI435

7.7.1 Technical Data

B&R 2003 Modules

Chapter 3
Terminal block is not included in the delivery.

Module ID DI435

General Information

Model Number 7DI435.7

Short Description 2003 digital input module, 8 inputs 24 VDC, 1 ms, sink/source,
Order terminal blocks separately!

C-UL-US Listed Yes

B&R ID Code $E1

Amount

CP430, EX270 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Static Characteristics

Module Type B&R 2003 I/O Module

Number of Inputs 8

Wiring Sink or source

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Switching Threshold
LOW <5 V
HIGH >15 V

Input Delay Max. 1 ms (at 18 - 30 V)

Input Current at Nominal Voltage Approx. 8 mA (sink/source)

B&R 2003 Modules DI435 159

 Module ID DI435

Voltage Monitoring (LED: U-OK) Yes

Supply voltage >18 V

Power Consumption Max. 0.2 W

Operating Characteristics

Electrical Isolation Input - PCC

Mechanical Characteristics

Dimensions B&R 2003 single width

7.7.2 Status LEDs

The status-LEDs 1 - 8 (green) show the logical state of the corresponding inputs.

The LED OK (orange) indicates that the input supply voltage is present. The LED is lit for input voltages from
15 to 18 VDC.

7.7.3 Input Circuit Diagram

I 1-8
Input
status

Voltage
monitoring

COM s U-OK
Diagnosis
status

COM

7.7.4 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs can be labelled on the front.

160 DI435 Chapter 3

7.7.5 Sink/Source Wiring

The input module DI435 can be connected either as a sink or source circuit.

Sink Connection

B&R 2003 Modules

Chapter 3
Source Connection

B&R 2003 Modules DI435 161

7.7.6 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module Type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Module status tc_global BYTE 1 Status In 0

Variable declaration with CAN slaves

Function Variable Declaration

Scope Data Type Length Module Type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

162 DI435 Chapter 3

7.7.7 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

CAN ID Packed

A maximum of eight digital I/O modules can be run in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

286 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

CAN ID Unpacked

B&R 2003 Modules

A maximum of four digital I/O modules can be run in unpacked mode.

Chapter 3
1)
Module CAN ID Byte

1 286 Inputs 1 - 8

2 287 Inputs 1 - 8

3 288 Inputs 1 - 8

4 289 Inputs 1 - 8

1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

7.7.8 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 0 ....Module voltage not present or too low

1 ....Module voltage OK
6 Digital module = 0

5 x ....Not defined, masked out

0-4 Module code = $01

0 x 0 0 0 0 1

7 0

B&R 2003 Modules DI435 163

7.8 DI439.7

7.8.1 Technical Data

Terminal block is not included in the delivery.

Module ID DI439.7

General Information

Model Number 7DI439.7

Short Description 2003 digital input module, 16 inputs 24 VDC, 1 ms, sink/source,
Order terminal blocks separately!

C-UL-US Listed in preparation

B&R ID Code $ED

Amount 1)

CP430, EX270 2

CP470, CP770 4
EX470, EX770
EX477, EX777

CP474, CP774 6

CP476 8

Static Characteristics

Module Type B&R 2003 I/O Module

Number of Inputs 16

Wiring Sink or source

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Switching Threshold
LOW <5 V
HIGH >15 V

164 DI439.7 Chapter 3

 Module ID DI439.7

Input Delay Max. 1 ms (at 18 - 30 V)

Input Current at Nominal Voltage Approx. 4 mA (sink/source)

Voltage Monitoring (LED: U-OK) Yes

Supply voltage >18 V

Power Consumption Max. 0.4 W

Operating Characteristics

Electrical Isolation Input - PCC

Mechanical Characteristics

Dimensions B&R 2003 single width

1)
Two logical module slots are required by the module.

7.8.2 General Information

The digital I/O modules are all 8 channel modules. The 16 channel module DI439 operates like two 8 channel
modules next to each other. Each DI439 therefore reduces the number of digital I/O modules needed by

B&R 2003 Modules

one.

Chapter 3
Module Address

Each DI439 needs two module addresses that come immediately after each other.

Inputs Module Address

1-8 Module address

9 - 16 Module address + 1

Examples

Module DI435 DI435 DI435 DI435 DI439 DI439

Type

Module 1 2 3 4 5 6 7 8
Addr.

Module No. Module 1 Module 2 Module 3 Module 4 Module 5 Module 5 Module 6 Module 6
I1-8 I 9 -16 I1-8 I 9 -16

Module DM435 DM435 DI439 DI439 DO435 DO435

Type

Module 1 2 3 4 5 6 7 8
Addr.

Module No. Module 1 Module 2 Module 3 Module 3 Module 4 Module 4 Module 5 Module 6
I1-8 I 9 -16 I1-8 I 9 -16

B&R 2003 Modules DI439.7 165

7.8.3 Status LEDs

The green Status LEDs arranged in two rows show the logical state of the respective input.
LEDs marked with S# correspond to the inputs of group 1 (Y1). LEDs marked with S#+1 correspond to
the inputs of group 2 (Y2).

The LED OK (orange) indicates that the input supply voltage is present. The LED is lit for input voltages from
15 to 18 VDC.

7.8.4 Input Circuit Diagram

I 1-16 Input
status

Voltage
monitoring
Diagnosis
status
COM s U-OK

COM

7.8.5 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs can be labelled on the front.

166 DI439.7 Chapter 3

7.8.6 Sink/Source Wiring

The input module DI439 can be connected as either a sink or source circuit.

Sink Connection

For sink connections, COM

is connected to signal
ground, the inputs are con- Reference potential
nected to sensors that for sensor
switch to 24 VDC.

COM 1 2 3 4 5 6 7 ...

Inputs X1

B&R 2003 Modules

Chapter 3
COM s X2
+24 VDC
Next
COM X3 Module
GND

Source Connection

For source connections,

COM is connected with +24
VDC, the inputs are con- Reference potential
nected to sensors that for sensor
switch to signal ground.

COM 1 2 3 4 5 6 7 ...

Inputs X1

COM s X2
GND
Next
COM X3 Module
+24 VDC

B&R 2003 Modules DI439.7 167

7.8.7 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Designation VD Data VD Module VD R W Description

Type Type Chan.

Digital inputs 1 - 8 BIT Digit. In 1 ... 8 ● Level of digital inputs 1 – 8

Module status BYTE Status In 0 ● Module status / diagnose function

Digital inputs 9 -16 BIT Digit. In 1 ... 8 ● Level of digital inputs 9 –16
(module address + 1)

Variable declaration with CAN slaves

Designation VD Data VD Module VD R W Description

Type Type Chan.

Digital inputs 1 – 8 BIT Digit. In 1 ... 8 ● Level of digital inputs 1 - 8

Digital inputs 9 –16 BIT Digit. In 1 ... 8 ● Level of digital inputs 9 -16
(module address + 1)

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

168 DI439.7 Chapter 3

7.8.8 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

CAN ID Packed

A maximum of eight digital I/O modules can be operated in packed mode.

The 16 channel module DI439 operates like two 8 channel modules next to each other. If two DI439 modules
are used, only six additional digital I/O modules can be used.
The following example shows the structure of the CAN object if four DI435 and two DI 439 modules are used.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

286 DI435 DI435 DI435 DI435 DI439 DI439 DI439 DI439

I1-8 I 9 - 16 I1-8 I 9 - 16

B&R 2003 Modules

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

Chapter 3
CAN ID Unpacked

A maximum of four digital I/O modules can be run in unpacked mode.

The following example shows the structure of the CAN object if two DI435 and one DI439 modules are used.
1)
Module CAN ID Byte

DI435 286 Inputs 1 - 8

DI435 287 Inputs 1 - 8

DI439 288 Inputs 1 - 8

289 Inputs 9 - 16

1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

7.8.9 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 0 ....Module voltage not present or too low

1 ....Module voltage OK

6 Digital module = 0

5 x ....Not defined, masked out

0-4 Module code = $0D

0 x 0 1 1 0 1

7 0

B&R 2003 Modules DI439.7 169

7.9 DI439.72

7.9.1 Technical Data

Module ID DI439.72

General Information

Model Number 7DI439.72

Short Description 2003 digital input module, 16 inputs 24 VDC, 1 ms, sink/source,
2 electrically isolated input groups

C-UL-US Listed in preparation

B&R ID Code $E9

Amount 1)

CP430, EX270 2

CP470, CP770 4
EX470, EX770
EX477, EX777

CP474, CP774 6

CP476 8

Static Characteristics

Module Type B&R 2003 I/O Module

Number of Inputs
Total 16
in 2 Groups of 8

Wiring Sink or source

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

170 DI439.72 Chapter 3

 Module ID DI439.72

Switching Threshold
LOW <5 V
HIGH >15 V

Input Delay Max. 1 ms (at 18 - 30 V)

Input Current at Nominal Voltage Approx. 4 mA (sink/source)

Voltage Monitoring (LED: U-OK) Yes

Supply voltage >18 V

Power Consumption Max. 0.4 W

Operating Characteristics

Electrical Isolation
Input - PCC Yes
Group - Group Yes

Mechanical Characteristics

Dimensions B&R 2003 single width

1)
Two logical module slots are required by the module.

B&R 2003 Modules

7.9.2 General Information

Chapter 3
The digital I/O modules are all 8 channel modules. The 16 channel module DI439 operates like two 8 channel
modules next to each other. Each DI439 therefore reduces the number of digital I/O modules needed by
one.

Module Address

Each DI439 needs two module addresses that come immediately after each other.

Inputs Module Address

1-8 Module address

9 - 16 Module address + 1

Examples

Module DI435 DI435 DI435 DI435 DI439 DI439

Type

Module 1 2 3 4 5 6 7 8
Addr.

Module No. Module 1 Module 2 Module 3 Module 4 Module 5 Module 5 Module 6 Module 6
I1-8 I 9 -16 I1-8 I 9 -16

Module DM435 DM435 DI439 DI439 DO435 DO435

Type

Module 1 2 3 4 5 6 7 8
Addr.

Module No. Module 1 Module 2 Module 3 Module 3 Module 4 Module 4 Module 5 Module 6
I1-8 I 9 -16 I1-8 I 9 -16

B&R 2003 Modules DI439.72 171

7.9.3 Status LEDs

The green Status LEDs arranged in two rows show the logical state of the respective input.
LEDs marked with S# correspond to the inputs of group 1 (Y1). LEDs marked with S#+1 correspond to
the inputs of group 2 (Y2).

The LED OK (orange) indicates that the input supply voltage is present. The LED is lit for input voltages from
15 to 18 VDC.

7.9.4 Input Circuit Diagram

Group 1 - Y1

I 1-8
Input
status

Voltage
monitoring

COM 1 s U-OK
Diagnosis
status

COM 1

Group 2 - Y2

I 9-16
Input
status

Voltage
monitoring

COM 2 s U-OK
Diagnosis
status

COM 2

172 DI439.72 Chapter 3

7.9.5 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs can be labelled on the front.

DI439
Y1 Y2
Sensor Sensor
IN1 1 IN1 1
IN2 2 9 COM1 IN2 2 9 COM2
IN3 3 24 V = IN3 3 24 V =
11 COM1s 11 COM2s
IN4 4 IN4 4
IN5 5 IN5 5
IN6 6 IN6 6
IN7 7 IN7 7
IN8 8 IN8 8

7.9.6 Pin Assignment Group 1 (Y1)

Pin Group 1 – Plug Y1

1 Input 1
2 Input 2

B&R 2003 Modules

3 Input 3
4 Input 4

Chapter 3
5 Input 5
6 Input 6

7 Input 7
8 Input 8

9 COM 1 Reference potential Y1

10 free
11 COM 1 s Input supply Y1

12 free
13 free

14 free
15 free

B&R 2003 Modules DI439.72 173

7.9.7 Pin Assignment Group 2 (Y2)

Pin Group 2 – Plug Y2

1 Input 9
2 Input 10

3 Input 11
4 Input 12

5 Input 13
6 Input 14

7 Input 15
8 Input 16

9 COM 2 Reference potential Y2

10 free
11 COM 2 s Input supply Y2

12 free
13 free

14 free
15 free

7.9.8 Sink/Source Wiring

The input module DI439 can be connected as either a sink or source circuit.

Sink Connection

For sink wiring (current consumer from the sensor’s point of view), the COM connection for an input group
is connected to GND and the inputs are connected to 24VDC switching sensors.

174 DI439.72 Chapter 3

Source Connection

For source wiring (current supplier from the sensor’s point of view), the COM connection of an input group
is connected to +24VDC, and the inputs are connected to GND switching senors.

B&R 2003 Modules

Chapter 3
7.9.9 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Designation VD Data VD Module VD R W Description

Type Type Chan.

Digital inputs 1 - 8 BIT Digit. In 1 ... 8 ● Level of digital inputs 1 - 8

Module status BYTE Status In 0 ● Module status / diagnose function

Digital inputs 9 -16 BIT Digit. In 1 ... 8 ● Level of digital inputs 9 -16
(module address + 1)

B&R 2003 Modules DI439.72 175

Variable declaration with CAN slaves

Designation VD Data VD Module VD R W Description

Type Type Chan.

Digital inputs 1 - 8 BIT Digit. In 1 ... 8 ● Level of digital inputs 1 – 8

Digital inputs 9 -16 BIT Digit. In 1 ... 8 ● Level of digital inputs 9 -16
(module address + 1)

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

7.9.10 Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

CAN ID Packed

A maximum of eight digital I/O modules can be operated in packed mode.

The 16 channel module DI439 operates like two 8 channel modules next to each other. If two DI439 modules
are used, only six additional digital I/O modules can be used.
The following example shows the structure of the CAN object if four DI435 and two DI 439 modules are used.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

286 DI435 DI435 DI435 DI435 DI439 DI439 DI439 DI439

I1-8 I 9 - 16 I1-8 I 9 - 16

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

176 DI439.72 Chapter 3

CAN ID Unpacked

A maximum of four digital I/O module can be run in unpacked mode.

The following example shows the structure of the CAN object if two DI435 and one DI439 modules are used.
1)
Module CAN ID Byte

DI435 286 Inputs 1 - 8

DI435 287 Inputs 1 - 8

DI439 288 Inputs 1 - 8

289 Inputs 9 - 16

1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

7.9.11 Module Status

B&R 2003 Modules

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Chapter 3
Bit Description

7 0 ....Module voltage not present or too low

1 ....Module voltage OK
6 Digital module = 0
5 x ....Not defined, masked out

0-4 Module code = $09

0 x 0 1 0 0 1

7 0

B&R 2003 Modules DI439.72 177

7.10 DI645

7.10.1 Technical Data

Terminal block is not included in the delivery.

Module ID DI645

General Information

Model Number 7DI645.7

Short Description 2003 digital input module, 8 inputs 100-240 VAC, 50 ms,
Order terminal blocks separately!

C-UL-US Listed Yes

B&R ID Code $E5

Amount

CP430, EX270 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Static Characteristics

Module Type B&R 2003 I/O Module

Number of Inputs 8

Wiring Sink or source

Input Voltage
Minimum 85 VAC
Nominal 100 - 240 VAC
Maximum 264 VAC

Input Voltage Frequency 47 - 63 Hz

Switching Threshold
LOW <40 VAC at 2 mA
HIGH >79 VAC

Input Delay Max. 50 ms (at 85 - 264 VAC)

178 DI645 Chapter 3

 Module ID DI645

Input Current
100 VAC / 60 Hz Approx. 5 mA
240 VAC / 50 Hz Approx. 11 mA

Voltage Monitoring (LED: U-OK) Yes

Supply voltage >85 VAC

Power Consumption Max. 0.2 W

Operating Characteristics

Electrical Isolation Input - PCC

Mechanical Characteristics

Dimensions B&R 2003 single width

7.10.2 Status LEDs

The status-LEDs 1 - 8 (green) show the logical state of the corresponding inputs.

The LED OK (orange) indicates that the input supply voltage is present. The LED is lit for input voltages from

B&R 2003 Modules

60 to 85 VAC.

Chapter 3
7.10.3 Input Circuit Diagram

I 1-8
Input
status

Voltage
monitoring

100 - 240 VAC U-OK

Diagnosis
status

COM

7.10.4 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs can be labelled on the front.

B&R 2003 Modules DI645 179

7.10.5 Connections

7.10.6 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module Type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Module status tc_global BYTE 1 Status In 0

180 DI645 Chapter 3

Variable declaration with CAN slaves

Function Variable Declaration

Scope Data Type Length Module Type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

7.10.7 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.

B&R 2003 Modules

Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Chapter 3
CAN ID Packed

A maximum of eight digital I/O modules can be operated in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

286 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

CAN ID Unpacked

A maximum of four digital I/O modules can be run in unpacked mode.

1)
Module CAN ID Byte

1 286 Inputs 1 - 8

2 287 Inputs 1 - 8

3 288 Inputs 1 - 8
4 289 Inputs 1 - 8

1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules DI645 181

7.10.8 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 0 ....Module voltage not present or too low

1 ....Module voltage OK

6 Digital module = 0
5 x ....Not defined, masked out

0-4 Module code = $05

0 x 0 0 1 0 1

7 0

182 DI645 Chapter 3

8 DIGITAL OUTPUT MODULES
8.1 GENERAL INFORMATION

Digital output modules are used to control external loads (relays, motors, solenoids). The states of the digital
outputs are indicated by status LEDs. The relevant differences in characteristics for output modules are:

• Number of Outputs
• Type (relay, transistor)
• Switching Voltage
• Continuous Current

8.2 PROTECTIVE CIRCUIT

The transistor output module DO435 has overload protection and an internal protective circuit for overload
peaks or reverse polarity. The negative anode potential allows fast switching of inductive loads without external

B&R 2003 Modules

diodes.
The relay output module DO720 requires external overload protection (fuse).

Chapter 3
On the relay output module DO721, each output is protected against overload by a fuse.

8.3 SCREW-IN MODULE OVERVIEW

Module DO135 DO164

Number of Outputs 4 4

Design FET Triac Coupler

Type Push/Pull switch —

Switching Voltage
Minimum 11.4 VDC
Nominal 11 - 24 VDC 48 -125 VAC
Maximum 30 VDC

Continuous Current per

Output Max. 0.1 A Max. 0.05 A
Module Max. 0.4 A Max. 0.2 A

Starting Pulse Current — Max. 0.5 A

Switching Frequency Max. 100 kHz 96 -126 Hz

B&R 2003 Modules Digital Output Modules 183

8.4 I/O MODULE OVERVIEW

Module DO435 DO720 DO721 DO722

Number of Outputs Max. 8 8 4 8

Design FET Relay Relay Relay

Type Normally open Change-over contact Normally open

Switching Voltage
Minimum 18 VDC
Nominal 24 VDC 240 VAC / 30 VDC 240 VAC / 24 VDC 240 VAC / 24 VDC
Maximum 30 VDC 264 VAC / 110 VDC 264 VAC / 125 VDC 264 VAC / 125 VDC

Continuous Current per

Output Max. 2 A Max. 2 A Max. 4 A Max. 2.5 A
Module Max. 8 A Max. 12 A Max. 16 A Max. 20 A

8.5 PROGRAMMING

The digital outputs are accessed directly in the application program using a variable name. The relationship
between the output channel for a certain module and the variable name is defined in the variable declaration.
The declaration is made identically for each programming language using a table editor.

184 Digital Output Modules Chapter 3

8.6 DO135

8.6.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID DO135

General Information

Model Number 7DO135.70

Short Description 2003 digital output module, 4 FET outputs 12 to 24 VDC, 0.1 A,
screw-in module, Order terminal block TB712 separately!

C-UL-US Listed Yes

B&R ID Code $14

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Number of Outputs 4

Design FET

Type Push/Pull switch

Switching Voltage/Supply
Minimum 11.4 VDC
Nominal 12 - 24 VDC
Maximum 30 VDC
Protection Reverse polarity protection

Continuous Current per

Output Max. 0.1 A
Module Max. 0.4 A

Maximum Switching Frequency 100 kHz

Residual Voltage Max. 0.6 V at 0,1 A

Capacitive Load Max. 20 nF

An overcurrent warning is given when switching
large capacitive loads

Power Consumption Max. 0.2 W

B&R 2003 Modules DO135 185

 Module ID DO135

Protection Characteristics

Protection
Short circuit protection Yes
Overload protection Yes

Short Circuit Current 0.11 - 0.3 A

Diagnosis Status for SW Evaluation

Overvoltage Us >30 VDC, a voltage >35 VDC for t >5 ms will damage the outputs
Undervoltage Us <10.5 VDC
Overcurrent Monitoring Functions with a duty cycle of at least 10 µs

Dynamic Characteristics

Switching Delay
Typical <2 µs
Maximum 2.4 µs

Operating Characteristics

Electrical Isolation
Output - PCC No
Output - Output No

Cable Requirement Shielded cable

Mechanical Properties

Dimensions B&R 2003 screw-in module

8.6.2 General Information

The DO135 is a 4 channel output module. The outputs are tristate when switched on. All outputs are activated
as a group after the outputs are configured using configuration word 14.

186 DO135 Chapter 3

8.6.3 Operating Modes

Operating modes can be set separately for each output. The following operating modes are available:

• Normal operation
• Pulse width modulation (PWM)
• TPU operation

Normal Operation

The outputs are switched on/off.

Pulse Width Modulation

Output are switched on/off periodically. Pulse width ratio, period duration and resolution can be set.

B&R 2003 Modules

Chapter 3
TPU Operation

In TPU operation, the outputs are controlled by the TPU. If e.g. the DO135 module is inserted in the first slot
of the CP interface, the first output can be operated using the LTX function LTXdo0().

8.6.4 Special Functions

• The supply voltage is tested over a valid range. (10.5 VDC < Us < 30 VDC)
• The channels are equipped with readable power cut-off

B&R 2003 Modules DO135 187

8.6.5 Output Circuit Diagram

188 DO135 Chapter 3

8.6.6 Connections

Pin Assignment
1 Shield
2 Output 1
1 3 GND

1
2
4 Output 2

3
5 Shield

4
5
6 Shield

6 7
7 Output 3
8
8 GND
9 10 11 12

9 Output 4

12 10 Shield
11 +12 to +24 VDC
TB712 12 GND

B&R 2003 Modules

8.6.7 Connection Example

Chapter 3
Load

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Shield
1
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Output 1
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
2

bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa

GND
3

Output 2
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
4

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield
5

bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Shield
6

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Output 3
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
7

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

GND
8

1 A Fuse aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Output 4
(slow-blow)
9 10 11 12

aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Shield
+ aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
+12 to +24 VDC
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

=
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
GND
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa

Supply:

12 to 24 VDC
Protect with 1 A slow-blow fuse!

B&R 2003 Modules DO135 189

8.6.8 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 WORD Analog In 1 ● Switching phase counter for all channels (pulse width
modulation)
INT16 Analog Out 1 ● Output state or pulse width ratio for output 1

Data word 1 INT16 Analog Out 2 ● Output state or pulse width ratio for output 2

Data word 2 INT16 Analog Out 3 ● Output state or pulse width ratio for output 3
Data word 3 INT16 Analog Out 4 ● Output state or pulse width ratio for output 4

Configuration word 8 WORD Transp. Out 16 ● Period time

Configuration word 9 WORD Transp. Out 18 ● Factor for period time

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

190 DO135 Chapter 3

8.6.9 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Input Data (switching phase counter)

The switching phase counter can be transferred packed or unpacked in pulse width modulation operating
mode.
CAN objects can only be sent back in packed mode.

1)
CAN ID Slot 1 Slot 2 Slot 3 Slot 4

542 ScrM 1L ScrM 1H ScrM 2L ScrM 2H ScrM 3L ScrM 3H ScrM 4L ScrM 4H

543 free

544 free

545 free

B&R 2003 Modules

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4

Chapter 3
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1

Four CAN objects can be sent back in unpacked mode.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 ScrM 1L ScrM 1H Not used (2 byte objects)

2 543 ScrM 2L ScrM 2H Not used (2 byte objects)

3 544 ScrM 3L ScrM 3H Not used (2 byte objects)

4 545 ScrM 4L ScrM 4H Not used (2 byte objects)

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2003 Modules DO135 191

Output Data

It is not possible to pack output data with the DO135. Therefore one CAN object is transferred per screw-
in module.
If an adapter module AF101 is equipped with a four DO135 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 1054 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

2 1055 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

3 1056 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

4 1057 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

1)
CAN ID = 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

8.6.10 Description of Data and Configuration Words

Data Word 0 (read)

The switching phase of all channels in the pulse width modulation mode are counted with a 16-bit switching
phase counter. The counter value can be read from data word 0.
It operates like a free running counter. This means that after reaching its highest value of 65535, the counter
resets and begins again from 0.

The switching phase the output is currently in can be determined using the counter value.

Even Counter Value: Switch-on phase

Odd Counter Value: Switch-off phase

Switching Phase

In the switch-on phase (counter value is even), the output changes from OFF to ON. In the switch-off phase
(counter value is odd), the output changes from ON to OFF.
The switching time is determined by the pulse width ratio.

192 DO135 Chapter 3

Data words 0, 1, 2, 3 (write)

The output status and the pulse width ratio are defined with these data words according to the operating
mode set.

Normal Operation

Bit 0 corresponds to the output state.

Output 1 = 0 ............. Data word 0 = $0000

Output 1 = 1 ............. Data word 0 = $0001
: :
Output 4 = 0 ............. Data word 3 = $0000
Output 4 = 1 ............. Data word 3 = $0001

Pulse Width Modulation

B&R 2003 Modules

This operating mode defines the pulse width ratio.

Chapter 3
32767 ($7FFF) ....... 100 %
0 ($0000) ........... 0 %
Neg. Values ........... 0 %

Example

Outputs 3 and 4 use operating mode pulse width modulation. The following pulse width ratios are defined:

Output 3 ......... 25 % => 25 % of 32767 = 8192 ($2000) in data word 2

Output 4 ......... 75 % => 75 % of 32767 = 24575 ($5FFF) in data word 3

B&R 2003 Modules DO135 193

Configuration Word 8 (write)

The period time is defined with configuration word 8. The period time depends on the factor used (see
configuration word 9).
The standard value for the factor is 4. This results in the definition of the period time in milliseconds (0 - 65535).
If the period time is set to 0, the outputs keep their value after the current period has passed (normally log 0,
only log 1 with a pulse width ratio of 100%). The period counter is then cleared and remains 0.
If the period time is changed to a value between 1 and 65535, the period counter will be stopped, cleared
and restarted with the new value after the current period of the period counter.

Period Time Unit

The period time unit is calculated with the following formula:

Period time unit = 250 µs * factor

Example

A factor of 4 gives the following period time unit:

Period time unit= 250 µs * 4 = 1 ms

Configuration Word 9 (write)

The factor for the period time is defined with configuration word 9 (see configuration word 8).
The standard value for the factor is 4. This results in the definition of the period time in milliseconds.
The range of values lays between 1 and 256.
Larger values are limited to 256.

0 will be set to 256!

Pulse Width Modulation Resolution

Pulse width modulation resolution is calculated using the following formula:

PWM resolution = 125 µs * factor

The PWM resolution corresponds to the smallest pulse time.

194 DO135 Chapter 3

Example

A typical module frequency range between 0.1Hz and 10 Hz results in the following resolution with a factor
of 4:

Frequency Period Time Resolution Smallest Pulse Width Ratio

0.1 Hz 10 s 20000 Ticks 0005 %

10 Hz 0.1 s 200 Ticks 0.5 %

To double the resolution with the same effective value, the factor can be divided in half.

Configuration word 12 (read)

Configuration word 12 contains the module status.

B&R 2003 Modules

Bit Description

8 - 15 x .... Not defined, masked out

Chapter 3
7 0.... Supply voltage ≤30 V
1.... Supply voltage >30 V
6 0.... Supply voltage ≥10.5 V
1.... Supply voltage <10.5 V or current limitation has responded
5 0.... Half-period counter for pulse width modulation is counting
1.... Half-period counter for pulse width modulation is not counting
4 x .... Not defined, masked out

3 Switching level output 4

2 Switching level output 3

1 Switching level output 2

0 Switching level output 1

x x x x x x x x x

15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $14

0-7 x ....Not defined, masked out

0 0 0 1 0 1 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules DO135 195

Configuration Word 14 (write)

The module is configured using configuration word 14.

Channel is not active

All outputs are tristate when they are all set to operating mode "channel not active".

TPU Operation

The output state is defined with LTX functions (e.g. LTXdo0()) for outputs with this operating mode.

Bit Description

8 - 15 0
6-7 Operating mode for output 4
0.... Channel is not active
1.... Normal operation
2.... Pulse width modulation
3.... TPU operation
4-5 Operating mode for output 3
0.... Channel is not active
1.... Normal operation
2.... Pulse width modulation
3.... TPU operation
2-3 Operating mode for output 2
0.... Channel is not active
1.... Normal operation
2.... Pulse width modulation
3.... TPU operation
0-1 Operating mode for output 1
0.... Channel is not active
1.... Normal operation
2.... Pulse width modulation
3.... TPU operation

0 0 0 0 0 0 0 0

15 8 7 0

196 DO135 Chapter 3

8.7 DO164

8.7.1 General Information

The screw-in module DO164 is equipped with four output channels. It is used to send firing pulses (triac
coupler) for phase-angle control of power triacs.
The module is installed on the adapter module or on the CP interface.

8.7.2 Technical Data

B&R 2003 Modules

Chapter 3
Module ID DO164

General Information
Model Number 7DO164.70

Short Description 2003 digital output module, 4 FET outputs 48 to 125 VAC, 0.05 A,
zero cross detection, screw-in module, Order terminal block TB712 separately!

C-UL-US Listed in preparation

B&R ID Code $3C

Module Type B&R 2003 screw-in module

Slot AF101 adapter module, CP interface

Zero Cross Detection

(connection pins 11 and 12)

Number of Inputs 1

Rated Voltage 48 to 125 VAC

Rated Frequency 48 to 63 Hz

Input Impedance in Signal Range 1 MΩ symmetric

500 kΩ to GND

Switching Threshold
Low Range <-5 V
High Range >+5 V

Switching Hysteresis 0.2 V

Tolerance of the Zero Cross Signal 0 to 100 µs

at 48 to 125 VAC

Electrical Isolation No

B&R 2003 Modules DO164 197

 Module ID DO164

Triac Outputs

Number of Outputs 4

Type of Outputs 1)
Triac coupler,
only to control power triacs or nonparallel thyristors

Rated Voltage 48 to 125 VAC

Rated Frequency 48 to 63 Hz

Output Current
Continuous Current Max. 50 mA
Ignition Pulse Current Max. 0.5 A

Residual Voltage Max. 2.5 V at 50 mA

Holding Current Max. 3.5 mA

Leakage Current (0 signal) Max. 1 µA

Critical Rate of Rise of Commutating Voltage >500 V/µs

when Switched Off

Drive Pulse Duration TDP (TPU outputs) >250 µs

Power Consumption Max. 0.6 W

Protection Characteristics

Protection No short circuit protection

Type of External Protective Circuit

RC Combination Reduced dV/dt
Gate Resistance Increased immunity

Dynamic Characteristics

Delay 0 to 1 Max. 200 µs

Delay 1 to 0 Max. 200 µs

Operating Characteristics

Electrical Isolation
Input - Output Yes
Output - Output Yes

Recommended Cable Types Twisted pair cabling to the terminal pairs

Line Length to Power Triac Max. 10 m

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

1)
Because of the very low (dV/dt)c value of the triac coupler ("Critical Rate of Rise of Commutating Voltage"), the triac output is not suitable
for use as SSR relay for direct switching of loads.

198 DO164 Chapter 3

8.7.3 Output Circuit Diagram

Triac coupler P1.0, Reset

1 Output 1

2 COM1 O1

3 Output 2

4 COM2 O2 Local
Processor
Port

5 Output 3

B&R 2003 Modules

6 COM3 O3

Chapter 3
7 Output 4

8 COM4 O4

10 PE

11 N

ZERO

12 L1

B&R 2003 Modules DO164 199

8.7.4 Connections

Pin Assignment
1 Output 1
2 COM 1
3 Output 2
1

1
4 COM 2

2
3
5 Output 3

4
6 COM 3

5
6 7
7 Output 4
8
9 10 11 12 8 COM4
9 n. c.
10 PE: Ground
12 potential
11 N: Neutral
TB712 12 L1: Phase

8.7.5 Connection Examples

Standard Connection

L1
Power Triac

Load
N

Output 1
1

COM1
2

Output 2
3

COM2
4

Output 3
5

COM3
6

Output 4
7

COM4
8
9 10 11 12

PE
N: Neutral
L1: Phase
Twisted pair lines

200 DO164 Chapter 3

Connection with RC combination and gate resistance

Connecting the power triac with an RC combination reduces the dV/dt.

The gate resistance increases immunity.

Wiring

L1
RS
To control triac
DO164

Rg CS

Load

B&R 2003 Modules

Recommended Values

Chapter 3
RC Combination

RS Approx. 22 to 100 Ω / 1 W pulse resistant

CS Approx. 100 nF foil capacitor

Gate Resistance

Rg Approx. 22 to 100 Ω

Controllable Phase Angle

Because of the connection with an RC combination, the calculation for the minimum voltage when firing is
started UFS1 and therefore the calculation of the controllable phase angle changes.

Formula with Gate Resistance

UFS1 = (IGT [A] + VGT [V] / Rg [Ω]) * (22 Ω + RS [Ω]) + VGT [V] + 2 V

Formula without Gate Resistance

UFS1 = IGT [A] * (22 Ω + RS [Ω]) + VGT [V] + 2 V

B&R 2003 Modules DO164 201

8.7.6 Controllable Phase Angle

Calculating the Phase Angle

With the following formula, the earliest switch-on angle and the latest switch-off angle can be calculated. The
controllable phase angle is within this range.

Note: The switch-on delay for the power triacs must be shorter than 5 µs.

U
Controllable phase angle

U * √2

UFS
U FE

T FE 1/f

T FS

U ... Effective value of the minimum operating voltage

UFS ... Minimum voltage when firing is started
UFE ... Minimum voltage when firing is ended
T FE ... Earliest switch-on time
T FS ... Latest switch-off time

Minimum voltage when firing is started: UFS1

At the start of the firing pulse, the operating voltage must be high enough for the power triac to be fired
securely.

UFS1 = IGT [A] * 22 Ω + VGT [V] + 2 V

IGT ...... Max. gate trigger current for the power triac
VGT .... Max. gate voltage for the power triac

Minimum voltage when firing is started: UFS2

When firing is started, the operating voltage must be high enough for the latch current of the power triac
to be reached.

UFS2 = VT [V] + IL [A] * RL [Ω]

VT ...... Max. voltage drop on the power triac when switched on
IL ........ Max. latch current for the power triac
RL ...... Max. load resistance

202 DO164 Chapter 3

Minimum voltage when firing is ended: UFE

At the end of the firing pulse, the operating voltage must be high enough for the holding current of the power
triac to be reached.

UFE = VT [V] + IH [A] * RL [Ω]

VT ...... Max. voltage drop on the power triac when switched on
IH ....... Max. holding current for the power triac
RL ...... Max. load resistance

Earliest switch-on angle: ϕFE

The high of the two voltages U FS1 and UFS2 is selected. This voltage is used to calculate the earliest switch-on
angle.

ϕFE = arc sin (U FS [V] / (U [V] * ))

B&R 2003 Modules

U ....... Effective value of the minimum operating voltage

Chapter 3
Latest switch-off angle: ϕFS

The voltage UFE is used to calculate the latest switch-off angle.

ϕFS = 180 - arc sin (UFE [V] / (U [V] * ))

U ....... Effective value of the minimum operating voltage

Earliest switch-on time: TFE

TFE = ϕFE / (f * 360)

Latest switch-off time: TFS

TFS = (ϕFS / (f * 360)) * 106 [µs] - (100 + 200) µs

f ................ Frequency of the operating voltage

100 µs ...... Max. tolerance of the zero cross signal
200 µs ...... Max. switching delay for triac coupler

B&R 2003 Modules DO164 203

Earlier switch-on time with small loads

To achieve an earlier switch-on time, especially for small loads, only use the voltage UFS1 for the calculation.
In this case however, UFS2 must be greater than UFS1 and the drive pulse must be available until the voltage
UFS2 is reached.
This drive pulse duration is calculated from the time difference for these two voltages TFS2 - TFS1. The drive pulse
duration always has to be larger than the specified minimum pulse duration TDP.

Calculation Example

Entry

Operating Voltage
Voltage 48 VAC ±15 %
Frequency 50 Hz

Load 1 kW heating element

Load resistance RL 20 Ω

Power Triac (SKKT92 SEMIKRON)

Max. Gate Trigger Current IGT 200 mA (Tj = 0 °C)
Max. Gate Voltage V GT 3.5 V (Tj = 0 °C)
Max. Latch Current IL 600 mA
Max. Holding Current IH 250 mA
Max. Voltage Drop VT 1.6 V
Min. Gate Trigger Current IGD 6 mA (Tj = 125 °C)

RC Combination
RS 22 Ω
CS 100 nF

Gate Resistance Not required because I GD >> leakage current

Minimum voltage when firing is started: UFS1

UFS1 = IGT [A] * (22 Ω + RS [Ω]) + V GT [V] + 2 V

UFS1 = 0.2 * 44 + 3.5 + 2 = 14.3 V

Minimum voltage when firing is started: UFS2

UFS2 = VT [V] + IL [A] * RL [Ω]

UFS2 = 1.6 + 0.6 * 20 = 13.6 V

Minimum voltage when firing is ended: UFE

UFE = VT [V] + IH [A] * RL [Ω]

UFE = 1.6 + 0.25 * 20 = 6.6 V

204 DO164 Chapter 3

Earliest switch-on angle: ϕFE

ϕFE = arc sin (U FS [V] / (U [V] * ))

UFS1 > UFS2 => UFS = U FS1 = 14.3 V

U ... Effective value of the minimum operating voltage
U = 48 VAC * 0.85 = 40.8 VAC

ϕFE = arc sin (14.3 / (40.8 * 1.41)) = 14.39°

Latest switch-off angle: ϕFS

ϕFS = 180 - arc sin (UFE [V] / (U [V] * ))

ϕFS = 180 - arc sin (6.6 / (40.8 * 1.41)) = 173.41°

B&R 2003 Modules

Chapter 3
Earliest switch-on time: TFE

TFE = ϕFE / (f * 360)

TFE = 14.39 / (50 * 360) = 799.5 µs

Latest switch-off time: TFS

TFS = (ϕFS / (f * 360)) * 106 [µs] - (100 + 200) µs

TFS = (173.41 / (50 * 360)) * 106 - 300 = 9333.5 µs

Controllable Phase Angle:

The controllable phase angle in this example is 14.39° to 173.41° or 0.8 to 9.3 ms with reference to the zero
cross signal.

B&R 2003 Modules DO164 205

8.7.7 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 WORD Analog In 1 ● Module status
INT16 Analog Out 1 ● Output state of output 1
Data word 1 INT16 Analog Out 2 ● Output state of output 2
Data word 2 INT16 Analog Out 3 ● Output state of output 3
Data word 3 INT16 Analog Out 4 ● Output state of output 4
Configuration word 14 WORD Transp. In 28 ● Module type
WORD Transp. Out 28 ● Module configuration

8.7.8 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Input Data (module status)

The input data can be transferred packed or unpacked.

CAN objects can only be returned in packed mode.

1)
CAN ID Slot 1 Slot 2 Slot 3 Slot 4

542 ScrM 1L ScrM 1H ScrM 2L ScrM 2H ScrM 3L ScrM 3H ScrM 4L ScrM 4H

543 free

544 free

545 free
1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1

206 DO164 Chapter 3

Four CAN objects can be sent back in unpacked mode.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 ScrM 1L ScrM 1H Not used (2 byte objects)

2 543 ScrM 2L ScrM 2H Not used (2 byte objects)

3 544 ScrM 3L ScrM 3H Not used (2 byte objects)

4 545 ScrM 4L ScrM 4H Not used (2 byte objects)

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

Output Data

It is not possible to pack output data with the DO164. Therefore one CAN object is transferred per screw-
in module. If an adapter module AF101 is equipped with a four DO164 modules, the CAN object has the

B&R 2003 Modules

following structure:

Chapter 3
1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 1054 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

2 1055 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

3 1056 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

4 1057 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

1)
CAN ID = 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules DO164 207

8.7.9 Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 contains the module status.

Bit Description
6 - 15 x .... Not defined, masked out
5 0 .... Frequency of the input voltage is in valid range during normal
operation
1 .... Frequency of the input voltage exceeds the valid range of 30 to
80 Hz during normal operation (outputs are switched off)
4 0 .... Outputs are synchronized to the frequency of the input voltage
1 .... Outputs are being synchronized to the frequency of the input
voltage (outputs are switched off)
0-3 x .... Not defined, masked out
x x x x x x x x x x x x x x
15 8 7 0

Data words 0, 1, 2, 3 (write)

If a channel is configured as inactive, it is tristate. During normal operation, bit 0 corresponds to the output
status.

Example for Output 1

Output 1 = 0 ............ Data word 0 = $0000

Output 1 = 1 ............ Data word 0 = $0001

Controllable Phase Angle

The controllable phase angle is 16.2° to 163.8°. During normal operation, the outputs are always set within
this range. This results in the following voltage curve:

U * √2

16.2 ° 16.2 ° 1/f

208 DO164 Chapter 3

Switching Output Off

If an output is switched off during normal operation, the output remains set during the current half-wave. The
output is switched off the next time the voltage crosses zero.

U
Switch-off time

U * √2

16.2 ° 16.2 ° 1/f

B&R 2003 Modules

Phase-angle Control

Chapter 3
The DO164 module must be installed on the CP interface. Software operation takes place using TPU function
blocks.

Configuration word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $3C

0-7 x .... Not defined, masked out

0 0 1 1 1 1 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules DO164 209

Configuration word 14 (write)

The module is configured using configuration word 14.

Bit Description
9 - 15 0
8 0 ....Zero cross-over of the input voltage is not evaluated
1 ....Zero cross-over of the input voltage is evaluated. Channel 4 is
operated as an input.
6-7 Definition of the operating mode for channel 4
0 ....Channel is not active (tristate)
1 ....Normal operation
4-5 Definition of the operating mode for channel 3
0 ....Channel is not active (tristate)
1 ....Normal operation
2-3 Definition of the operating mode for channel 2
0 ....Channel is not active (tristate)
1 ....Normal operation
0-1 Definition of the operating mode for channel 1
0 ....Channel is not active (tristate)
1 ....Normal operation
0 0 0 0 0 0 0
15 8 7 0

210 DO164 Chapter 3

8.8 DO435

8.8.1 Technical Data

B&R 2003 Modules

Chapter 3
Terminal block is not included in the delivery.

Module ID DO435

General Information

Model Number 7DO435.7

Short Description 2003 digital output module, 8 FET outputs 24 VDC, 2 A,

Outputs can be optionally used as inputs, Order terminal block TB712 separately!

C-UL-US Listed Yes

B&R ID Code $EB

Module Type B&R 2003 I/O module, single width

Amount

CP430, EX270 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Voltage Monitoring Yes

(LED: U-OK) Supply voltage >18 V

Power Consumption Max. 0.5 W

Outputs

Number of Outputs Max. 8

Type FET

Switching Voltage/Supply
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Continuous Current per

Output Max. 2 A
Module Max. 8 A

B&R 2003 Modules DO435 211

 Module ID DO435

Simultaneousness
at 1 A 100 %
at 2 A 50 % (note derating curve)

Residual Voltage Max. 1 V at 2 A

Protection
Short circuit protection Yes
Overload protection Yes

Short Circuit Current at 24 V Approx. 20 A until switched off

Negative Anode Potential when Approx. 46 V

Switching Off Inductive Loads

Switching Delay Approx. 200 µs

log. 0 - log. 1 Typ. 50 µs / max. 250 µs
log. 1 - log. 0 Typ. 170 µs / max. 250 µs

Max. Switching Frequency

Resistive Load 100 Hz
Inductive Load see "Switching Inductive Loads"

Electrical Isolation Output - PCC

With this module, each channel can be used either as an input or output. All outputs must first be declared
as such. Each time the module is turned on, all channels are configured as inputs.

Controller / Access Declaration

Automatic From User

CPU - PCC 2003 ●

Remote Slaves ●

CAN Slaves ●

Access using CAN Identifier ●

8.8.2 Technical Data for the Inputs

Module ID DO435

Number of Inputs Max. 8

Wiring Sink

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Switching Threshold
LOW <5 V
HIGH >15 V

Input Delay Max. 1 ms (at 18 - 30 V)

Input Current at Nominal Voltage Approx. 6 mA

Electrical Isolation Input - PCC

212 DO435 Chapter 3

8.8.3 Status LEDs

The green/orange status LEDs 1 - 8 show the logical state of the corresponding inputs/output.

The LED U-OK (orange) indicates that the supply voltage is present. The LED is lit starting with a supply voltage
of approx. 18 VDC.

8.8.4 Input/Output Diagram

Voltage
monitoring
Diagnosis
status
+24 VDC U-OK

Output
status

O/I 1-8

B&R 2003 Modules

Chapter 3
GND
Input
status

8.8.5 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The outputs/inputs can be labelled on the front.

B&R 2003 Modules DO435 213

8.8.6 Connections

Output Circuit

Load

Free 1 2 3 4 ...

Outputs/Inputs

+24 VDC

Next
Module

GND

Input Connections

Reference Potential
for Sensor

Free 1 2 3 4 ...

Outputs/Inputs

+24 VDC

Next
Module

GND

214 DO435 Chapter 3

8.8.7 Switching Inductive Loads

Transistors are suitable for switching inductive loads off quickly and safely. Inverse diodes are not necessary
on inductive loads. It should be noted that the maximum switching frequency at a given inductance is limited
by a set negative anode potential of 46 V. The maximum switching frequency decreases as the inductance
increases.
The maximum switching frequency in relation to a given inductance can be seen from the following diagram.

B&R 2003 Modules

Chapter 3
➊ Note Derating Curve
➋ Invalid Range (thermal cut off)

Derating Curve

B&R 2003 Modules DO435 215

8.8.8 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

After the module is turned on, all channels are configured as inputs. Output channels
must first be declared as such.
Please refer to the overview in the technical data the examples in Chapter 4 "Module
Addressing".

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status tc_global BYTE 1 Status In 0

Variable declaration with CAN slaves

FunktionFunction Variable Declaration

Scope Data Type Length Module type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

216 DO435 Chapter 3

8.8.9 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Digital Inputs

A maximum of eight digital I/O modules can be run in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

286 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

B&R 2003 Modules

1)
Module CAN ID Byte

Chapter 3
1 286 Inputs 1 - 8
2 287 Inputs 1 - 8
3 288 Inputs 1 - 8
4 289 Inputs 1 - 8
1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

Digital Outputs

All channels are declared as inputs as their default. Changing the definition to an output channel
is described in Chapter 5 "CAN Bus Controller Functions". A example of this is given in Chapter 4
"Module Addressing".

A maximum of eight digital I/O modules can be operated in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

414 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

1)
Module CAN ID Byte
1 414 Outputs 1 - 8
2 415 Outputs 1 - 8
3 416 Outputs 1 - 8
4 417 Outputs 1 - 8

1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules DO435 217

8.8.10 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 0 ....Module voltage not present or too low

1 ....Module voltage OK
6 Digital module = 0

5 x ....Not defined, masked out

0-4 Module code = $0B

0 x 0 1 0 1 1

7 0

218 DO435 Chapter 3

8.9 DO720

8.9.1 Technical Data

B&R 2003 Modules

Chapter 3
Terminal block is not included in the delivery.

Module ID DO720

General Information

Model Number 7DO720.7

Short Description 2003 digital output module, 8 relay outputs 240 VAC / 30 VDC, 2 A,
Order terminal blocks separately!

C-UL-US Listed Yes

B&R ID Code $E2

Amount

EX270 2

CP430 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Static Characteristics

Module Type B&R 2003 I/O Module

Number of Outputs 8

Type Relay / N.O.

Switching Voltage
Nominal 240 VAC / 30 VDC
Maximum 264 VAC / 110 VDC

Continuous Current per

Output 2A
Module 12 A

Contact Resistance 30 mΩ at 6 VDC, 1 A

B&R 2003 Modules DO720 219

 Module ID DO720

Maximum Switching Power (AC) 480 VA

Maximum Switching Power (DC) 60 W

Power Consumption Max. 1.4 W

Protection Characteristics

Short Circuit Protection Fuse 16 AT (root)

Dynamic Characteristics

Switching Delay
log 0 - log 1 Max. 10 ms
log 1 - log 0 Max. 10 ms

Operating Characteristics

Electrical Isolation Output - PCC

Dielectric Strength
Contact - Contact 750 VAC / 1 min
Contact - Coil 2000 VAC / 1 min

Mechanical Characteristics

Dimensions B&R 2003 single width

8.9.2 Status LEDs

The Status LEDs 1 - 8 (orange) show the logical state of the corresponding output.

8.9.3 Output Circuit Diagram

O1-8 Relay Output

Contact Status

COM Relay

COM

8.9.4 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The outputs can be labelled on the front.

220 DO720 Chapter 3

8.9.5 Connections

B&R 2003 Modules

Chapter 3
8.9.6 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status tc_global BYTE 1 Status In 0

B&R 2003 Modules DO720 221

Variable declaration with CAN slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

8.9.7 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

CAN ID Packed

A maximum of eight digital I/O modules can be operated in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

414 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

CAN ID Unpacked

A maximum of four digital I/O module can be run in unpacked mode.

1)
Module CAN ID Byte
1 414 Outputs 1 - 8
2 415 Outputs 1 - 8
3 416 Outputs 1 - 8
4 417 Outputs 1 - 8
1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

222 DO720 Chapter 3

8.9.8 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 x ....Not defined, masked out

6 Digital module = 0

5 x ....Not defined, masked out

0-4 Module code = $02

x 0 x 0 0 0 1 0

7 0

B&R 2003 Modules

Chapter 3

B&R 2003 Modules DO720 223

8.10 DO721

8.10.1 Technical Data

Module ID DO721

General Information

Model Number 7DO721.7

Short Description 2003 digital output module, 4 relay outputs 240 VAC / 24 VDC, 4 A

C-UL-US Listed Yes

B&R ID Code $E6

Amount

EX270 2

CP430 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Static Characteristics

Module Type B&R 2003 I/O Module

Number of Outputs 4 isolated channels

Type Relay / Changeover

Switching Voltage
Nominal at 4 A 240 VAC / 24 VDC
Maximum 264 VAC / 125 VDC
Maximum Voltage Relay-Relay 460 VAC

Continuous Current per

Output 4A
Module 16 A

Starting Current 15 A / 200 ms

Contact Resistance 100 mΩ at 6 VDC, 100 mA

224 DO721 Chapter 3

 Module ID DO721

Maximum Switching Power (AC) 1000 VA

Maximum Switching Power (DC) 120 W at 30 VDC

Power Consumption Max. 1.4 W

Protection Characteristics

Short Circuit Protection Fuse T 5A H / 250 V per output

Dynamic Characteristics

Switching Delay
log 0 - log 1 Max. 10 ms
log 1 - log 0 Max. 10 ms

Operating Characteristics

Electrical Isolation
Output - PCC Yes
Output - Output Yes

Dielectric Strength
Contact - Contact 1.4 kV with 1.2 x 50 µs pulse
Contact - PCCS, Relay - Relay 4 kV with 1.2 x 50 µs pulse

B&R 2003 Modules

Mechanical Characteristics

Dimensions B&R 2003 single width

Chapter 3
8.10.2 Status LEDs

The Status LEDs 1 - 4 (orange) show the logical state of the corresponding output.

8.10.3 Output Circuit Diagram

8.10.4 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The outputs can be labelled on the front.

B&R 2003 Modules DO721 225

8.10.5 Connection

8.10.6 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 4

Module status tc_global BYTE 1 Status In 0

Variable declaration with CAN slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 4

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

226 DO721 Chapter 3

8.10.7 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

CAN ID Packed

A maximum of eight digital I/O modules can be operated in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

414 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

CAN ID Unpacked

B&R 2003 Modules

A maximum of four digital I/O module can be run in unpacked mode.

Chapter 3
1)
Module CAN ID Byte
1 414 Outputs 1 - 4
2 415 Outputs 1 - 4
3 416 Outputs 1 - 4
4 417 Outputs 1 - 4
1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

8.10.8 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 x ....Not defined, masked out

6 Digital module = 0

5 x ....Not defined, masked out

0-4 Module code = $06

x 0 x 0 0 1 1 0

7 0

B&R 2003 Modules DO721 227

8.11 DO722

8.11.1 Technical Data

Module ID DO722

General Information

Model Number 7DO722.7

Short Description 2003 digital output module, 8 relay outputs 240 VAC / 24 VDC, 2.5 A

C-UL-US Listed Yes

B&R ID Code $F2

Amount

EX270 2

CP430 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Static Characteristics

Module Type B&R 2003 I/O Module

Number of Outputs 8 isolated channels

Type Relay / N.O.

Switching Voltage
Nominal at 2.5 A 240 VAC / 24 VDC
Maximum 264 VAC / 125 VDC
Maximum Voltage Relay-Relay 460 VAC

Continuous Current per

Output 2.5 A
Module 20 A

Maximum Switching Power (AC) 625 VA

Maximum Switching Power (DC) 75 W at 30 VDC

228 DO722 Chapter 3

 Module ID DO722

Power Consumption Max. 1.4 W

Protection Characteristics

Short Circuit Protection Fuse T 3.15A H / 250 V per output

Dynamic Characteristics

Switching Delay
log 0 - log 1 Max. 10 ms
log 1 - log 0 Max. 10 ms

Operating Characteristics

Electrical Isolation
Output - PCC Yes
Output - Output Yes

Mechanical Characteristics

Dimensions B&R 2003 single width

8.11.2 Status LEDs

B&R 2003 Modules

The Status LEDs 1 -8 (orange) show the logical state of the corresponding output.

Chapter 3
8.11.3 Output Circuit Diagram

8.11.4 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The outputs can be labelled on the front.

DO722
NO
COM
Load
COM
24 VDC
NO
240 VAC

B&R 2003 Modules DO722 229

8.11.5 Connection

O1 O3 O5 O7

O2 O4 O6 O8

8.11.6 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status tc_global BYTE 1 Status In 0

Variable declaration with CAN slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

230 DO722 Chapter 3

8.11.7 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

CAN ID Packed

A maximum of eight digital I/O modules can be operated in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

414 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

CAN ID Unpacked

B&R 2003 Modules

A maximum of four digital I/O module can be run in unpacked mode.

Chapter 3
1)
Module CAN ID Byte
1 414 Outputs 1 - 8
2 415 Outputs 1 - 8
3 416 Outputs 1 - 8
4 417 Outputs 1 - 8

1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

8.11.8 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 x ....Not defined, masked out

6 Digital module = 0

5 x ....Not defined, masked out

0-4 Module code = $12

x 0 x 1 0 0 1 0

7 0

B&R 2003 Modules DO722 231

9 DIGITAL MIXED MODULES
9.1 GENERAL INFORMATION

Digital mixed modules are a combination of digital input and digital output modules. The status of the digital
inputs and outputs are indicated with status LEDs.

9.2 OVERVIEW

Module DM435 DM438 DM465

Number of Inputs 8 8 16

Nom. Input Voltage 24 VDC 24 VDC 24 VDC

Number of Outputs 8 8 16

Nom. Switching Voltage 24 VDC 24 VDC 24 VDC

Continuous Current 0.5 A 0.5 A 0.5 A

Connection Terminal block D-type connector Terminal block

9.3 PROGRAMMING

The digital inputs and outputs are accessed directly in the application program using a variable name. The
relationship between an input or output channel for a certain module and the variable name is defined in the
variable declaration. The declaration is made identically for each programming language using a table editor.

232 Digital Mixed Modules Chapter 3

9.4 DM435

9.4.1 Technical Data

B&R 2003 Modules

Chapter 3
Terminal block is not included in the delivery.

Module ID DM435

General Information

Model Number 7DM435.7

Short Description 2003 digital mixed module, 8 inputs 24 VDC, 1 ms, sink/source,
8 transistor outputs 24 VDC, 0.5 A, Order terminal blocks separately!

C-UL-US Listed Yes

B&R ID Code $E3

Module Type B&R 2003 I/O Module

Amount

CP430, EX270 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Voltage and Yes

Output Monitoring (LED: OK) Supply voltage >18 V, Outputs OK

Power Consumption Max. 0.5 W

Inputs

Number of Inputs 8

Wiring Sink or source

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Switching Threshold
LOW <5 V
HIGH >15 V

B&R 2003 Modules DM435 233

 Module ID DM435

Input Delay Max. 1 ms

Input Current at Nominal Voltage Approx. 8 mA

Electrical Isolation Input - PCC

Outputs

Number of Outputs 8

Type Highside Driver IC (Transistor)

Switching Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Continuous Current per

Output Max. 0.5 A
Module Max. 4 A

Leakage Current when Switched Off 12 µA

Overload Protection Yes

Continuous Short Circuit Current Typ. 4 A

Internal Protective Circuit Yes

Negative Anode Potential when 47 V

Switching Off Inductive Loads

Switching Delay
log 0 - log 1 Max. 450 µs
log 1 - log 0 Max. 450 µs

Electrical Isolation Output - PCC

Mechanical Properties

Dimensions B&R 2003 single width

9.4.2 Status LEDs

The green/orange status LEDs 1 - 8 show the logical state of the corresponding inputs/output.

The LED OK (orange) indicates that the supply voltage for the inputs and outputs is present. The LED is lit
starting with a supply voltage of approx. 18 VDC.
If voltage is incorrectly placed on an output which is not set, the LED goes out.

9.4.3 Input Circuit Diagram

I 1-8
Input
status

Voltage
monitoring

COM s U-OK
Diagnosis
status

COM

234 DM435 Chapter 3

9.4.4 Output Circuit Diagram

Voltage
monitoring
Diagnosis
U-OK status
+24 VDC
&

Temperature and
IK Monitor Output
status
O 1-8

GND

9.4.5 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs/outputs can be labelled on the front.

B&R 2003 Modules

Chapter 3

B&R 2003 Modules DM435 235

9.4.6 Connections

Terminal block TB722 is used to supply the inputs.

Inputs Sink Connection

Reference Potential
for Sensor
Active Signal Level
of the Inputs (COM s)
1 2 3 4 ...

Reference Potential
of the Inputs (COM)

TB722:
All terminals in a terminal row
are connected internally.

Supply Voltage
for the Inputs
+24 VDC
Next Module
Reference Potential
for the Inputs
GND, 0 VDC

236 DM435 Chapter 3

Inputs Source Connection

Reference Potential
for Sensor
Active Signal Level
for the Inputs (COM s)
1 2 3 4 ...

Reference Potential
for the Inputs (COM)

TB722:
All terminals in a terminal row
are connected internally.

B&R 2003 Modules

Chapter 3
Reference Potential
for the Inputs
GND,0 VDC
Next Module
Supply Voltage
for the Inputs
+24 VDC

Output Circuit

B&R 2003 Modules DM435 237

9.4.7 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status tc_global BYTE 1 Status In 0

Variable declaration with CAN slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

238 DM435 Chapter 3

9.4.8 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Digital Inputs

A maximum of eight digital I/O modules can be run in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

286 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

B&R 2003 Modules

1)
Module CAN ID Byte
1 286 Inputs 1 - 8

Chapter 3
2 287 Inputs 1 - 8
3 288 Inputs 1 - 8
4 289 Inputs 1 - 8
1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

Digital Outputs

A maximum of eight digital I/O modules can be run in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

414 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

1)
Module CAN ID Byte
1 414 Outputs 1 - 8
2 415 Outputs 1 - 8
3 416 Outputs 1 - 8
4 417 Outputs 1 - 8
1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules DM435 239

9.4.9 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 0 ....No supply voltage or supply voltage too low for digital

inputs
1 ....Module voltage OK

6 Digital module = 0
5 0 ....No error, the supply voltage for the digital outputs is OK
1 ....Short circuit, over-temperature or the supply voltage for the
digital outputs is not OK
0-4 Module code = $03

0 0 0 0 1 1

7 0

240 DM435 Chapter 3

9.5 DM438

9.5.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID DM438

General Information

Model Number 7DM438.72

Short Description 2003 digital mixed module, 8 inputs 24 VDC, 1 ms, sink/source,
8 transistor outputs 24 VDC, 0.5 A

C-UL-US Listed in preparation

B&R ID Code $E7

Module Type B&R 2003 I/O Module

Amount

CP430, EX270 4

CP470, CP770 8
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Voltage and Yes

Output Monitoring (LED: OK) Supply voltage >18 V, Outputs OK

Power Consumption Max. 0.5 W

Inputs

Number of Inputs 8

Wiring Sink or source

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Switching Threshold
LOW <5 V
HIGH >15 V

B&R 2003 Modules DM438 241

 Module ID DM438

Input Delay Max. 1 ms

Input Current at Nominal Voltage Approx. 8 mA

Electrical Isolation Input - PCC

Outputs

Number of Outputs 8

Type Highside Driver IC (Transistor)

Switching Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Continuous Current per

Output Max. 0.5 A
Module Max. 4 A

Leakage Current when Switched Off 12 µA

Overload Protection Yes

Continuous Short Circuit Current Typ. 4 A

Internal Protective Circuit Yes

Negative Anode Potential when 47 V

Switching Off Inductive Loads

Switching Delay
log 0 - log 1 Max. 450 µs
log 1 - log 0 Max. 450 µs

Electrical Isolation Output - PCC

Mechanical Properties

Dimensions B&R 2003 single width

9.5.2 Status LEDs

The green/orange status LEDs 1 - 8 show the logical state of the corresponding inputs/output.

The LED OK (orange) indicates that the supply voltage for the inputs and outputs is present. The LED is lit
starting with a supply voltage of approx. 18 VDC.

9.5.3 Input Circuit Diagram

I 1-8
Input
status

Voltage
monitoring

COM s U-OK
Diagnosis
status

COM

242 DM438 Chapter 3

9.5.4 Output Circuit Diagram

+24 VDC
Diagnosis
status
Umax Monitor

Temp. Monitor
Output
U Monitor status
O 1-8
I Monitor

GND

9.5.5 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs/outputs can be labelled on the front.

B&R 2003 Modules

DM438

Chapter 3
Y1 Y2
Load Sensor
OUT1 1 IN1 1
OUT2 2 9 GND 9 COM
IN2 2
OUT3 3 24 V = IN3 3 24 V =
+ 11 OP 11 COM s
OUT4 4 IN4 4
12 OP
OUT5 5 IN5 5
13 OP
OUT6 6 14 OP IN6 6
OUT7 7 IN7 7
15 OP
OUT8 8 IN8 8

9.5.6 Output Pin Assignments (Y1)

Pin Outputs – Socket Y1

1 Output 1
2 Output 2
3 Output 3
4 Output 4
5 Output 5
6 Output 6
7 Output 7
8 Output 8
9 GND Reference potential Y1
10 free
11 +24 VDC Output supply Y1
12 +24 VDC Output supply Y1
13 +24 VDC Output supply Y1
14 +24 VDC Output supply Y1
15 +24 VDC Output supply Y1

B&R 2003 Modules DM438 243

9.5.7 Pin Assignments for Inputs (Y2)

Pin Inputs – Plug Y2

1 Input 1
2 Input 2
3 Input 3
4 Input 4
5 Input 5
6 Input 6
7 Input 7
8 Input 8
9 COM Reference potential Y2
10 free
11 COM s Input supply Y2
12 free
13 free
14 free
15 free

9.5.8 Input Wiring

Inputs can be wired as either sink or source circuits.

Sink Connection

For sink wiring (current consumer from the sensor’s point of view), the COM connection is wired to GND and
the inputs are connected to sensors that switch to 24 VDC.

244 DM438 Chapter 3

Source Connection

For source wiring (current supplier from the sensor’s point of view), the COM connection is wired to +24
VDC and the inputs are connected sensors that switch to GND.

B&R 2003 Modules

Chapter 3
9.5.9 Output Wiring

B&R 2003 Modules DM438 245

9.5.10 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status tc_global BYTE 1 Status In 0

Variable declaration with CAN slaves

Function Variable Declaration

Scope Data Type Length Module type Chan.

Single digital input (channel x) tc_global BIT 1 Digit. In 1 ... 8

Single digital output (channel x) tc_global BIT 1 Digit. Out 1 ... 8

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

246 DM438 Chapter 3

9.5.11 Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Digital Inputs

A maximum of eight digital I/O modules can be operated in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

286 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

B&R 2003 Modules

1)
Module CAN ID Byte
1 286 Inputs 1 - 8

Chapter 3
2 287 Inputs 1 - 8
3 288 Inputs 1 - 8
4 289 Inputs 1 - 8
1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

Digital Outputs

A maximum of eight digital I/O modules can be operated in packed mode.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

414 Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

1)
Module CAN ID Byte
1 414 Outputs 1 - 8
2 415 Outputs 1 - 8
3 416 Outputs 1 - 8
4 417 Outputs 1 - 8
1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules DM438 247

9.5.12 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Bit Description

7 0 ....No supply voltage or supply voltage too low for digital

inputs
1 ....Module voltage OK

6 Digital module = 0

5 0 ....No error, the supply voltage for the digital outputs is OK

1 ....Short circuit, over-temperature or the supply voltage for the
digital outputs is not OK

0-4 Module code = $07

0 0 0 1 1 1

7 0

248 DM438 Chapter 3

9.6 DM465

9.6.1 Technical Data

B&R 2003 Modules

Chapter 3
Terminal block is not included in the delivery.

Module ID DM465

General Information

Model Number 7DM465.7

Short Description 2003 digital mixed module, 16 inputs 24 VDC, 1 ms, sink,
16 transistor outputs 24 VDC, 0.5 A, Order terminal blocks separately!

C-UL-US Listed in preparation

B&R ID Code $F7

Module Type B&R 2003 I/O Module

Amount 1)

CP430, EX270 2

CP470, CP770 4
EX470, EX770
EX477, EX777

CP474, CP774 6

CP476 8

Voltage and Yes

Output Monitoring (LED: OK) Supply voltage >18 V, Outputs OK

Power Consumption Max. 1.1 W

Inputs

Number of Inputs 16

Wiring Sink

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

B&R 2003 Modules DM465 249

 Module ID DM465

Switching Threshold
LOW <5 V
HIGH >15 V

Input Delay Max. 1 ms

Input Current at Nominal Voltage Approx. 4 mA

Electrical Isolation
Input - PCC Yes
Input - Output No

Outputs

Number of Outputs 16

Type Highside Driver IC (Transistor)

Switching Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Continuous Current per

Output Max. 0.5 A
Module Max. 8 A

Leakage Current when Switched Off 12 µA

Overload Protection Yes

Switching On after Overload Cutoff Automatically within seconds (depends on the module temperature)

Continuous Short Circuit Current Typ. 4 A

Internal Protective Circuit Yes

Negative Anode Potential when 47 V

Switching Off Inductive Loads

Switching Delay
log 0 - log 1 Max. 450 µs
log 1 - log 0 Max. 450 µs

Electrical Isolation
Output - PCC Yes
Output - Input No

Mechanical Properties

Dimensions B&R 2003 single width

1)
Two logical module slots are required by the module.

9.6.2 Status LEDs

Supply Voltage

The LED OK (orange) indicates that the supply voltage for the inputs and outputs is present. The LED is lit
starting with a supply voltage of approx. 18 VDC.
If voltage is inadvertently placed on an output which is not set, the LED goes out.

250 DM465 Chapter 3

Inputs/Outputs

Only 8 LEDs each are available for the 16 inputs and outputs.

Green ....... Inputs

Orange ..... Outputs

To show all channels, they are divided into groups of eight. You can switch between the two groups using
a toggle button on the module front. Two LEDs show which channels are currently being displayed.

LED "S #" .............. Channels 1 -8

LED "S # + 1" ....... Channels 9 -16

States of the green LEDs

LED Green

Static "On" The corresponding input = 1

B&R 2003 Modules

Static "Off" The corresponding input = 0

Chapter 3
States of the orange LEDs

LED Orange

Static "On" The corresponding output = 1

Static "Off" The corresponding output = 0

Blinking An error has occurred on the respective output

States of LED "S #"

S#

Static "On" Shows channels 1 - 8 without output error

Blinking Symmetrically Error on one of the outputs 1 - 8

Pulse Error on one of the outputs 1 - 8 when showing outputs 9 - 16 ("S # + 1")

States of LED "S # + 1"

S#+1

Static "On" Shows channels 9 -16 without output error

Blinking Symmetrically Error on one of the outputs 9 -16

Pulse Error on one of the outputs 9 - 16 when showing outputs 1 - 8 ("S #")

B&R 2003 Modules DM465 251

9.6.3 Input Circuit Diagram

I 1-16 Input
Status

Voltage
Monitoring
Diagnose
Status
INOK U-OK

COM

9.6.4 Output Circuit Diagram

Voltage
Monitoring
+24 VDC

Diagnose
Status
Umax Monitor

Temp. Monitor Output

U Monitor Status
O 1-16
I Monitor

GND

9.6.5 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs/outputs can be labelled on the front.

252 DM465 Chapter 3

9.6.6 Connections

The supply voltage for the inputs is applied using the terminal block TB722. A separate supply voltage is
required for the inputs and outputs. The reference potential for both voltages is connected to the bottom
pin connector on the TB736.

Inputs - Sink Connection

Reference
potential
for sensor

Active signal level

of the inputs (INOK)
1 2 3 4 5 6 7 ...

B&R 2003 Modules

X1

Chapter 3
Reference potential "-"
internally connected

X2

+24 VDC

TB736: All terminals in a terminal row

are connected internally.

B&R 2003 Modules DM465 253

Output Wiring

Load

1 2 3 4 5 6 7 ...

X1

X2

+24 VDC

254 DM465 Chapter 3

9.6.7 Three Line Connection

If the digital mixed module DM465 is operated using a three line connection, the terminal block TB772 is used
as additional jumper terminal.

Sensor Actuator

1 2 3 4 5 6 7 ...

B&R 2003 Modules

X1 X1

Chapter 3
Reference potential "-"
internally connected

X2 X2

+24 VDC X3 X3

for inputs

GND X4 X4
+24 VDC X5 X5

for outputs

GND X6
X6

1 2 3 4 5 6 7

TB772: All terminals in a terminal row

are connected internally.

B&R 2003 Modules DM465 255

9.6.8 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Variable declaration with PCC 2003 CPU and remote slaves

Designation VD Data VD Module VD R W Description

Type Type Chan.
Digital inputs 1 – 8 BIT Digit. In 1...8 ● Level of digital inputs 1 - 8
Digital outputs 1 – 8 BIT Digit. Out 1...8 ● Level of digital outputs 1 - 8
Module Status 1 BYTE Status In 0 ● Module status for the first half of the module
Digital inputs 9 – 16
BIT Digit. In 1...8 ● Level of digital inputs 9 -16
(module address + 1)
Digital outputs 9 – 16
BIT Digit. Out 1...8 ● Level of digital outputs 9 -16
(module address + 1)
Module status 2
BYTE Status In 0 ● Module status for the second half of the module
(module address + 1)

Variable declaration with CAN slaves

Designation VD Data VD Module VD R W Description

Type Type Chan.
Digital inputs 1 – 8 BIT Digit. In 1...8 ● Level of digital inputs 1 - 8
Digital outputs 1 – 8 BIT Digit. Out 1...8 ● Level of digital outputs 1 - 8
Digital inputs 9 – 16
BIT Digit. In 1...8 ● Level of digital inputs 9 -16
(module address + 1)
Digital outputs 9 – 16
BIT Digit. Out 1...8 ● Level of digital outputs 9 -16
(module address + 1)

Module status

The module status for CAN slaves can only be read using command codes. The command codes are
explained in Chapter 5, "CAN Bus Controller Functions", section "Command Codes and Parameters".
An example is provided in Chapter 4 "Module Addressing".

256 DM465 Chapter 3

9.6.9 Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Digital Inputs

A maximum of eight digital I/O modules can be operated in packed mode.

The 16 channel module DM465 operates like two 8 channel modules next to each other. If two DM465 modules
are used, only six additional digital I/O modules can be used.

The following example shows the structure of the CAN object if four DI435 and two DM 465 modules are used.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
286 DI435 DI435 DI435 DI435 DM465 DM465 DM465 DM465
I1-8 I 9 - 16 I1-8 I 9 - 16

B&R 2003 Modules

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

Chapter 3
A maximum of four digital I/O module can be run in unpacked mode.

The following example shows the structure of the CAN object if two DI435 and one DM465 modules are used.

1)
Module CAN ID Byte
DI435 286 Inputs 1 - 8
DI435 287 Inputs 1 - 8
288 Inputs 1 - 8
DM465
289 Inputs 9 - 16
1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

Digital Outputs

A maximum of eight digital I/O modules can be operated in packed mode.

The 16 channel module DM465 operates like two 8 channel modules next to each other. If two DM465 modules
are used, only six additional digital I/O modules can be used.

The following example shows the structure of the CAN object if four DO722 and two DM 465 modules are
used.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
414 DO722 DO722 DO722 DO722 DM465 DM465 DM465 DM465
O1-8 O 9 - 16 O1-8 O 9 - 16

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

B&R 2003 Modules DM465 257

A maximum of four digital I/O module can be run in unpacked mode.

The following example shows the structure of the CAN object if two DO722 and one DM465 modules are
used.

1)
Module CAN ID Byte
DO722 414 Outputs 1 - 8
DO722 415 Outputs 1 - 8
416 Outputs 1 - 8
DM465
417 Outputs 9 - 16
1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

9.6.10 Module Status

Evaluation of the module status is explained using an example in Chapter 4 "Module Addressing".

Module Status 1

Bit Description
7 0 ....No supply voltage or supply voltage too low for digital
inputs/outputs
1 ....Module voltage OK
6 Digital module = 0
5 0 ....No error, the supply voltage for digital outputs 1 – 8 is OK
1 ....Short circuit, over-temperature or the supply voltage for
digital outputs 1 – 8 is not OK
Bits 0 - 4 contain the channel number of the first faulty
output.
0-4 Module code = $17
0 1 0 1 1 1
7 0

Module Status 2

Bit Description
7 0 ....No supply voltage or supply voltage too low for digital
inputs/outputs
1 ....Module voltage OK
6 Digital module = 0
5 0 ....No error, the supply voltage for digital outputs 9 -16 is OK
1 ....Short circuit, over-temperature or the supply voltage for
digital outputs 9 -16 is not OK
Bits 0 - 4 contain the channel number of the first faulty
output.
0-4 Module code = $17
0 1 0 1 1 1
7 0

258 DM465 Chapter 3

10 ANALOG INPUT MODULES
10.1 GENERAL INFORMATION

Measured values (voltages, currents) are converted into number values which can be processed in the PCC
using analog input modules.

In the PCC, analog data is always in 16 bit 2s complement regardless of the resolution. In this way, the resolution
(number of steps) of the input module does not have to be considered when creating the application program.

Each analog input module is assigned a status LED on the analog adapter module or CP interface. This LED
indicates that the input module is working.

10.2 OVERVIEW

Module AI261 AI294

Number of Channels 1 4

B&R 2003 Modules

Input Signal ±1 to ±16 mV/V 0 to 4.5 V

Chapter 3
Digital Converter Resolution 24 Bit 13 Bit

Remark One input to evaluate Four inputs to evaluate

a full-bridge strain gauge potentiometers (e.g. displacement gauge)

Module AI351 AI354 AI774

Number of Channels 1 4 4

Input Signal ±10 V or 0 - 20 mA ±10 V 0 - 20 mA

Digital Converter Resolution 12 Bit + sign 12 Bit + sign 12 Bit

10.3 PROGRAMMING

The analog data points are accessed directly in the application program using a variable name. The
relationship between the channel for a certain module and the variable name is defined in the variable
declaration. The declaration is made identically for each programming language using a table editor.

B&R 2003 Modules Analog Input Modules 259

10.4 AI261

10.4.1 Technical Data

Module ID AI261

General Information

Model Number 7AI261.7

Short Description 2003 analog input module, 1 input for evaluation of full-bridge strain gauge,
24 bit, screw-in module

C-UL-US Listed Yes

B&R ID Code $20

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Input Type Differential

Number of Inputs 1

Affects of Cable Length The shielded, twisted pair cable should be as short as possible
and run separately to the sensor (isolated from load circuit) without intermediate terminals

Shielding
Module Side Using stress relief clamp on the module
Sensor Side Using HF foil capacitor 10 nF/630 V to grounded sensor housing
(use short connection lines)

Maximum Continuous Overload +30 V for all connections except GND

(without damage)

Output of the Digital Value

during Overload
Broken Supply Line Value goes to 0
Broken Sensor Line Value goes to ±limit
Software Evaluation Evaluation using configuration word 12 (module status)

Digital Converter Resolution 24 Bit

Effective Converter Resolution See Table "Effective Resolution of the Measurement Range in Bits"

260 AI261 Chapter 3

 Module ID AI261

Quantization LSB value (16 Bit)

Measurement Range ±1...2 mV/V 275 nV
Measurement Range ±3...4 mV/V 550 nV
Measurement Range ±5..0.8 mV/V 1.1 µV
Measurement Range ±9...15 mV/V 2.2 µV

Data Format Delivered to the Set using software

Application Program
Measurement Value Preparation
Calibration Using software, also during operation
Linearization y=k*x+d
Conversion To physical units (32 bit representation)
Measurement Range ±1 to ±16 mV/V, Set using software
Input Current <140 nA

Operating Range / Measurement Sensor 75 to 5000 Ω

Bridge Voltage 4.5 VDC ±3 % / max. 60 mA
Short Circuit and Overload Protection Yes
Connection 4-line connection
Connection of a 6-line strain gauge cell (see section "6-Line Strain Gauge Cell")

B&R 2003 Modules

Conversion Method Sigma Delta
Conversion Time 1 ms

Chapter 3
Analog Input Measurement Error
Maximum Error at 25 °C ±55 ppm ±11 µV
Temperature Coefficient ±3 ppm/°C ±1.1 µV/°C
Maximum Error over Complete ±0.016 % ±50 µV
Temperature Range

Sensor Type Isolated

Common Mode Rejection >120 dB at 50 / 60 Hz
Scan Frequency ≥ 75 Hz
Common Mode Voltage 1.2 to 3.8 V

Protection RC protection
Internal Power Consumption Max. 0.6 W

Dynamic Characteristics
Application Scan Time 4 - 100 ms
Data Output Rate on the Module 7 - 500 Hz, can be set using software

Scan Repeat Time 1 / data output rate

Response Time 1 LSB
Data Output Rate > 100 Hz Approx. 250 ms
Data Output Rate ≤ 100 Hz Approx. 500 ms

Input Filter Characteristics

Order 1st
Transition / Cut-off Frequency 6 Hz
also see diagram "Transient Behavior as Load Changes"

Software Filter
3 dB Cut-off Frequency 0.0395 x data output rate
64 dB Frequency (1st notch) 0.14 x data output rate
Operating Characteristics

Isolation Voltage under Normal No electrical isolation

Operating Conditions between Channel
and Bus
Missing Codes Yes, if output range > converter resolution

Non-linearity ±0.0015 % of final value

Mechanical Properties

Dimensions B&R 2003 screw-in module

B&R 2003 Modules AI261 261

10.4.2 General Information

A full-bridge strain gauge can be used for the following tasks:

• Force measurement
• Elasticity measurement
• Weight measurement
• Pressure measurement
• Stress measurement
• Torque measurement

10.4.3 Effective Resolution of the Measurement Range in Bits

The following table contains an overview of the effective resolution of the measurement range in bits. The
corresponding conversion range is given next to it.
The data output rate for the hardware lies between 50 Hz and 500 Hz. Output rates of <50 Hz can also be
set in software.
This output rate is achieved because the convertor read out at 8x the set output rate. For the calculation, eight
values are added together and then divided by eight.
To determine the effective resolution, look in the table for 8 times the set data output rate.

Example

Set output rate: 25 Hz for a measurement range of 2 mV/V

Effective resolution: 8x set data output rate:
25 Hz x 8 = 200 Hz ⇒ 15 bit or ±18000

Data Output Rate Measurement Range

HW SW ±2 mV/V ±4 mV/V ±8 mV/V ±16 mV/V

50 Hz 7 Hz 16 Bit ±35000 16.5 Bit ±50000 17 Bit ±69000 17.5 Bit ±99000

100 Hz 12 Hz 15.5 Bit ±25000 16 Bit ±33000 16.5 Bit ±51000 17 Bit ±69000

150 Hz 18 Hz 15.5 Bit ±20000 16 Bit ±29000 16.5 Bit ±42000 17 Bit ±56000

200 Hz 25 Hz 15 Bit ±18000 15 Bit ±27000 16 Bit ±36000 16.5 Bit ±49000

400 Hz 49 Hz 14.5 Bit ±11000 15 Bit ±18000 15.5 Bit ±24000 16 Bit ±36000

262 AI261 Chapter 3

10.4.4 Transient Behavior as Load Changes

The following diagram shows the transient behavior as the load changes in relation to the data output rate:

Curve 1 ..... Data output rate = 50 Hz

Curve 2 ..... Data output rate = 200 Hz

50 Hz. 5ms

120

100

200 Hz
80

B&R 2003 Modules

60

Chapter 3
50 Hz
%

40

20

0
20

40

60

80

100

120

140

160

180

200

220

240

260

280

300

320

340

360

380

400

420

440

460
0

-20
ms

B&R 2003 Modules AI261 263

10.4.5 Input Circuit Diagram

10.4.6 Connection

Terminal Assignments

Connection Designation Description

1 +4.5 V +4.5 V strain gauge supply

2 + Differential input

3 -

4 ⊥ GND

5 +4.5 V +4.5 V strain gauge supply

6 + Differential input

7 -

8 ⊥ GND

264 AI261 Chapter 3

Full-Bridge Strain Gauge Wiring

Parallel Connection

B&R 2003 Modules

For parallel connection of full-bridge strain gauges, please refer to the manufacturer’s guidelines.

Chapter 3
Parallel connection of two Parallel connection of three
full-bridge strain gauges full-bridge strain gauges

1
2

1 3

2
4
3

5
6
7

B&R 2003 Modules AI261 265

10.4.7 6-Line Strain Gauge Cells

General Information

Precision can be improved by using strain gauge cells with feedback of the bridge voltage. The additional
sensor lines compensate for the thermal resistance of the feed lines.

4-Line Concept of the AI261

AI261 modules work with 4-line strain gauge cells. The AI261 concept requires compensation in the
measurement system. This compensation eliminates all absolute uncertainty in the measurement circuit, such
as component tolerances, effective bridge voltage, or zero offset.
The measurement precision refers to the absolute (compensated) value which will only change as a result
of changes in operating temperature.

6-Line Strain Gauge Cells on the AI261

If a 6-line strain gauge cell is connected to the AI261, the line compensation no longer functions. The
measurement precision is therefore susceptible to changes in operating temperature. Long cable runs and
small cable cross-sections used between the evaluation device (AI261) and the strain gauge cell increase
the probability of errors in the measurement system.
The following example shows the discrepancy between the measured value and the actual value when the
operating temperature range lies between 25 °C and 55 °C.

Entry

Designation Value

Accepted (classic) working range 25 °C to 55 °C (∆T = 30 °C)

Bridge resistance (input resistance) 300 Ω

Copper connection cable, temperature coefficient 0.39 %/K

Formulas for calculation of the table entries

Designation Formula

Line resistance R = 2 * l / (γ * A)
R = 2 * cable length [m] / (56 * cross-section [mm2])
Resistance change ∆R = R * 0.39 % * ∆T
∆R = R * 0.0039 * 30

Temperature effects in ppm (∆R / Bridge resistance) * 10 6

(∆R / 300) * 106

Temperature effects in % (∆R / Bridge resistance) * 100

(∆R / 300) * 100

266 AI261 Chapter 3

Calculated examples for different cable lengths and cross-sections

Designation Unit Ex. 1 Ex. 2 Ex. 3 Ex. 4 Ex. 5 Ex. 6 Ex. 7

Cable length [m] 10 6 6 6 6 6 4

Cross section [mm2] 0.25 0.14 0.25 0.22 0.34 0.5 0.5

Resistance (forward and return line) [Ω] 1.43 1.54 0.86 0.98 0.64 0.43 0.29

Resistance change at ∆T = 30 °C [mΩ] 168 181 101 115 75 51 34

Temperature effects [ppm] 560 604 337 384 250 170 114

Temperature effects [%] 0.056 0.060 0.034 0.038 0.025 0.017 0.011

Deviation for measurement range 0 to 1000 kg [g] 560 604 337 384 250 170 114

Wiring

In order to reduce cable resistance, the sense lines for 6-line connection should be connected in parallel with
the supply lines.
Optimal signal quality can be obtained by using shielded, twisted pair (data) cable. The connections for the

B&R 2003 Modules

two strain gauge supply voltage lines (input), the two sensor lines, and the two bridge differential voltage

Chapter 3
lines (output) should each use one twisted pair cable run respectively .

B&R 2003 Modules AI261 267

10.4.8 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 LONG Transp. In 0 ● Standardized value or calibrated raw value

Configuration word 4 LONG Transp. In 8 ● Calibrated raw value during standardizing/taring

LONG Transp. Out 8 ● Reference value/tare value as calibrated raw value

Configuration word 6 LONG Transp. Out 12 ● Standardized reference value/tare value

Configuration word 8 WORD Transp. Out 16 ● Command number for standardizing and taring

Configuration word 9 WORD Transp. Out 18 ● Sensor damping

Configuration word 10 WORD Transp. Out 20 ● Data output rate of the converter
Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

10.4.9 Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

268 AI261 Chapter 3

Data cannot be packed on the AI261. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four AI261 modules, the CAN object has the following structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Data LL Data ML Data MH Data HH Not used (2 byte data)

2 543 Data LL Data ML Data MH Data HH Not used (2 byte data)

3 544 Data LL Data ML Data MH Data HH Not used (2 byte data)

4 545 Data LL Data ML Data MH Data HH Not used (2 byte data)

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

B&R 2003 Modules

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Chapter 3
10.4.10 Terms

The following terms are used to describe data and configuration words:

Term Description

Calibrated raw value Corresponds to the converter value aligned to sensor damping
Standardized value Corresponds to the calibrated raw value converted to a physical unit

Standardization line The calibrated raw value is converted to a standardized value along
this line

1st / 2nd reference point The standardizing line is calculated using these coordinates

Standardized 2nd Reference point

Value (x2/y2)

Standardization line

1st Reference point

(x1/y1)

Calibrated
raw value

B&R 2003 Modules AI261 269

10.4.11 Description of Data and Configuration Words

Data Words 0+1 (read)

Data words 0 and 1 contain the standardized value or the calibrated raw value from the full-bridge strain
gauge with 24 bit resolution.

Value Range

Valid value range $007FFFFF to $FF800001

Overflow $7FFFFFFF

Underflow $80000001

Invalid value $80000000

Configuration Words 4+5 (read)

During standardization or taring, configuration words 4 and 5 contain the calibrated raw value for the 1st
or 2nd reference point of the standardization lines determined by the module.

Configuration Words 4+5 (write)

Configuration words 4 and 5 defines either the first or second reference point as a calibrated raw value.

Configuration Words 6+7 (write)

Configuration words 6 and 7 defines either the first or second reference point as standardized value.

Configuration Word 8 (write)

Configuration word 8 defines the command number for standardization and taring.

Bit Description

8 - 15 0

4-7 Command number for standardization and taring

0............No effects
1 - 5.......See sections “Standardization” and “Taring”
6 - 15.....Reserved

0-3 0

0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

270 AI261 Chapter 3

Configuration Word 9 (write)

Configuration word 9 defines sensor damping. When output of calibrated raw values is set, the convertor
and value output are started (configuration word 14 = $x800).

Value range: 1 mV/V to 16 mV/V

0 is not allowed
(error code 5000, supplementary code k30ma see App. B "Error Messages")

Configuration Word 10 (write)

Configuration word 10 defines the data output rate of the convertor.

Value range: 7 to 500

0 is not allowed
(error code 5000, supplementary code k30ma see App. B "Error Messages")
See also, section "Effective Resolution of the Measurement Range in Bits"

B&R 2003 Modules

Chapter 3
Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched).

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Converter value ready
1.... Converter value not yet ready
10 x .... Not defined, masked out

9 0.... Wait for the first conversion after setting the damping
1.... The first conversion after setting the damping has taken place

8 0.... Command to set damping has not yet arrived

1.... Command to set damping has arrived,
Bit 9 cleared

4-7 If this bit pattern is the same as the command number defined in
configuration word 8, the command is executed.

3 x .... Not defined, masked out

2 0.... Converter parameter settings are OK
1.... Converter parameter settings are invalid

1 0.... Sensor supply is OK

1.... Sensor supply is overloaded

0 0.... Reference voltage is OK

1.... Reference voltage not available

x x x x x x

15 8 7 0

B&R 2003 Modules AI261 271

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $20

0-7 x ....Not defined, masked out

0 0 1 0 0 0 0 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

14 - 15 0
13 0.... The standardized value or calibrated raw value from the full-
bridge strain gauge will be entered in data words 0 and 1,
according to the data output rate.
1.... The standardized value or calibrated raw value from the full-
bridge strain gauge will be entered in data words 0 and 1,
according to the data output rate.
Once the value has been read, the word will be set to invalid
($80000000). This ensures that the value is only read once per
data cycle.
Attention: When operated on the CP interface on an AF101
module with a revision ≥ 02.00, automatic mode
must be switched off on the CPU or on the AF101
module!
12 0

11 0.... Output of the converter value as a standardized value from the

full-bridge strain gauge.
1.... Output of the converter value as raw value calibrated to the
sensor damping.
0 - 10 0

0 0 0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

272 AI261 Chapter 3

10.4.12 AI261 Start-up

An example program is available from B&R. This program explains how to use the AI261.
If you are interested in obtaining this program, contact your local sales representative.

The following steps should be carried out during start-up

Step Configuration Word Description

1 14 Configure module

2 10 Define the data output rate of the converter

3 9 Define the sensor damping.

When output of calibrated raw values is set, the converter will be started and
value output begins (configuration word 14 = $x800).

4 When standardized values are used, (configuration word 14 = $x000)

standardizing/taring must be carried out at this point. The converter and value
output are started in command number 4 or 5.

B&R 2003 Modules

Chapter 3
10.4.13 Standardization

Through standardization, the calibrated raw value is assigned a value corresponding to the physical unit.
The conversion takes place along a standardization line.

The line equation is

y=k*x+d

y ...... standardized value

k ...... slope
x ...... calibrated raw value
d ..... y, if x = 0 (Offset)

There are two types of standardization:

• Establishing the standardization line

(the calibrated raw values for the reference points are not known)
• Standardization when booting
(standardization line already known)

B&R 2003 Modules AI261 273

Establishing the standardization line

This type of standardization is carried out if the calibrated raw values for the reference points are not already
known. This is the case when:

• the system is first put into operation.

• the process conditions have changed.

The following commands must be carried out

No. Commands to carry out

1 Set up conditions for the first reference point (weight, pressure, torque etc.).

2 Enter command number 1 ($0010) in configuration value 8. The converter determines the first reference point of the
standardization line.

3 Poll configuration word 12 until the acknowledgement ($xx1x) is received after approx. 1 s.

4 Read the values from configuration words 4+5. These contain the calibrated raw value of the first reference point.

5 Save the calibrated raw value. It must be entered each time the system is booted or after each reset (see
"Standardization when booting ").

6 Write the calibrated raw value to configuration words 4+5.

7 Write the standardized value corresponding to the calibrated raw value to configuration words 6+7.

8 Enter command number 2 ($0020) in configuration word 8. The values in configuration words 4+5 and 6+7 will be taken
as the first reference point of the standardization line.
9 Poll configuration word 12 until the acknowledgement ($xx2x) is received after <100 ms.

10 Set up conditions for the second reference point

11 Enter command number 3 ($0030) in configuration word 8. The converter determines the second reference point for the
standardization line.
12 Poll configuration word 12 until the acknowledgement ($xx3x) is received after approx. 1 s.

13 Read the values from configuration words 4+5. These contain the calibrated raw value of the second reference point.

14 Save the calibrated raw value. It must be entered each time the system is booted or after each reset (see
"Standardization when booting").

15 Write the calibrated raw value to configuration words 4+5.

16 Write the standardized value corresponding to the calibrated raw value to configuration words 6+7.

17 Enter command number 4 ($0040) in configuration word 8. The values in configuration words 4+5 and 6+7 are used as
the second reference point of the standardization line, the standardization parameters are calculated, the conversion
procedure and value output are started.

18 Poll configuration word 12 until the acknowledgement ($xx4x) is received after <100 ms.

274 AI261 Chapter 3

Standardization when booting

This type of standardization is carried out if the standardization line is already known (calibrated raw values
for the reference points are already known). Carried out during each boot procedure or after resetting the
system.

The following commands must be carried out

No. Commands to carry out

1 Write the calibrated raw value for the first reference point on the standardization line to configuration words 4+5. The
calibrated raw values for the first and second reference points are determined while establishing the standardization line.
2 Write the standardized value corresponding to the calibrated raw value in configuration words 6+7.

3 Enter command number 2 ($0020) in configuration word 8. The values in configuration words 4+5 and 6+7 are used as
the first reference point of the standardization line.

4 Poll configuration word 12 until the acknowledgement ($xx2x) is received after <100 ms.

5 Write the calibrated raw value for the second reference point of the standardization line to configuration words 4+5 .

B&R 2003 Modules

6 Write the standardized value corresponding to the calibrated raw value in configuration words 6+7.

7 Enter command number 4 ($0040) in configuration word 8. The values in configuration words 4+5 and 6+7 are used as

Chapter 3
the second reference point of the standardization line, the standardization parameters are calculated, the conversion
procedure and value output is started.

8 Poll configuration value 12 until the acknowledgement ($xx4x) is received after <100 ms.

10.4.14 Taring

Tarig is necessary if the standardization line is shifted because of the process but the slope remains the same.
During taring, the offset of the standardization line is recalculated (dnew).

Standardized
value (x2/y2)

Old standardization line

New
standardization line
resulting from changed
(x1/y1)
process conditions
(x1New /y1)

d
dNew

Calibrated
raw value

B&R 2003 Modules AI261 275

Taring can take place any time during operation under the following conditions:

• A standardization must have been carried out

• The conditions for the first reference point must be fulfilled

The following commands must be carried out

No. Commands to carry out

1 Set conditions corresponding to the first reference point (weight, pressure, torque etc.).

2 Enter command number 1 ($0010) in configuration word 8. The converter determines the first reference point of the
standardization line.
3 Poll configuration word 12 until the acknowledgement ($xx1x) is received after approx. 1 s.

4 Read the value from configuration word 4+5. This contains the raw value for the first reference point.

5 Write the calibrated raw value in configuration words 4+5.

6 Write the standardized value corresponding to the calibrated raw value to configuration words 6+7.

7 Enter command number 5 ($0050) in configuration word 8. The values in configuration words 4+5 and 6+7 are used as
the first reference point for the standardization line and the new offset value for the standardization line is calculated
without changing the gradient (dnew - see graph above). Then the conversion procedure and value output are started.

8 Poll configuration word 12 until the acknowledgement ($xx5x) is received after <100 ms.

Carrying Out Taring

If the process requires that taring be carried out, it must be done each time the system boots.

The following tips will help you to do this correctly

• For frequently changing process conditions, follow the instructions given in the table above.
• For infrequently changing process conditions, the new raw value for the lower limit point can be saved
and the procedure listed above can be started at command 5, "Write calibrated raw value in
configuration words 4+5".
Another possibility is to change the raw value for the upper limit according to the change to the lower
limit and then use the new raw value for standardization when booting.

276 AI261 Chapter 3

10.5 AI294

10.5.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID AI294

General Information

Model Number 7AI294.7

Short Description 2003 analog input module, 4 inputs, potentiometer evaluation,

13 bit, screw-in module

C-UL-US Listed Yes

B&R ID Code $22

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Input Type Single ended input in the range from 0 to Upot

Number of Inputs 4

Affects of Cable Length The shielded, twisted pair cable (3x1) should be as short as possible
and run separately to the sensor (isolated from load circuit) without intermediate terminals

Shielding
Module Side Using stress relief clamp on the module
Potentiometer Side Direct connection to grounded potentiometer housing
(use short connection lines)

Maximum Continuous Overload +30 V for all connections except GND

(without damage)

Output of the Digital Value

during Overload
Open Connection on Upot Value = $8000
Open Connection on GND Value = $7FFF
Open Connection on slider or Value = $7FFF
Upot and GND
Recognition Time for Open Slider <3 s
Software Evaluation Evaluation using configuration word 12 (module status)

Digital Converter Resolution 13 Bit

B&R 2003 Modules AI294 277

 Module ID AI294

Quantization; LSB Value 0.55 mV

(13 bit)

Data Format Delivered to the 2s complement (16 bit representation)

Application Program
Slider Voltage GND Value = $0000
Slider Voltage Upot Value = $7FFF

Potentiometer Feed Voltage Upot +4.5 V ±3 % at 40 mA

Short Circuit and Overload Protection Yes

Input Current <0.2 µA

Measurement Sensor 0.5 to 10 kΩ, Potentiometer

Measurement Range 0 V to Upot

Conversion Method Sample & Hold

Conversion Time 4 ms for all channels, also with active comparator

Analog Input Measurement Error

Maximum Error at 25 °C ±0.04 % of full range
Temperature Coefficient ±20 ppm/°C of full range
Maximum Error over Complete ±0.07 % of full range
Temperature Range

Sensor Type Isolated

Protection RC protection

Internal Power Consumption Max. 0.5 W

Dynamic Characteristics

Application Scan Time 4 - 100 ms

Scan Repeat Time for Comparator Input 125 µs

Response Time 1 LSB Approx. 200 µs

Input Filter Characteristics

Attenuation >40 dB/Dec
Transition / Cut-off Frequency 5 kHz

Signal Delay because of Input Filter 3 to 10 µs

under Following Conditions
Slider Speed 1 m/s
Pot 2 kΩ
Path Length 100 mm

Operating Characteristics

Isolation Voltage under Normal No electrical isolation

Operating Conditions between Channel
and Bus

Missing Codes Yes, because compensation and modification of the convertor resolutions
takes place using a standard format

Non-linearity ±0.06 % of full range

Mechanical Properties

Dimensions B&R 2003 screw-in module

278 AI294 Chapter 3

10.5.2 General Information

The AI294 is a 4 channel analog input module. It is used to evaluate potentiometer displacement gauges.

10.5.3 Special Functions

A threshold value can be defined for any channel. A bit in configuration word 12 indicates the status.

10.5.4 Input Circuit Diagram

B&R 2003 Modules

Chapter 3

B&R 2003 Modules AI294 279

10.5.5 Connection

Terminal Assignments

Connection Designation Description

1 +4.5 V Upot = +4.5 V ... Supply for pot 1 and 2

2 P1 Slider potentiometer 1

3 P2 Slider potentiometer 2

4 ⊥ GND

5 +4.5 V Upot = +4.5 V ... Supply for pot 3 and 4

6 P3 Slider potentiometer 3

7 P4 Slider potentiometer 4

8 ⊥ GND

Wiring a Potentiometer Displacement Gauge

Switching Circuit for All Four Potentiometer Displacement Gauges

Potentiometer 1 Potentiometer 2 Potentiometer 3 Potentiometer 4

1 1 5 5

2 3 6 7

4 4 8 8

280 AI294 Chapter 3

10.5.6 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

B&R 2003 Modules

Data Access VD Data VD Module VD R W Description

Chapter 3
Type Type Chan.

Data word 0 INT16 Analog In 1 ● Analog input value channel 1

Data word 1 INT16 Analog In 2 ● Analog input value channel 2

Data word 2 INT16 Analog In 3 ● Analog input value channel 3

Data word 3 INT16 Analog In 4 ● Analog input value channel 4

Configuration word 8 INT16 Transp. Out 16 ● Switching level for threshold value switch

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules AI294 281

10.5.7 Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the AI294. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four AI294 modules, the CAN object has the following structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

2 543 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

3 544 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

4 545 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

10.5.8 Description of Data and Configuration Words

Data word 0, 1, 2, 3 (read)

16 bit standardized values for the divider ratio, referring to the potentiometer supply.

Configuration Word 8 (write)

Value of the switching level for the threshold value switch (16 bit, signed).

282 AI294 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Converter values ready
1.... Converter values not yet ready

10 x .... Not defined, masked out

9 0.... Potentiometer supply OK
1.... Overload of potentiometer supply
8 0.... Potentiometer supply OK
1.... Short circuit in the potentiometer supply

7 Comparator status
0.... if the value < threshold value
1.... if the value ≥ threshold value

4-6 x .... Not defined, masked out

B&R 2003 Modules

3 0.... Channel 4: No error
1.... Channel 4: Error present

Chapter 3
2 0.... Channel 3: No error
1.... Channel 3: Error present

1 0.... Channel 2: No error

1.... Channel 2: Error present

0 0.... Channel 1: No error

1.... Channel 1: Error present

x x x x x x x x

15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $22

0-7 x .... Not defined, masked out

0 0 1 0 0 0 1 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules AI294 283

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

15 0.... TPU operation switched off

1.... TPU operation switched on
To be able to use TPU operation, the module must be operated
on the CP Interface.
11 - 14 0

10 0.... Operation without threshold value switch

1.... Operation with threshold value switch
The time resolution of the comparator is 125 µs.
During operation with threshold value switch and TPU operation
switched on (Bit 15 = 1), the status of Bit 7 in configuration word 12
is copied to the TPU OUT line. The TPU OUT line can be operated
using LTX functions (e.g. LTXdi1()).

8-9 Selection of channels for the threshold value switch

0.... Channel 1
1.... Channel 2
2.... Channel 3
3.... Channel 4

0-7 0

0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

284 AI294 Chapter 3

10.6 AI351

10.6.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID AI351

General Information

Model Number 7AI351.70

Short Description 2003 Analog Input Module, 1 input, +/- 10 V or 0 to 20 mA, 12 Bit + sign,
screw-in module, Order TB712 terminal block separately!

C-UL-US Listed Yes

B&R ID Code
Voltage $02
Potentiometer Operation $02
Current $03

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Number of Inputs 1 differential input

Input Signal Set using switch

Current 0 - 20 mA (also ±20 mA)
Voltage ±10 V

Potentiometer Voltage ±9.94 V at max. 10 mA

Digital Converter Resolution 12 Bit + sign

Differential Input Resistance

Voltage 20 MΩ
Current (load) 130 - 200 Ω

Measurement Precision at 25 °C Voltage Current

Offset Max. ±2.5 mV Max. ±5 µA
Gain Max. 0.1 % of final value
Linearity Error Max. 0.05 % of final value
Potentiometer Feed ±9.94 V +2.3 % / -1.7 % max.

Temperature Drift
±10 V Input ±0.014 %/°C ±125 µV/°C
0 - 20 mA Input ±0.012 %/°C ±0.4 µA/°C
Potentiometer Feed ±0.01 %/°C

B&R 2003 Modules AI351 285

 Module ID AI351

Power Consumption
Current/Voltage Measurement Max. 0.3 W
Potentiometer Operation Max. 0.7 W

Dynamic Characteristics

Input Filter
Cut-off Frequency 1 kHz
Attenuation 60 dB

Operating Characteristics

Electrical Isolation
Input - PCC No

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

10.6.2 Input Circuit Diagram

1)
Polyswitch™ is a registered trademark of RAYCHEM.

This is a polymer PTC protective element that functions as overload and short circuit protection. If an overload or short circuit occurs, the
protective element becomes highly resistive and breaks the flow of current. In order to activate the input again, the external supply must be
turned off and the error (overload or short circuit) must be removed. After a reset time > 10 seconds, the protective element returns to the
conductive state.

286 AI351 Chapter 3

10.6.3 Connections

Pin Assignment
1 +10 V potentiometer supply
2 + differental input
1 3 - differential input

1
2
4 GND

3
5 GND
4
5
6 7 6 -10 V potentiometer supply
7 Shield
8

8 n. c.
9 10 11 12

9 n. c.
12 10 n. c.
11 n. c.
TB712 12 n. c.

B&R 2003 Modules

10.6.4 Connection Examples

Chapter 3
The analog input module AI351 can be used for voltage and current measurement and also for potentiometer
operation. The following connection diagram shows how the module is to be wired.

Voltage and Current Measurement

Mode Switch

AI351

U I

Mode Switch

The module can be used for voltage or current measurement. The selection is made with the mode switch
on the back of the module. Place the switch in the respective position for the desired measurement:

U ..... Voltage measurement

I ..... Current measurement

B&R 2003 Modules AI351 287

Module Wiring

Measurement signal

1
+ Diff. Input

2
+ - Diff. Input

3
U

4
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aaaaaaaaaaaaaaaaaaaaaaaa
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5
aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
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- aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
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aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

6
aaaaaaaaaaaaaaaaaaaaaaaa
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bbbbbbbbbbbbbbbbbbbbbbbb
Shield

7
8
9 10 11 12
Potentiometer Operation

Mode Switch

For potentiometer operation: Set the switch in the U position!

Module Wiring

+10 V Pot Supply

1

+10 V + Diff. Input

2

- Diff. Input
3

GND
4

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5

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bbbbbbbbbbbbbbbbbbbbbbbb -10 V Pot Supply
6

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-10 V
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Shield
7
8

Potentiometer (>2 kΩ)

9 10 11 12

288 AI351 Chapter 3

10.6.5 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

B&R 2003 Modules

Data Access VD Data VD Module VD R W Description

Chapter 3
Type Type Chan.

Data word 0 INT16 Analog In 1 ● Analog input value

Configuration word 8 INT16 Transp. Out 16 ● Switching level for threshold value switch

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

10.6.6 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

The AI351 can transfer data in packed or unpacked format. The CAN objects look like this:

CAN ID Packed

Only one CAN object is returned.

1)
CAN ID Slot 1 Slot 2 Slot 3 Slot 4

542 ScrM 1L ScrM 1H ScrM 2L ScrM 2H ScrM 3L ScrM 3H ScrM 4L ScrM 4H

543 free

544 free

545 free

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1

B&R 2003 Modules AI351 289

CAN ID Unpacked

Four CAN objects are returned.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 ScrM 1L ScrM 1H Not used (2 byte objects)

2 543 ScrM 2L ScrM 2H Not used (2 byte objects)

3 544 ScrM 3L ScrM 3H Not used (2 byte objects)

4 545 ScrM 4L ScrM 4H Not used (2 byte objects)

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

10.6.7 Description of Data and Configuration Words

Data Word 0 (read)

16 bit standardized value representing either voltage or current. The selection is made using a switch on
the screw-in module.
When used as a potentiometer, the voltage value is read according to the potentiometer position.

Configuration Word 8 (write)

Value of the switching level for the threshold value switch (16 bit, signed).

290 AI351 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Converter value ready
1.... Wandlerwert noch nicht bereit
8 - 10 x .... Not defined, masked out

7 Comparator status
0.... if the value < threshold value
1.... if the value ≥ threshold value

2-6 x .... Not defined, masked out

1 0.... Input signal for current

1.... Input signal for voltage

0 0.... Voltage/current measurement

1.... Potentiometer operation

B&R 2003 Modules

x x x x x x x x x x x x

Chapter 3
15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description
8 - 15 Module code = $02....... Voltage measurement or potentiometer
operation
Module code = $03....... Current measurement
0-7 x ....Not defined, masked out
0 0 0 0 0 0 1 x x x x x x x x
15 8 7 0

B&R 2003 Modules AI351 291

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

15 0.... TPU operation switched off

1.... TPU operation switched on
To be able to use TPU operation, the module must be operated
on the CP Interface.
11 - 14 0

10 0.... Operation without threshold value switch

1.... Operation with threshold value switch
The time resolution of the comparator is 250 µs.
During operation with threshold value switch and TPU operation
switched on (Bit 15 = 1), the status of Bit 7 in configuration word 12
is copied to the TPU OUT line. The TPU OUT line can be operated
using LTX functions (e.g. LTXdi1()).
9 0

8 Output format for potentiometer operation

0...... -32767 to +32767
1............... 0 to +32767

1-7 0
0 0.... Voltage/current measurement
1.... Potentiometer operation

0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

292 AI351 Chapter 3

10.7 AI354

10.7.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID AI354

General Information

Model Number 7AI354.70

Short Description 2003 Analog Input Module, 4 inputs, +/- 10 V, 12 Bit + sign,
screw-in module, Order TB712 terminal block separately!

C-UL-US Listed Yes

B&R ID Code $04

Slot AF101 adapter module, CP interface

Static Characteristics
Module Type B&R 2003 screw-in module

Number of Inputs 4 differential inputs

Input Signal ±10 V

Digital Converter Resolution 12 Bit + sign

Differential Input Resistance 20 MΩ

Measurement Precision at 25 °C
Offset Max. ±2.5 mV
Gain Max. 0.1 % of final value
Linearity Error Max. 0.1 % of final value

Temperature Drift ±0.02 % / °C ±125 µV / °C

Power Consumption Max. 0.5 W

Dynamic Characteristics

Input Filter
Cut-off Frequency 225 Hz
Attenuation 60 dB

Operating Characteristics

Electrical Isolation
Input - PCC No
Input - Input No

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

B&R 2003 Modules AI354 293

10.7.2 Input Circuit Diagram

10.7.3 Connections

Pin Assignment
1 + differential input 1
2 - differential input 1
1 3 Shield
1
2

4 + differential input 2
3

5 - differential input 2
4
5

6 Shield
6 7

7 + differential input 3
8

8 - differential input 3
9 10 11 12

9 Shield
12 10 + differential input 4
11 - differential input 4
TB712 12 Shield

294 AI354 Chapter 3

10.7.4 Connection Example

Measurement signal

+ + Diff. Input 1

1
U
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- Diff. Input 1

2
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-
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Shield

3
+ Diff. Input 2

4
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5
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Shield

6
7
8
9 10 11 12
10.7.5 Variable Declaration

B&R 2003 Modules

Chapter 3
The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT16 Analog In 1 ● Analog input value channel 1

Data word 1 INT16 Analog In 2 ● Analog input value channel 2

Data word 2 INT16 Analog In 3 ● Analog input value channel 3

Data word 3 INT16 Analog In 4 ● Analog input value channel 4

Configuration word 8 INT16 Transp. Out 16 ● Switching level for threshold value switch
Configuration word 12 WORD Transp. In 24 ● Module status
Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules AI354 295

10.7.6 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the AI354. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four AI354 modules, the CAN object has the following structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

2 543 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

3 544 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

4 545 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

10.7.7 Description of Data and Configuration Words

Data word 0, 1, 2, 3 (read)

16 bit standardized voltage value.

Configuration Word 8 (write)

Value of the switching level for the threshold value switch (16 bit, signed).

296 AI354 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Converter values ready
1.... Converter values not yet ready
8 - 10 x .... Not defined, masked out

7 Comparator status
0.... if the value < threshold value
1.... if the value ≥ threshold value

4-6 x .... Not defined, masked out

3 0.... Channel 4: No error

1.... Channel 4: Error present
2 0.... Channel 3: No error
1.... Channel 3: Error present

B&R 2003 Modules

1 0.... Channel 2: No error
1.... Channel 2: Error present

Chapter 3
0 0.... Channel 1: No error
1.... Channel 1: Error present

x x x x x x x x x x

15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $04

0-7 x ....Not defined, masked out

0 0 0 0 0 1 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules AI354 297

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

15 0.... TPU operation switched off

1.... TPU operation switched on
To be able to use TPU operation, the module must be operated
on the CP Interface.

11 - 14 0
10 0.... Operation without threshold value switch
1.... Operation with threshold value switch
The time resolution of the comparator is 375 µs.
During operation with threshold value switch and TPU operation
switched on (Bit 15 = 1), the status of Bit 7 in configuration word 12
is copied to the TPU OUT line. The TPU OUT line can be operated
using LTX functions (e.g. LTXdi1()).
8-9 Selection of channels for the threshold value switch
0.... Channel 1
1.... Channel 2
2.... Channel 3
3.... Channel 4
0-7 0

0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

298 AI354 Chapter 3

10.8 AI774

10.8.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID AI774

General Information

Model Number 7AI774.70

Short Description 2003 Analog Input Module, 4 inputs, 0 to 20 mA, 12 Bit,

screw-in module, Order TB712 terminal block separately!

C-UL-US Listed Yes

B&R ID Code $06

Slot AF101 adapter module, CP interface

Static Characteristics
Module Type B&R 2003 screw-in module

Number of Inputs 4 differential inputs

Input Signal 0 - 20 mA (also ±20 mA)

Digital Converter Resolution 12 Bit

Differential Input Resistance (load) 130 - 200 Ω

Measurement Precision at 25 °C
Offset Max. ±5 µA
Gain Max. 0.05 % of final value
Linearity Error Max. 0.05 % of final value

Temperature Drift ±0.012 %/°C ±0.4 µA/°C

Power Consumption Max. 0.4 W

Dynamic Characteristics

Input Filter
Cut-off Frequency 225 Hz
Attenuation 60 dB

Operating Characteristics

Electrical Isolation
Input - PCC No
Input - Input No

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

B&R 2003 Modules AI774 299

10.8.2 Input Circuit Diagram

10.8.3 Connections

Pin Assignment
1 + differential input 1
2 - differential input 1
1 3 Shield
1
2

4 + differential input 2
3

5 - differential input 2
4
5

6 Shield
6 7

7 + differential input 3
8

8 - differential input 3
9 10 11 12

9 Shield

12 10 + differential input 4
11 - differential input 4
TB712 12 Shield

300 AI774 Chapter 3

10.8.4 Connection Example

Measurement signal

+ + Diff. Input 1

1
I
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
- Diff. Input 1

2
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
-
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield

3
+ Diff. Input 2

4
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb - Diff. Input 2

5
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield

6
7
8
9 10 11 12
10.8.5 Variable Declaration

B&R 2003 Modules

Chapter 3
The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT16 Analog In 1 ● Analog input value channel 1

Data word 1 INT16 Analog In 2 ● Analog input value channel 2

Data word 2 INT16 Analog In 3 ● Analog input value channel 3

Data word 3 INT16 Analog In 4 ● Analog input value channel 4

Configuration word 8 INT16 Transp. Out 16 ● Switching level for threshold value switch
Configuration word 12 WORD Transp. In 24 ● Module status
Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules AI774 301

10.8.6 Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the AI774. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four AI774 modules, the CAN object has the following structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

2 543 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

3 544 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

4 545 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

10.8.7 Description of Data and Configuration Words

Data word 0, 1, 2, 3 (read)

16 bit standardized current value.

Configuration Word 8 (write)

Value of the switching level for the threshold value switch (16 bit, signed).

302 AI774 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Converter values ready
1.... Converter values not yet ready
8 - 10 x .... Not defined, masked out

7 Comparator status
0.... if the value < threshold value
1.... if the value ≥ threshold value

4-6 x .... Not defined, masked out

3 0.... Channel 4: No error

1.... Channel 4: Error present

2 0.... Channel 3: No error

1.... Channel 3: Error present

B&R 2003 Modules

1 0.... Channel 2: No error
1.... Channel 2: Error present

Chapter 3
0 0.... Channel 1: No error
1.... Channel 1: Error present

x x x x x x x x x x

15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $06

0-7 x ....Not defined, masked out

0 0 0 0 0 1 1 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules AI774 303

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

15 0.... TPU operation switched off

1.... TPU operation switched on
To be able to use TPU operation, the module must be operated
on the CP Interface.

11 - 14 0
10 0.... Operation without threshold value switch
1.... Operation with threshold value switch
The time resolution of the comparator is 375 µs.
During operation with threshold value switch and TPU operation
switched on (Bit 15 = 1), the status of Bit 7 in configuration word 12
is copied to the TPU OUT line. The TPU OUT line can be operated
using LTX functions (e.g. LTXdi1()).
8-9 Selection of channels for the threshold value switch
0.... Channel 1
1.... Channel 2
2.... Channel 3
3.... Channel 4

0-7 0

0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

304 AI774 Chapter 3

11 ANALOG OUTPUT MODULES
11.1 GENERAL INFORMATION

Analog output modules convert PCC internal number values into voltages or currents. The numbers to be
converted must be in 16 bit 2s complement. The conversion takes place independent of the resolution of
the output module used.

Each analog output module is assigned a status LED on the analog adapter module or CP interface. This
LED indicates that the output module is working.

11.2 OVERVIEW

Module AO352

Number of Outputs 2

Output Signal ±10 V or 0 - 20 mA

B&R 2003 Modules

Digital Converter Resolution 12 Bit

Chapter 3
11.3 PROGRAMMING

The analog outputs are accessed directly in the application program using a variable name. The relationship
between the output channel for a certain module and the variable name is defined in the variable declaration.
The declaration is made identically for each programming language using a table editor.

B&R 2003 Modules Analog Output Modules 305

11.4 AO352

11.4.1 Technical Data

Module ID AO352

General Information

Model Number 7AO352.70

Short Description 2003 Analog Output Module, 2 outputs, +/- 10 V or 0 -20 mA, 12 Bit,
screw-in module, Order TB712 terminal block separately!

C-UL-US Listed Yes

B&R ID Code $0E

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Number of Outputs 2

Output Signal Can be set for each channel using a switch

Current 0 - 20 mA
Voltage ±10 V

Digital Converter Resolution 12 Bit

Short Circuit Protection Yes

Precision at 25 °C Voltage Current

Offset Max. ±5.2 mV Max. ±5.3 µA
Gain Max. 0.3 % Max. ±0.06 %
Linearity Error Max. ±0.13 % of final value Max. ±0.13 % of final value

Power Consumption Max. 1.2 W

Current Output

Load Max. 400 Ω

LSB Value (12 Bit) 5.16 µA ±2.4 % / LSB

Temperature Drift ±122 ppm / °C ±4 µA / °C

306 AO352 Chapter 3

 Module ID AO352

Voltage Output

Load Max. 10 mA

LSB Value (12 Bit) 5.15 mV ±0.8 % / LSB

Temperature Drift ±60 ppm / °C ±1.4 mV / °C

Operating Characteristics

Electrical Isolation
Output - PCC No
Output - Output No

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

11.4.2 Output Circuit Diagram

B&R 2003 Modules

Chapter 3
1)
Polyswitch™ is a registered trademark of RAYCHEM.

This is a polymer PTC protective element that functions as overload and short circuit protection. If an overload or short circuit occurs, the
protective element becomes highly resistive and breaks the flow of current. In order to activate the output again, the external supply must
be turned off and the error (overload or short circuit) must be removed. After a reset time > 10 seconds, the protective element returns to
the conductive state.

B&R 2003 Modules AO352 307

11.4.3 Connections

Pin Assignment
1 Output 1
2 GND
1 3 Shield

1
2
4 Output 2

3
5 GND

4
5
6 Shield

6 7
7 n. c.

8
8 n. c.
9 10 11 12
9 n. c.

12 10 n. c.
11 n. c.
TB712 12 n. c.

11.4.4 Connection Example

The analog output module AO352 has two analog outputs which may be used as either voltage or current
output. Mixed operation is also possible.

Mode Switch

AO352
1 2

U I U I

Mode Switch Output 2

Mode Switch Output 1

An output can be used as either voltage or current output. The selection is made with the respective mode
switch on the back of the module. Place the switch in the respective position for the desired signal:

U ..... Voltage output

I ..... Current output

308 AO352 Chapter 3

Module Wiring

In the following example, output 1 is operated as voltage output and output 2 as current output.

Load

Output 1

1
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
GND

2
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield

3
Output 2

4
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb GND

5
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb Shield

6
7
8
Load

9 10 11 12

B&R 2003 Modules

Chapter 3
11.4.5 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT16 Analog Out 1 ● Analog output value channel 1

Data word 1 INT16 Analog Out 2 ● Analog output value channel 2

Data word 2 INT16 Analog Out 3 ● Analog output value channel 3 (switching channel for
channel 1)
Data word 3 INT16 Analog Out 4 ● Analog output value channel 4 (switching channel for
channel 2)
Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration (optional)

B&R 2003 Modules AO352 309

11.4.6 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the AO352. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four AO352 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 1054 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

2 1055 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

3 1056 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

4 1057 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

1)
CAN ID = 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

11.4.7 Description of Data and Configuration Words

Data Words 0 and 1 (write)

The 16 bit standardized values for voltage or current are written to the module output channel.

Data Words 2 and 3 (write)

These data words are only used if TPU operation is switched on (see Configuration Word 14). The module
must be operated on the CP interface.
For active change over operation, these data words are used to define the standardized 16 bit values for
voltage or current for logical channels 3 and 4. Depending on the status of the TPU-IN line, either the value
from channel 1 or 3 is written to physical channel 1 or the value from channel 2 or 4 is written to physical channel
2 of the module.

Level of the TPU-IN Physical channel 1 Physical channel 2

connection
1 Log. channel 1 Log. channel 2

0 Log. channel 3 Log. channel 4

310 AO352 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description

2 - 15 x .... Not defined, masked out

1 0.... Channel 1: Current output
1.... Channel 1: Voltage output
0 0.... Channel 2: Current output
1.... Channel 2: Voltage output

x x x x x x x x x x x x x x

15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

B&R 2003 Modules

Bit Description

Chapter 3
8 - 15 Module code = $0E

0-7 x ....Not defined, masked out

0 0 0 0 1 1 1 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

15 0.... TPU operation switched off

1.... TPU operation switched on
To be able to use TPU operation, the module must be operated
on the CP Interface.

13 - 14 0
12 Only if bit 15 = 1
0.... Normal operation
1.... Switching operation
In ^this type of operation, logical channels 1 and 3 or 2 and 4
are switched between depending on the TPU-IN line (also see
data words 2 and 3). The TPU IN line can be operated using
LTX functions (e.g. LTXdo0()).
Before switching, channels 3 and 4 must be set to a correct
value by writing to data words 2 and 3. If this does not
happen, the data from channel 1 is copied to channel 3 or the
data from channel 2 is copied to channel 4 before switching
the first time.
The data is no longer copied when the channel is switched
until the next time the PCC is turned on.
0 - 11 0

0 0 0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

B&R 2003 Modules AO352 311

12 TEMPERATURE MODULES
12.1 GENERAL INFORMATION

Temperature measurement values are converted into number values which can be processed in the PCC
using temperature modules.

In the PCC, the number values are always in 16 bit 2s complement regardless of the resolution. In this way,
the resolution (number of steps) of the temperature module does not have to be considered when creating
the application program.

For temperature measurements, the temperature module returns the measured value in 0.1 ° steps. That
means a result of 750 corresponds to 75.0 °C. The data format 0.1 °C is supported by all temperature modules
as standard. Additionally, a higher resolution can also be set for some temperature modules.

Each temperature module is assigned a status LED on the analog adapter module or CP interface. This LED
indicates that the temperature module is working.

12.2 OVERVIEW

Module AT324 AT352 AT664

Number of Channels 4 2 4

Measurement Range -200 to +850 °C -200 to +850 °C -270 to +1372 °C

Sensor KTY10-6 PT100 FeCuNi, Type J

KTY84-130 NiCrNi, Type K
PT100 PtRhPt, Type S
PT1000

Raw Value Evaluation Yes No Yes

Digital Converter Resolution 16 Bit 16 Bit 16 Bit

12.3 PROGRAMMING

The analog data points are accessed directly in the application program using a variable name. The
relationship between the channel for a certain module and the variable name is defined in the variable
declaration. The declaration is made identically for each programming language using a table editor.

312 Temperature Modules Chapter 3

12.4 AT324

12.4.1 General Information

The screw-in module AT324 is equipped with four input channels. It is used to evaluate measured values for
PT100, PT1000, KTY10-6 and KTY84-130 temperature sensors.
The module is installed on the adapter module or on the CP interface.

12.4.2 Technical Data

B&R 2003 Modules

Chapter 3
Module ID AT324

General Information
Model Number 7AT324.70

Short Description 2003 Analog Input Module, 4 temperature inputs (2-line connection),
KTY10 -50 to +150 degrees C, KTY84 -40 to +300 degrees C, PT100 -200 to +850 degrees C,
PT1000 -200 to +850 degrees C, screw-in module, Order terminal block TB712 separately!

C-UL-US Listed in preparation

B&R ID Code $3E

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Input Type Resistance measurement using 2-line procedure with constant current feed

Number of Inputs 4

Sensor
KTY10-6 -50 °C to +150 °C
KTY84-130 -40 °C to +300 °C
PT100 -200 °C to +850 °C
PT1000 -200 °C to +850 °C

Wiring 2-line

Conversion Method Sigma Delta

Digital Converter Resolution 16 Bit

B&R 2003 Modules AT324 313

 Module ID AT324

Input Amplification Can be set for each channel using software

G=1 KTY10-6, KTY84-130, PT1000
G=2 PT100

Reference 5 kΩ ±0.1 %

Measurement Current 200 µA ±5.22 %

Resistance Measurement Range

at G = 1 1 to 4995 Ω
at G = 2 1 to 2497.5 Ω

Conversion Time per Channel

Input Amplification
Uniform 60 ms
Different 190 ms

Resolution in °C
KTY10-6 1 LSB = 0.01 °C
KTY84-130 1 LSB = 0.03 °C
PT100 1 LSB = 0.15 °C
PT1000 1 LSB = 0.03 °C

Resolution in Ω
at G = 1 1 LSB = 76.29395 mΩ ±0.1 %
at G = 2 1 LSB = 38.14697 mΩ ±0.1 %

Data Format INT16

Standardization Can be set per channel

KTY10-6 -50.00 °C to +150.00 °C
KTY84-130 -40.00 °C to +300.00 °C
PT100 -200.0 °C to +850.0 °C
PT1000 -200.0 °C to +850.0 °C

Value range for resistance measurement Can be set per channel

at G = 1 0.1 Ω to 5000.0 Ω
at G = 2 0.05 Ω to 5000.0 Ω

Measurement Range Monitoring

Open Inputs $7FFF
Broken Line $7FFF
Range Exceeded (neg.) 1) $8001
Range Exceeded (pos.) $7FFF
General Error $8000

Maximum Error at 25 °C ±0.1 % 2)

Offset Drift ±2.5 mΩ / °C 2)

Gain Drift ±30 ppm / °C 3)

Maximum Error over Entire ±0.2 % 2)

Temperature Range

Repeat Precision ±0.01 % 2)

Common Mode Rejection

DC >90 dB
50 Hz >150 dB

Cross-talk between Channels Typ. 100 dB

Power Consumption Max. 0.1 W

Dynamic Characteristics

Input Filter
Type Lowpass 1st Order
Cut-off Frequency 150 Hz

314 AT324 Chapter 3

 Module ID AT324

Operating Characteristics

Electrical Isolation
Input - PCC No
Input - Input No

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

1)
Only when measuring with a temperature sensor.
2)
Referring the measurement range.
3)
Referring the current measurement value.

12.4.3 Input Circuit Diagram

200 µA

B&R 2003 Modules

Chapter 3
1 Channel 1 A/D Local
Converter Processor
Port
4 Channel 2

7 Channel 3

10 Channel 4

2 Channel 1
PTC
5 Channel 2

8 Channel 3

11 Channel 4

B&R 2003 Modules AT324 315

12.4.4 Connections

Assignment
1 + channel 1
2 - channel 1
1

1
3 Shield

2
3
4 + channel 2

4
5 - channel 2

5
6 7
6 Shield
7 + channel 3

8
9 10 11 12
8 - channel 3
9 Shield
12
10 + channel 4
11 - channel 4
TB712
12 Shield

12.4.5 Connection Example

Sensor

1
+ Channel 1
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
- Channel 1
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
2

bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
3

+ Channel 2
4

- Channel 2
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
5

bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
Shield
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
6
7
8
9 10 11 12

12.4.6 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

316 AT324 Chapter 3

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 INT16 Analog In 1 ● Analog input value channel 1
Data word 1 INT16 Analog In 2 ● Analog input value channel 2
Data word 2 INT16 Analog In 3 ● Analog input value channel 3
Data word 3 INT16 Analog In 4 ● Analog input value channel 4
Configuration word 12 WORD Transp. In 24 ● Module status
Configuration word 14 WORD Transp. In 28 ● Module type
WORD Transp. Out 28 ● Module configuration

12.4.7 Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".

B&R 2003 Modules

The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Chapter 3
Data cannot be packed on the AT324. Therefore one CAN object is transferred per screw-in module. If an
adapter module AF101 is equipped with a four AT324 modules, the CAN object has the following structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

2 543 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

3 544 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

4 545 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules AT324 317

12.4.8 Description of Data and Configuration Words

Data word 0, 1, 2, 3 (read)

16 bit standardized values for temperature or resistance.

Configuration word 12 (read)

Configuration word 12 contains the module status.

Bit Description
12 - 15 x .... Not defined, masked out
11 0 .... Converter value 1 ready
1 .... Converter value 1 not yet ready
10 0 .... Converter value 2 ready
1 .... Converter value 2 not yet ready
9 0 .... Converter value 3 ready
1 .... Converter value 3 not yet ready
8 0 .... Converter value 4 ready
1 .... Converter value 4 not yet ready
4-7 x .... Not defined, masked out
0-3 Channel currently being converted
1 .... Channel 1
2 .... Channel 2
3 .... Channel 3
4 .... Channel 4
x x x x x x x x
15 8 7 0

Configuration word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $3E

0-7 x ....Not defined, masked out

0 0 1 1 1 1 1 0 x x x x x x x x

15 8 7 0

318 AT324 Chapter 3

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description
14 - 15 0
12 - 13 Select the hardware filter time
0 .... 50 Hz (default)
1 .... 60 Hz
9 - 11 Definition of the input signal for channel 4
0 .... KTY10-6
1 .... KTY84-130
2 .... PT100
3 .... PT1000
4 .... Reserved (value = $8000)
5 .... Resistance measurement 1 to 4995 Ω
6 .... Resistance measurement 1 to 2497.5 Ω
7 .... Input switched off – setting for channels not being used (value =
$8000)
6-8 Definition of the input signal for channel 3

B&R 2003 Modules

0 .... KTY10-6
1 .... KTY84-130
2 .... PT100

Chapter 3
3 .... PT1000
4 .... Reserved (value = $8000)
5 .... Resistance measurement 1 to 4995 Ω
6 .... Resistance measurement 1 to 2497.5 Ω
7 .... Input switched off – setting for channels not being used (value =
$8000)
3-5 Definition of the input signal for channel 2
0 .... KTY10-6
1 .... KTY84-130
2 .... PT100
3 .... PT1000
4 .... Reserved (value = $8000)
5 .... Resistance measurement 1 to 4995 Ω
6 .... Resistance measurement 1 to 2497.5 Ω
7 .... Input switched off – setting for channels not being used (value =
$8000)
0-2 Definition of the input signal for channel 1
0 .... KTY10-6
1 .... KTY84-130
2 .... PT100
3 .... PT1000
4 .... Reserved (value = $8000)
5 .... Resistance measurement 1 to 4995 Ω
6 .... Resistance measurement 1 to 2497.5 Ω
7 .... Input switched off – setting for channels not being used (value =
$8000)
0 0
15 8 7 0

B&R 2003 Modules AT324 319

12.5 AT352

12.5.1 Technical Data

Module ID AT352

General Information

Model Number 7AT352.70

Short Description 2003 Analog Input Module, 2 inputs, PT100 (3-line connection),
-200 to +850 °C, screw-in module, Order TB712 terminal block separately!

C-UL-US Listed in preparation

B&R ID Code $1A

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Number of Inputs 2

Sensor
Type PT100
Connection 3-line connection
Standard IEC/EN 60751

Digital Converter Resolution 16 Bit

Measurement Range 2 ranges can be set

Small Measurement Range -200.00 to +327,67 °C
Resolution 0.01 °C
Large Measurement Range -200.0 to +850.0 °C
Resolution 0.1 °C

Measurement Update 20 or 16.67 ms

Maximum Temperature Measurement ±(0.17 + 0.0005 * T F) [°C]

Error at 25 °C TF ... Sensor Temperature in °C

Maximum Temperature Measurement ±(0.01 + 0.000031 * TF) [°C]

Error because of drift per °C TF ... Sensor Temperature in °C

Conversion of Measurement Values to Automatic in the module

Temperature Values

Measurement Current 2 mA

Power Consumption Max. 0.4 W

320 AT352 Chapter 3

 Module ID AT352

Operating Characteristics

Electrical Isolation
Input - PCC No
Input - Input No

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

12.5.2 Input Circuit Diagram

B&R 2003 Modules

Chapter 3

B&R 2003 Modules AT352 321

12.5.3 Connections

Pin Assignment
1 + Sensor 1
2 - Sense 1
1 3 - Sensor 1

1
2
4 Shield

3
5 + Sensor 2

4
5
6 - Sense 2

6 7
7 - Sensor 2

8
8 Shield
9 10 11 12
9 - Sense 1
12 10 - Sense 2
11 n. c.
TB712 12 n. c.

12.5.4 Connection Examples

3-Line Connection

Diagram Connection Example

+ Sensor 1
+ Sensor 1

1
- Sense 1
1

2
+ Sensor 1 - Sensor 1

3
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
Shield
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb

4
+ Sensor 2
5

- Sense 2
6

- Sense 1 - Sensor 2
7

aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
2
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
Shield
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
- Sense 1 - Sensor 1
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
8
9 10 11 12

3 - Sensor 1

4
Shield

322 AT352 Chapter 3

2-Line Connection

Diagram Connection Example

1
+ Sensor 1

2
- Sense 1

3
- Sensor 1 + Sensor 1
+ Sensor 1

1
4 - Sense 1

2
Shield
- Sensor 1

3
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
5 aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
Shield

4
+ Sensor 2
+ Sensor 2

5
- Sense 2

6
6 - Sensor 1 - Sensor 2

7
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
- Sense 2 bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
Shield

B&R 2003 Modules

7 - Sense 1

9 10 11 12
- Sensor 2
- Sense 2

Chapter 3
8
Shield

9
- Sense 1

10
- Sense 2

12.5.5 Variable Declaration

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

B&R 2003 Modules AT352 323

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT16 Analog In 1 ● Temperature channel 1

Data word 1 INT16 Analog In 2 ● Temperature channel 2

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

12.5.6 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the AT352. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four AT352 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

2 543 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

3 544 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

4 545 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used (4 byte objects)

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

12.5.7 Description of Data and Configuration Words

Data Words 0 and 1 (read)

Reads the temperature using the set resolution.

Chan. Resolution Configuration word 14 Value range

1 0.1 °C $0x00 -200.0 °C to +850.0 °C corresponds to -2000 to +8500

0.01 °C $0x01 -200.00 °C to +327.67 °C corresponds to -20000 to +32767

2 0.1 °C $0x00 -200.0 °C to +850.0 °C corresponds to -2000 to +8500

0.01 °C $0x02 -200.00 °C to +327.67 °C corresponds to -20000 to +32767

324 AT352 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Converter value 1 ready
1.... Converter value 1 not yet ready

10 0.... Converter value 2 ready

1.... Converter value 2 not yet ready
2-9 x .... Not defined, masked out

1 0.... Resolution of channel 2 is 0.1 °C

1.... Resolution of channel 2 is 0.01 °C

0 0.... Resolution of channel 1 is 0.1 °C

1.... Resolution of channel 1 is 0.01 °C

x x x x x x x x x x x x

15 8 7 0

B&R 2003 Modules

Chapter 3
Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $1A

0-7 x .... Not defined, masked out

0 0 0 1 1 0 1 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

13 - 15 0

12 Selection of the hardware filter time for channel 1 and channel 2

0.... 50 Hz (default)
1.... 60 Hz

2 - 11 0
1 Resolution of channel 2
0.... 0.1 °C (default)
1.... 0.01 °C
0 Resolution of channel 1
0.... 0.1 °C (default)
1.... 0.01 °C

0 0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0

B&R 2003 Modules AT352 325

12.6 AT664

12.6.1 Technical Data

Module ID AT664

General Information

Model Number 7AT664.70

Short Description 2003 Analog Input Module, 4 inputs, thermocouples,

-270 to +1372 °C, screw-in module, Order TB712 terminal block separately!

C-UL-US Listed Yes

B&R ID Code $0C

Slot AF101 adapter module, CP interface

Static Characteristics

Module Type B&R 2003 screw-in module

Number of Inputs 4

Sensor Thermocouples

Digital Converter Resolution 16 Bit

Measurement Range
Sensor Temperature Depending on sensor type 1)

FeCuNi: Type J -210 to +1200 °C

NiCrNi: Type K -270 to +1372 °C
PtRhPt: Type S -50 to +1768 °C
Terminal Temperature -55 to +125 °C
Raw Value ±65534 µV

Resolution
Sensor Temperature Output 0.1 °C / LSB
Sensor Temperature Output 0.1 °C / LSB
Raw Value Output 2 µV / LSB

Terminal Temperature Compensation Yes 1)

Maximum Error at 25 °C ±(50 µV + 0.001 * UTH) [µV]

UTH ... Thermal Voltage in µV

Maximum Temperature Drift per °C ±(1.7 µV +0.0001 * UTH) [µV]

UTH ... Thermal Voltage in µV

Terminal Temperature Error ±1 °C after 10 min

326 AT664 Chapter 3

 Module ID AT664

Conversion of Measurement Values to Automatic in the module

Temperature Values

Power Consumption Max. 0.4 W

Operating Characteristics

Electrical Isolation
Input - PCC No
Input - Input No

Mechanical Properties

Dimensions B&R 2003 screw-in module

1)
Can be configured using software.

12.6.2 General Information

The AT664 is a 4-channel temperature module. The module is activated by selecting a sensor type in
configuration word 14. The selected sensor type is used for all channels.

B&R 2003 Modules

Chapter 3
12.6.3 Operating Modes

Type of operation Description

Sensor type: J, K, S Temperature range - see "Technical Data"

with terminal temperature compensation

Raw value Voltage range ±65.534 mV

quantized to 2 µV
without terminal temperature compensation

12.6.4 Special Functions

• The terminal temperature can be entered for each channel for terminal temperature compensation.
• Unnecessary channels can be switched off, thereby reducing the refresh time. The time saving per
channel depends on the hardware filter time:

Hardware filter time Saving per channel

50 Hz 60 ms

60 Hz 50 ms

B&R 2003 Modules AT664 327

12.6.5 Input Circuit Diagram

12.6.6 Connections

Pin Assignment
1 + channel 1
2 - channel 1
1 3 Shield
1
2

4 + channel 2
3

5 - channel 2
4
5

6 Shield
6 7

7 + channel 3
8

8 - channel 3
9 10 11 12

9 Shield
12 10 + channel 4
11 - channel 4
TB712 12 Shield

328 AT664 Chapter 3

12.6.7 Connection Example

Temperature sensor

+ + Channel 1

1
bbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
- Channel 1

2
aaaaaaaaaaaaaaa
bbbbbbbbbbbbbbb aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
- aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb
Shield

3
+ Channel 2

4
- Channel 2

5
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
Shield

6
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

7
aaaaaaaaaaaaaaaaaaaaaaaa
bbbbbbbbbbbbbbbbbbbbbbbb

8
9 10 11 12
12.6.8 Variable Declaration

B&R 2003 Modules

The variable declaration is valid for the following controllers:

Chapter 3
• 2003 PCC CPU
• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

B&R 2003 Modules AT664 329

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT16 Analog In 1 ● Temperature channel 1

Data word 1 INT16 Analog In 2 ● Temperature channel 2

Data word 2 INT16 Analog In 3 ● Temperature channel 3

Data word 3 INT16 Analog In 4 ● Temperature channel 4

Configuration word 8 INT16 Transp. In 16 ● Terminal temp. of channel 1 for external conversion

INT16 Transp. Out 16 ● Terminal temp. of channel 1 for external ref. junction

Configuration word 9 INT16 Transp. In 18 ● Terminal temp. of channel 2 for external conversion
INT16 Transp. Out 18 ● Terminal temp. of channel 2 for external ref. junction

Configuration word 10 INT16 Transp. In 20 ● Terminal temp. of channel 3 for external conversion

INT16 Transp. Out 20 ● Terminal temp. of channel 3 for external ref. junction
Configuration word 11 INT16 Transp. In 22 ● Terminal temp. of channel 4 for external conversion

INT16 Transp. Out 22 ● Terminal temp. of channel 4 for external ref. junction
Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

12.6.9 Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the AT664. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four AT664 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

2 543 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

3 544 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

4 545 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Chan. 4L Chan. 4H

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

330 AT664 Chapter 3

12.6.10 Description of Data and Configuration Words

Data word 0, 1, 2, 3 (read)

The temperature value or a 16 bit standardized raw value is read depending on the sensor type selected.

Configuration Word 8, 9, 10, 11 (read)

Reads the terminal temperature to externally calculate the temperature from the the raw value.

Configuration Word 8, 9, 10, 11 (write)

The terminal temperature can be set for installation of a reference junction. Operation together with a
reference junction is only possible for all four channels.
Switching occurs as soon as one of the configuration words 8 - 11 is written to.
Switching back occurs by writing $80xx to one of the configuration words 8 - 11.

B&R 2003 Modules

Configuration Word 12 (read)

Chapter 3
Configuration word 12 contains the module status.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Converter value 1 ready
1.... Converter value 1 not yet ready
10 0.... Converter value 2 ready
1.... Converter value 2 not yet ready

9 0.... Converter value 3 ready

1.... Converter value 3 not yet ready

8 0.... Converter value 4 ready

1.... Converter value 4 not yet ready

3-7 x .... Not defined, masked out

0-2 Channel currently being converted
1.... Channel 1
2.... Channel 2
3.... Channel 3
4.... Channel 4

x x x x x x x x x

15 8 7 0

B&R 2003 Modules AT664 331

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $0C

0-7 x .... Not defined, masked out

0 0 0 0 1 1 0 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

14 - 15 0
12 - 13 Select the hardware filter time
0.... 50 Hz (default)
1.... 60 Hz

11 0.... Channel 4 is switched on (default)

1.... Channel 4 is switched off

10 0.... Channel 3 is switched on (default)

1.... Channel 3 is switched off

9 0.... Channel 2 is switched on (default)

1.... Channel 2 is switched off
8 0.... Channel 1 is switched on (default)
1.... Channel 1 is switched off

3-7 0
0-2 Selection of the sensor type or the value to be given for all four
channels.
0.... No conversion (default)
1.... Sensor type J
2.... Sensor type K
3.... Sensor type S
7.... Raw value without linearization and terminal temperature
compensation
(Quantization 2 µV with a theoretical measurement range of
±65 mV)

0 0 0 0 0 0 0

15 8 7 0

332 AT664 Chapter 3

13 OTHER MODULES
13.1 GENERAL INFORMATION

The group "Other Modules" includes combination modules and B&R 2003 expansions for the CP476.

13.2 COMBINATION MODULES

The combination module is a combination of digital input and output modules, as well as analog input and
output modules. The status of the digital inputs and outputs are indicated with status LEDs.

Overview

Module CM211 CM411

Digital Inputs

Number of Inputs 8 3

B&R 2003 Modules

Nominal Input Voltage 24 VDC 24 VDC

Chapter 3
Digital Outputs

Number of Outputs 8 2

Switching Voltage 24 VDC 24 VDC

Continuous Current Max. 0.5 A Max. 0.5 A

Analog Inputs

Number of Inputs 2 3

Input Signal ±10 V / 0 -20 mA ±10 V

Resolution 12 Bit 16 Bit

Analog Outputs

Number of Outputs 2 3

Output Signal ±10 V ±10 V

Resolution 12 Bit 16 Bit

13.3 B&R 2003 EXPANSIONS FOR THE CP476

The CP476 now provides another expansion possibility on the far left of the system bus. Special expansion
modules can be installed here.

Overview

Module Description

ME010 2003 expansion for the CP476, 1 PCMCIA slot

ME020 2003 expansion for the CP476, 1 PCMCIA slot, 1 slot interface module inserts

B&R 2003 Modules Other Modules 333

13.4 CM211

13.4.1 Technical Data

Terminal block is not included in the delivery.

Module ID CM211

General Information

Model Number 7CM211.7

Short Description 2003 Combination Module, 8 inputs, 24 VDC, 4 ms, sink, 3 one-channel or
2 two-channel counters or 2 incremental encoders, 20 kHz, 8 transistor outputs, 24 VDC,
0.5 A, comparator function, short-circuit protection, 2 inputs, +/- 10 V / 0-20 mA, 12 Bit,
2 outputs, +/- 10 V, 12 Bit, Order TB718 terminal blocks separately!

C-UL-US Listed in preparation

B&R ID Code $C3

Module Type B&R 2003 I/O Module

Amount

CP430, EX270 2
EX470, EX770

CP470, CP770 4
CP474, CP476, CP774
EX477, EX777

External Voltage Monitoring Yes (LED: OK), supply voltage >18 V

Electrical Isolation
Analog - PCC No
Digital - PCC No
Digital - Analog No

Power Consumption Max. 1.5 W

Analog Inputs

Input Type Asymmetric

Number of Inputs 2

Input Signal - Nominal ±10 V / 0 - 20 mA, can be set for each channel with switch

334 CM211 Chapter 3

 Module ID CM211

Maximum Continuous Overload ±15 V / ±50 mA

(without damage)

Digital Converter Resolution 12 Bit

Data Format Delivered to 16 Bit 2s complement

Application Program

Value Range
Voltage
+10 V $7FFF
0V $0000
-10 V $8001
Current
20 mA $7FFF
0 mA $0000

Measurement Range Monitoring

Open Inputs $7FFF
Range Exceeded (neg.)
Voltage $8001
Current $0000
Range Exceeded (pos.) $7FFF
General Error $8000

B&R 2003 Modules

Conversion Method Successive approximation

Chapter 3
Conversion Time <4 ms for both channels, the channels are converted cyclically

Input Impedance in Signal Range ≥1 MΩ

for Voltage Input

Input Impedance in Signal Range for 95 - 200 Ω

Current Input (load)

Measurement Precision at 25 °C Voltage Current

Offset ±2.62 mV ±5.29 µA

Gain ±0.2 % 1) ±0.2 % 1)

Offset Drift ±2 mV/°C ±5.9 µA/°C

Gain Drift ±65 ppm/°C 2) ±75 ppm/°C 2)

LSB Value (12 Bit) ±2.53 mV ±0.09 mV ±5.09 µA ±0.2 µA

Non-linearity ±2 LSB

Input Filter Cut-off Frequency 500 Hz

Analog Outputs

Number of Outputs 2

Output Signal ±10 V

Load Max. ±10 mA

Digital Converter Resolution 12 Bit

Data Format in Application Program 16 Bit 2s complement

Value Range
+10 V $7FFF
0V $0000
-10 V $8001

Conversion Time <4 ms for both channels

Load Impedance ≥1 kΩ

Measurement Precision at 25 °C
Offset ±5.14 mV
Gain ±0.2 % 1)

Offset Drift ±1.2 mV/°C

Gain Drift ±40 ppm / °C 2)

B&R 2003 Modules CM211 335

 Module ID CM211

LSB Value (12 Bit) ±5.01 mV ±0.13 mV

Non-linearity ±3.5 LSB

Short Circuit Protection Yes

Digital inputs

Number of Inputs 8

Type of Inputs 3 x event counters, 3 x period measurement, 3 x gate measurement,

2 x incremental encoder ABR (+24 V), 1 x comparator

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Input Current at Nominal Voltage Approx. 4 mA

Wiring Sink

Switching Threshold
LOW Range <5 V
HIGH Range >15 V

Delay 0 to 1
with Software Filter <4 ms (default)
without Software Filter <0.01 ms

Delay 1 to 0
with Software Filter <4 ms (default)
without Software Filter <0.01 ms

Status Display 8 Green LEDs

Incremental Encoder Operation

Signal Form Square wave pulses
Evaluation 4-fold, cyclic counter
Input Frequency 20 kHz
Counter Frequency 80 kHz
Count Size 32 Bit

Input 1 Reference enable switch 1

Input 2 Channel A1
Input 3 Channel B1
Input 4 Channel R1

Input 5 Channel A2
Input 6 Channel B2
Input 7 Channel R2
Input 8 Reference enable switch 2

Event Counter Operation

Signal Form Square wave pulses
Evaluation Each edge, cyclic counter
Input Frequency 20 kHz
Counter Frequency 40 kHz
Count Size 16 Bit
Input 2 Counter 1
Input 3 Counter 2
Input 5 Counter 3

Period Measurement
Signal Form Square wave pulses
Evaluation Positive edge - Positive edge
Input Frequency 20 kHz
Counter Frequency - Internal 16 MHz, 4 MHz, 1 MHz, 250 kHz
Counter Frequency - External Max. 20 kHz
Count Size 16 Bit
Input 3 Period channel 1
Input 4 Period channel 2
Input 7 Period channel 3
Input 2 External counter frequency for channels 1 and 2
Input 5 External counter frequency for channel 3

336 CM211 Chapter 3

 Module ID CM211

Gate Measurement
Signal Form Square wave pulses
Evaluation Positive edge - Negative edge
Input Frequency 10 kHz
Counter Frequency - Internal 16 MHz, 4 MHz, 1 MHz, 250 kHz
Counter Frequency - External Max. 20 kHz
Count Size 16 Bit
Gate Pause 50 µs
Input 3 Gate channel 1
Input 4 Gate channel 2
Input 7 Gate channel 3
Input 2 External counter frequency for channels 1 and 2
Input 5 External counter frequency for channel 3

Comparator
Comparator Output Output 1
Reaction Time <500 µs
Evaluation
Incremental Encoder Operation Actual value comparison of the counter status of incremental encoder 1
Event Counter Operation Comparison of the counter status of counter 2 (window comparator)

Electrical Isolation
Input - Input No

B&R 2003 Modules

Digital Outputs

Number and Type of Outputs 8 transistor outputs

Chapter 3
Rated Current Max. 0.5 A

Total Output Current Max. 4 A

Rated Voltage 24 VDC

Switching Voltage Range 18 -30 VDC

Leakage Current (0 signal) 12 µA

Wiring Source

Short circuit protection Yes

Overload Protection Yes

Negative Anode Potential when 47 V

Switching Off Inductive Loads

Delay 0 to 1 <1.5 ms

Delay 1 to 0 <1.5 ms

Status Display 8 orange LEDs

Electrical Isolation
Output - Output No

Mechanical Characteristics

Dimensions B&R 2003 single width

1)
Referring the maximum positive limit.
2)
Referring the current measurement value.

B&R 2003 Modules CM211 337

13.4.2 Status LEDs

LED Description

OK This orange LED is lit when the external supply voltage for the outputs
is within the defined range (>18 VDC).
LED 1 - 8, green Logical status of the respective digital input.

LED 1 - 8, orange Control status of the respective digital output.

13.4.3 Input Circuit Diagram

Analog Inputs

MUx AD
PTC
Converter
AI1+ +

To the
processor ports

PTC
AI2+ +

AGND

Digital Inputs

Input
Status
Ix

COM

338 CM211 Chapter 3

13.4.4 Output Circuit Diagram

Analog Outputs

PTC +
AO1+ D/A
-
Converter

AGND
Local
Processor Port

PTC +
AO2+
-

AGND

B&R 2003 Modules

Digital Outputs

Chapter 3
+24 VDC
Output
Status

Temperature and
O 4-7 IK -Monitor

Diagnose
Status
&

Output
Temperature and Status
O 0-3
IK -Monitor
GND

13.4.5 Supply Voltage Monitoring

+24 VDC

Diagnose
Voltage Status
Monitoring U-OK

GND

B&R 2003 Modules CM211 339

13.4.6 Module Design

General Information

The design of the combination module CM211 corresponds to an adapter module AF101 with four screw-
in modules installed and a digital mixed module.

CM211 AF101 DM

= A A C C
+
I O O O
N U U U
T N N
T T

AIN ... Analog inputs

AOUT ... Analog outputs
COUNT ... Counter inputs
DM ... Digital mixed module

Module Addresses

Because of this special module design, the combination module CM211 requires two module addresses.
A CPU, a combination module CM211 and a digital input module DI435 are used in the example shown below.
The module address assignments are to be made as shown in the diagram.

Module Address

1+2 3

CPU CM211 DI435

340 CM211 Chapter 3

Variable Declaration

To avoid conflicts in the register, the settings listed below must be used in the variable declaration for the
module address and for the slot.
In this case, the module is accessed with module addresses 1 and 2.

CM211

AF101 DM

Module Address = 1 Module Address = 2

Slot 1 Slot 2 Slot 3 Slot 4

Slot: Fixed to 1
AIN AOUT Count Count

B&R 2003 Modules

Chapter 3
13.4.7 Counter Configuration Possibilities

Counter Inputs

Section "Module Design" explains that the combination module corresponds to an adapter module AF101
with four screw-in modules and a digital mixed module. Two of the four screw-in modules are used for counter
inputs.

AF101

Slot 1 Slot 2 Slot 3 Slot 4

A A C C
I O O O
N U U U
T N N
T T

AIN ... Analog inputs

AOUT ... Analog outputs
COUNT ... Counter inputs

B&R 2003 Modules CM211 341

Counter Inputs in Slot 3

The counter inputs on the screw-in module installed in slot 3 can be configured using software. The desired
function is set by defining bits 12 and 13 in configuration word 14. One of three functions can be selected.

Function Bit 12 Bit 13

1 x incremental encoder 0 0

2 x event counter 1 0

2 x gate/period measurement 1 1

Counter Inputs in Slot 4

The counter inputs on the screw-in module installed in slot 4 can be configured using software. The desired
function is set by defining bits 12 and 13 in configuration word 14. One of three functions can be selected.

Function Bit 12 Bit 13

1 x incremental encoder 0 0

1 x event counter 1 0

1 x gate/period measurement 1 1

13.4.8 Timing

The following three factors must be taken into consideration for timing when a B&R 2003 CPU is used as
controller:

• Internal Bus Cycle

• I/O AF Cycle
• I/O CPU Load

Internal bus cycle

I/O AF cycle

342 CM211 Chapter 3

Internal Bus Cycle

All combination modules, AF modules and digital I/O modules are processed during this time. The internal
bus cycle for a CM211 is calculated as follows:

There is no AF101 adapter module on the bus

tint_cycle = n * 36 µs * 12 + 12 * 120 µs + 1200 µs = 3072 µs (n = 1)
n ............... Number of CM211 modules
36 µs ........ Time for a combination module CM211
12 ............. Number of data words for a CM211
120 µs ...... Combination module CM211 busy
1200 µs .... Offset

There is an AF101 adapter module on the bus or a CPx74 is used as CPU

tint_cycle = n * 36 µs * 12 + 12 * 200 µs + 1200 µs = 4032 µs (n = 1)

B&R 2003 Modules

n ............... Number of CM211 modules

Chapter 3
36 µs ........ Time for a combination module CM211
12 ............. Number of data words for a CM211
200 µs ...... AF101 or CPx74 busy
1200 µs .... Offset

I/O AF cycle for digital data points

During this time, all digital data points on the combination module CM211 are updated or read in internally.
tdig_IO_AF ≤ 1 ms

I/O AF cycle for analog data points

During this time, all analog data points on the combination module CM211 are updated or read in internally.
Counter values .............................. tan_IO_AF ≤ 2 ms
Analog input/output values ........... tan_IO_AF ≤ 4 ms

B&R 2003 Modules CM211 343

I/O CPU Load

This time determines how long the CPU requires to process the I/O data passed on by the combination module
CM211. The CPU is loaded considerably by the analog I/O data.

A CP430 or CPx70 is used as CPU

tIO_CPU = 12 * 100 µs = 1200 µs
12 ............. Number of data words for a CM211
100 µs ...... Analog data point on CP430 or CPx70

A CPx74 is used as CPU

tIO_CPU = 12 * 70 µs = 840 µs
12 ............. Number of data words for a CM211
70 µs ........ Analog data point on CPx74

A CP476 is used as CPU

tIO_CPU = 12 * 50 µs = 600 µs
12 ............. Number of data words for a CM211
50 µs ........ Analog data point on CP476

Task Class

Fastest Task Class Recommended: 6 ms

13.4.9 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs/outputs can be labelled on the front.

CM211 DI1 . . . DI8

AI1 AI2
Sensor

Shield

Shield
AGND

AGND
/

DO1 . . . DO8
AO1 AO2
Shield

Shield
AGND

AGND
Load

344 CM211 Chapter 3

13.4.10 Connections

1 18

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
X1

Tighten
ground screw

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
X2

TB718

B&R 2003 Modules

Terminal Block X1 Terminal Block X2
1 +24 VDC 1 GND

Chapter 3
2 +24 VDC 2 GND
3 +24 VDC 3 GND
4 n.c. 4 n.c.
5 Digital input DI1 5 Digital output DO1
6 Digital input DI2 6 Digital output DO2
7 Digital input DI3 7 Digital output DO3
8 Digital input DI4 8 Digital output DO4
9 Digital input DI5 9 Digital output DO5
10 Digital input DI6 10 Digital output DO6
11 Digital input DI7 11 Digital output DO7
12 Digital input DI8 12 Digital output DO8
13 Shield 13 Shield
14 Analog input AI1 + 14 Analog output AO1 +
15 Analog input 1 GND (AGND) 15 Analog output 1 GND (AGND)
16 Shield 16 Shield
17 Analog input AI2 + 17 Analog output AO2 +
18 Analog input 2 GND (AGND) 18 Analog output 2 GND (AGND)

B&R 2003 Modules CM211 345

13.4.11 Connection Example Analog Inputs

The combination module CM211 has two analog inputs which may be used as either voltage or current input.
Mixed operation is also possible.

Mode Switch

CM211

1 2

I U I U

Mode Switch Input 2

Mode Switch Input 1

An input can be used as either voltage or current input. The selection is made with the respective mode switch
on the bottom of the housing. Place the switch in the respective position for the desired signal:

U ..... Voltage Input

I ..... Current Input

346 CM211 Chapter 3

Module Wiring

In the following example, input 1 is used as voltage input.

U
aaa
bbb
Measurement bbb
aaa
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
Signal aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
bbb
aaa
bbb
aaa

Shield
1 2

X1

13 14 15
+24 VDC
Next Module

B&R 2003 Modules

1 2

Chapter 3
X2

GND
Next Module

13.4.12 Connection Example Analog Outputs

Load aaa
bbb
bbb
aaa
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb

Shield
1 2

X1

Next
+24 VDC Module

1 2

X2

13 14 15
GND
Next Module

B&R 2003 Modules CM211 347

13.4.13 Connection Example Incremental Encoder Operation

Encoder 1 Encoder 2

A1 B1 R1 A2 B2 R2

Ref 2

Ref 1

1 2

X1

3 4 5 6 7 8 9 10 11 12
+24 VDC
Next Module
1 2 3

X2

GND
Next Module

348 CM211 Chapter 3

13.4.14 Connection Example Event Counter Operation

Counter 1 Counter 2

A B

1 2

X1

B&R 2003 Modules

Chapter 3
3 6 7
+24 VDC
Next
Module
1 2 3

X2

GND
Next
Module

13.4.15 Connection Example Period Measurement

The period can be measured from a signal connected to input 3, 4 or 7. The resolution is 16 bit. The frequency
of the signal to be measured can be a maximum of 20 kHz.
An internal or external counter frequency can be selected for the measurement.

• Internal counter frequency (16 MHz, 4 MHz, 1 MHz or 250 kHz)

• External counter frequency (max. 20 kHz)

The external counter frequency is connected to input 2 (for inputs 3 and 4) and 5 (for input 7).

B&R 2003 Modules CM211 349

Period Measurement Principle

Period Duration

Signal to be measured

Start Stop / Start

Counter Frequency

Pulse counting is started by a high edge on the input and stopped by the next high edge. The count is placed
in a temporary register. The counter is started again by the same high edge.

During period measurement, the count stored last (the period) can be read by the active application
program. The value in the temporary register is only updated after at the end of the active measurement.
If a counter overflow occurs (broken line or incorrect counter frequency), the value is limited to $7FFF.

Connection Example for Period Measurement

External Period Period

Measurement Frequency Channel 1 Channel 2

f A B

1 2

X1

3 6 7 8
+24 VDC
Next
Module
1 2 3

X2

GND
Next
Module

350 CM211 Chapter 3

13.4.16 Connection Example Gate Measurement

A signal connected to input 3, 4 or 7 can be evaluated using gate measurement. The resolution is 16 bit. The
frequency of the signal to be measured can be a maximum of 10 kHz. The signal to be measured is also called
the gate frequency. The pause between two gate measurements must be larger than 50 µs.

An internal or external counter frequency can be selected for the measurement.

• Internal counter frequency (16 MHz, 4 MHz, 1 MHz or 250 kHz)

• External counter frequency (max. 20 kHz)

The external counter frequency is connected to input 2 (for inputs 3 and 4) and 5 (for input 7).

Gate Measurement Principle

t > 50 µs

B&R 2003 Modules

Signal to be measured

Chapter 3
Start Stop Start Stop

Counter Frequency

Pulse counting is started by a high edge on the gate and stopped by a low edge. The count is placed in
a temporary register when the low edge occurs. The counter is started again by the next high edge.

During gate measurement, the count stored last (the gate) can be read by the active application program.
The value in the temporary register is only updated after at the end of the active measurement (low edge).
If a counter overflow occurs (incorrect counter frequency), the value is limited to $7FFF.

B&R 2003 Modules CM211 351

Connection Example for Gate Measurement

External
Measurement Frequency Gate Channel 1 Gate Channel 2

f A B

1 2

X1

3 6 7 8
+24 VDC
Next
Module
1 2 3

X2

GND
Next
Module

352 CM211 Chapter 3

13.4.17 Connection Example Digital Outputs

Load Load

1 2

X1

+24 VDC
Next
Module
1 2

B&R 2003 Modules

Chapter 3
X2

3 5 6
GND
Next
Module

13.4.18 Variable Declaration for the Analog Inputs

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the analog inputs.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 INT16 Analog In 1 ● Analog input value channel 1
Data word 1 INT16 Analog In 2 ● Analog input value channel 2
Configuration word 12 WORD Transp. In 24 ● Module status
Configuration word 14 WORD Transp. IN 28 ● Module type

B&R 2003 Modules CM211 353

Access using CAN Identifiers

Access via CAN Identifier is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

Analog input data cannot be packed. Only the first object from this group of four will be created and sent.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used

2 543 Not used

3 544 Not used

4 545 Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 1

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

354 CM211 Chapter 3

Description of Data and Configuration Words

Data Words 0 and 1 (read)

16 bit standardized values representing either voltage or current.

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description
12 - 15 x .... Not defined, masked out
11 0 .... Converter values ready
1 .... Converter values not yet ready
6 - 10 x .... Not defined, masked out
5 0 .... Channel 2: Current measurement
1 .... Channel 2: Voltage measurement

B&R 2003 Modules

4 0 .... Channel 1: Current measurement
1 .... Channel 1: Voltage measurement

Chapter 3
2-3 x .... Not defined, masked out
1 0 .... Channel 2: No error
1 .... Channel 2: Error present
0 0 .... Channel 1: No error
1 .... Channel 1: Error present
x x x x x x x x x x x
15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules CM211 355

13.4.19 Variable Declaration for the Analog Outputs

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the analog outputs.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 INT16 Analog Out 1 ● Analog output value channel 1
Data word 1 INT16 Analog Out 2 ● Analog output value channel 2
Configuration word 14 WORD Transp. In 28 ● Module type

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

Analog output data cannot be packed. Only the second object from this group of four will be created.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 1054 Not used

2 1055 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Not used

3 1056 Not used

4 1057 Not used

1)
CAN ID = 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 2

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

356 CM211 Chapter 3

Description of Data and Configuration Words

Data Words 0 and 1 (write)

The 16 bit standardized values for voltage are written to the module output channel.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules

13.4.20 Variable Declaration for Incremental Encoder Operation

Chapter 3
The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

The module CM211 is equipped with a maximum of two incremental encoders. The incremental encoders
are distributed on slots 3 and 4.

B&R 2003 Modules CM211 357

Incremental encoder 1 (slot 3) with PCC 2003 CPU and remote slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the first incremental encoder.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 WORD Transp. In 0 ● Module status

Data word 1 INT32 Transp. In 2 ● Counter value

Configuration word 4 INT32 Transp. In 8 ● Counter value with pos. edge on the reference input 1)
INT32 Transp. Out 8 ● Threshold value 1 / min. latch difference 1)

Configuration word 6 INT32 Transp. In 12 ● Counter value with neg. edge on the reference input 1)
INT32 Transp. Out 12 ● Threshold value 2 / force value 1)

Configuration word 8 WORD Transp. Out 16 ● Incremental encoder control 1)

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

1)
Starting with Rev. D0

Incremental encoder 1 (Slot 3) with CAN slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the first incremental encoder.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT32 Transp. In 0 ● Counter value

Data word 2 WORD Transp. In 4 ● Module status

Configuration word 4 INT32 Transp. In 8 ● Counter value with pos. edge on the reference input 1)
INT32 Transp. Out 8 ● Threshold value 1 / min. latch difference 1)

Configuration word 6 INT32 Transp. In 12 ● Counter value with neg. edge on the reference input 1)
INT32 Transp. Out 12 ● Threshold value 2 / force value 1)

Configuration word 8 WORD Transp. Out 16 ● Incremental encoder control 1)

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

1)
Starting with Rev. D0

B&R 2000 users have to exchange the two counter status words so that the high word
is first (Motorola format)!

358 CM211 Chapter 3

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Not used

2 543 Not used

3 544 Count. LL Count. ML Count. MH Count. HH Status L Status H Not used

4 545 Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 3

B&R 2003 Modules

Chapter 3
B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules CM211 359

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Counter value not taken

1.... Counter value is taken with the first positive edge on the
reference input
10 0.... Counter value not taken
1.... Counter value is taken with the first negative edge on the
reference input

8-9 x .... Not defined, masked out

7 0.... Referencing is taking place

1.... Counter is referenced (resetting takes place when the reference
command is received)
6 Changes state each time referencing takes place

5 0.... Supply voltage <18 V

1.... Supply voltage >18 V, Outputs OK

4 Output status of the comparator

3 Level of encoder input A

2 Level of encoder input B

1 Level of the reference enable switch

0 Level of the reference pulse

x x x x x x

15 8 7 0

Data Word 1 (read)

Counter Value MSW

Data Word 2 (read)

Counter Value LSW

Configuration Words 4+5 (read) - Starting with Rev. D0

After setting bit 11 in configuration word 8, the configuration words receive the latched counter value with
the first positive edge on the reference input. The value is also valid if bit 11 is set in data word 0.
The maximum delay, from the edge on the input to the value is latched, is 50 µs.

360 CM211 Chapter 3

Configuration Words 4+5 (write)

Either threshold value 1 or the minimum latch difference is defined with configuration words 4+5.

1) Threshold Value 1 (32 Bit):

a) Number format 32 bit with sign:
Bit 10 in configuration word 14 (write) is set to 0.
Threshold value 1 must always be ≤ threshold value 2 .
Threshold values are internally arranged in increasing order including sign.
b) Number format 32 bit without sign - cyclic operation:
Bit 10 in configuration word 14 (write) is set to 1.
The threshold values are not placed in order internally. The sign is not used in the comparator
calculation.

2) Minimum Latch Difference (32 Bit) - Starting with Rev. D0:

Definition of the minimum latch difference for latching counters. This is done using bit 8 in configuration
word 8.

B&R 2003 Modules

Chapter 3
Configuration Words 6+7 (read) - Starting with Rev. D0

After setting bit 10 in configuration word 8, the configuration words receive the latched counter value with
the first negative edge on the reference input. The value is also valid if bit 10 is set in data word 0.
The maximum delay, from the edge on the input to the value is latched, is 50 µs.

Configuration Words 6+7 (write)

Either threshold value 2 (32 Bit) or the force value (32 Bit) is defined with configuration words 6+7. The
definition of the force value is possible starting with Rev. D0. The force value is defined using bit 8 in
configuration word 8.
The maximum delay, until the force value definition is accepted, is 1 ms.

B&R 2003 Modules CM211 361

Configuration Word 8 (read) - Starting with Rev. D0

The incremental encoder is configured using configuration word 8.

Bit Description

14 - 15 0

13 0....... No effect on the incremental encoder

1....... Inverts the reference enable switch for forcing
Using bit 13, the polarity of the reference enable switch can
be inverted.
12 0....... No effect on the incremental encoder
1....... Forcing the counter with the reference enable switch
With a positive edge on bit 12, bit 7 is deleted in data word 0
and positive edge creation for the reference enable switch is
activated. When the edge is recognized, the counter is set to
the predefined value (default 0). In data word 0, bit 7 is set
and bit 6 is inverted.
The precision is limited compared to latch operation.

11 0....... Counter value not taken

1....... Counter value is taken with the first positive edge on the
reference input (see configuration words 4+5) 1)

10 0....... Counter value not taken

1....... Counter value is taken with the first negative edge on the
reference input (see configuration words 6+7) 1)
9 0/1.... Start output state for the latch input filter
With bit 9, the start condition for edge creation and filtering of
the latch signal can be defined. If the state of bit 9 is not the
same as the current state of the reference input, an edge
change is recognized internally and evaluated using the filter.
8 0....... No effect on the incremental encoder
1....... With a positive edge, configuration words 4+5 are used as
minimum latch value and configuration words 6+7 are used as
force value
0-7 0

0 0 0 0 0 0 0 0 0 0

15 8 7 0

1)
The counter value is only taken once. Bit 10 and bit 11 must be reset for the value to be taken again. Bit 10 and bit 11 can be set again in
configuration word 8 after the corresponding bit in the module status bit has gone to 0.

362 CM211 Chapter 3

Latching the counter value using the reference input:

Bit 0 in configuration word 14 must be 0. That means, the comparator is switched off.

General Information:

The same internal interrupts or inputs are used for referencing, comparator operation and latching the
counter value. Therefore the following priority is defined:

1. Referencing
2. Comparator
3. Latching

Make sure there is a clean transition between the types of operation. That means the respective control bits
are not allowed to be activated at the same time.

B&R 2003 Modules

Chapter 3
Latching the counter value:

Latching is started by a positive edge on bit 10 or bit 11 in configuration word 8. The current counter value
is taken as comparison value for the minimum latch difference.

1) Minimum latch difference is 0:

If the minimum latch difference is set to 0 (default), the counter value is latched immediately when the
respective edge occurs on the reference input.

2) Minimum latch difference is not 0:

If the minimum latch difference is not set to 0, the counter value is placed in temporary memory when the
respective edge occurs on the reference input.

• Difference > minimum latch difference:

If the difference between the value in temporary memory minus the comparison value is larger than
the minimum latch difference, the value is accepted and bit 10 or bit 11 in data word 0 is set.

• Difference < minimum latch difference:

If the difference between the value in temporary memory minus the comparison value is smaller than
the minimum latch difference, the value is not yet accepted. The comparison is made again when the
next corresponding edge occurs on the reference input.
The value is only accepted and bit 10 or bit 11 in data word 0 is only set if the difference is larger than
the minimum latch difference.

Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched). The module status is written
to data word 0.

B&R 2003 Modules CM211 363

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14

Bit Description
14 - 15 0
13 0 .... Incremental encoder operation
12 0 .... Incremental encoder operation
11 0 .... No effect on count direction
1 .... Count direction inverted as compared to counter wiring
10 0 .... Number format: 32 bit with sign
1 .... Number format: 32 bit without sign - cyclic operation
In continuous operation, the internal order of the threshold
values are kept. If a counter overflow occurs, the behavior of the
comparator does not have to be changed. Comparator operation
takes place without consideration of the sign.
8-9 0 .... Incremental encoder operation with 4-fold evaluation
7 0 .... No effect on reference pulse
1 .... Reference pulse is inverted. This setting is used for encoders
with a high pulse.
6 0 .... Set counter immediately to 0. In data word 0 (module status), bit
7 is immediately set to 1 and the counter is cleared.
1 .... Counter remains functioning. In data word 0 (module status), bit
7 is immediately set to 0 (referencing required).
5 0 .... Ignore reference enable switch (referencing using reference
pulse). Setting refers to bit 4
1 .... Actively switch reference enable switch (referencing using
reference pulse and reference enable switch)
4 0 .... No effect on counter
1 .... Clear counter (reference)
3 0 .... Comparator off
Output 1 is handled as defined in the variable declaration for
digital outputs.
1 .... Comparator on
2 0 .... The comparator output is set to the level given in bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 .... The comparator output is set to the inverted level of bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 0
0 Level of the comparator output
0 0 0 0 0 0 0
15 8 7 0

364 CM211 Chapter 3

Incremental encoder 2 (slot 4) with PCC 2003 CPU and remote slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the second incremental encoder.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 WORD Transp. In 0 ● Module status

Data word 1 INT32 Transp. In 2 ● Counter value

Configuration word 4 INT32 Transp. In 8 ● Counter value with pos. edge on the reference input 1)
INT32 Transp. Out 8 ● Min. latch difference 1)

Configuration word 6 INT32 Transp. In 12 ● Counter value with neg. edge on the reference input 1)

INT32 Transp. Out 12 ● Force value 1)

Configuration word 8 WORD Transp. Out 16 ● Incremental encoder control 1)

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

B&R 2003 Modules

WORD Transp. Out 28 ● Module configuration

Chapter 3
1)
Starting with Rev. D0

Incremental encoder 2 (Slot 4) with CAN slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the second incremental encoder.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT32 Transp. In 0 ● Counter value

Data word 2 WORD Transp. In 4 ● Module status

Configuration word 4 INT32 Transp. In 8 ● Counter value with pos. edge on the reference input 1)
INT32 Transp. Out 8 ● Min. latch difference 1)

Configuration word 6 INT32 Transp. In 12 ● Counter value with neg. edge on the reference input 1)
INT32 Transp. Out 12 ● Force value 1)

Configuration word 8 WORD Transp. Out 16 ● Incremental encoder control 1)

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

1)
Starting with Rev. D0

B&R 2000 users have to exchange the two counter status words so that the high word
is first (Motorola format)!

B&R 2003 Modules CM211 365

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Not used

2 543 Not used

3 544 Not used

4 545 Count. LL Count. ML Count. MH Count. HH Status L Status H Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 4

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

366 CM211 Chapter 3

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Counter value not taken

1.... Counter value is taken with the first positive edge on the
reference input
10 0.... Counter value not taken
1.... Counter value is taken with the first negative edge on the
reference input
8-9 x .... Not defined, masked out

7 0.... Referencing is taking place

1.... Counter is referenced (resetting takes place when the reference
command is received)

B&R 2003 Modules

6 Changes state each time referencing takes place

Chapter 3
5 0.... Supply voltage <18 V
1.... Supply voltage >18 V, Outputs OK
4 x .... Not defined, masked out

3 Level of encoder input A

2 Level of encoder input B

1 Level of the reference enable switch

0 Level of the reference pulse

x x x x x x x

15 8 7 0

Data Word 1 (read)

Counter Value MSW

Data Word 2 (read)

Counter Value LSW

Configuration Words 4+5 (read) - Starting with Rev. D0

After setting bit 11 in configuration word 8, the configuration words receive the latched counter value with
the first positive edge on the reference input. The value is also valid if bit 11 is set in data word 0.
The maximum delay, from the edge on the input to the value is latched, is 50 µs.

Configuration Words 4+5 (write) - Starting with Rev. D0

Definition of the minimum latch difference (32 Bit) for latching counters. This is done using bit 8 in configuration
word 8.

B&R 2003 Modules CM211 367

Configuration Words 6+7 (read) - Starting with Rev. D0

After setting bit 10 in configuration word 8, the configuration words receive the latched counter value with
the first negative edge on the reference input. The value is also valid if bit 10 is set in data word 0.
The maximum delay, from the edge on the input to the value is latched, is 50 µs.

Configuration Words 6+7 (write) - Starting with Rev. D0

Definition of the force value (32 Bit). The force value is defined using bit 8 in configuration word 8.
The maximum delay, until the force value definition is accepted, is 1 ms.

Configuration Word 8 (read) - Starting with Rev. D0

The incremental encoder is configured using configuration word 8.

Bit Description

14 - 15 0

13 0....... No effect on the incremental encoder

1....... Inverts the reference enable switch for forcing
Using bit 13, the polarity of the reference enable switch can
be inverted.
12 0....... No effect on the incremental encoder
1....... Forcing the counter with the reference enable switch
With a positive edge on bit 12, bit 7 is deleted in data word 0
and positive edge creation for the reference enable switch is
activated. When the edge is recognized, the counter is set to
the predefined value (default 0). In data word 0, bit 7 is set
and bit 6 is inverted.
The precision is limited compared to latch operation.
11 0....... Counter value not taken
1....... Counter value is taken with the first positive edge on the
reference input (see configuration words 4+5) 1)

10 0....... Counter value not taken

1....... Counter value is taken with the first negative edge on the
reference input (see configuration words 6+7) 1)

9 0/1.... Start output state for the latch input filter

With bit 9, the start condition for edge creation and filtering of
the latch signal can be defined. If the state of bit 9 is not the
same as the current state of the reference input, an edge
change is recognized internally and evaluated using the filter.

8 0....... No effect on the incremental encoder

1....... With a positive edge, configuration words 4+5 are used as
minimum latch value and configuration words 6+7 are used as
force value
0-7 0

0 0 0 0 0 0 0 0 0 0

15 8 7 0
1)
The counter value is only taken once. Bit 10 and bit 11 must be reset for the value to be taken again. Bit 10 and bit 11 can be set again in
configuration word 8 after the corresponding bit in the module status bit has gone to 0.

368 CM211 Chapter 3

Latching the counter value using the reference input:

General Information:

The same internal interrupts or inputs are used for referencing and latching the counter value. Therefore the
following priority is defined:

1. Referencing
2. Latching

Make sure there is a clean transition between the types of operation. That means the respective control bits
are not allowed to be activated at the same time.

Latching the counter value:

Latching is started by a positive edge on bit 10 or bit 11 in configuration word 8. The current counter value
is taken as comparison value for the minimum latch difference.

B&R 2003 Modules

1) Minimum latch difference is 0:

Chapter 3
If the minimum latch difference is set to 0 (default), the counter value is latched immediately when the
respective edge occurs on the reference input.

2) Minimum latch difference is not 0:

If the minimum latch difference is not set to 0, the counter value is placed in temporary memory when the
respective edge occurs on the reference input.

• Difference > minimum latch difference:

If the difference between the value in temporary memory minus the comparison value is larger than
the minimum latch difference, the value is accepted and bit 10 or bit 11 in data word 0 is set.

• Difference < minimum latch difference:

If the difference between the value in temporary memory minus the comparison value is smaller than
the minimum latch difference, the value is not yet accepted. The comparison is made again when the
next corresponding edge occurs on the reference input.
The value is only accepted and bit 10 or bit 11 in data word 0 is only set if the difference is larger than
the minimum latch difference.

Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched). The module status is written
to data word 0.

B&R 2003 Modules CM211 369

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description
14 - 15 0
13 0 .... Incremental encoder operation
12 0 .... Incremental encoder operation
11 0 .... No effect on count direction
1 .... Count direction inverted as compared to counter wiring
10 0
8-9 0 .... Incremental encoder operation with 4-fold evaluation
7 0 .... No effect on reference pulse
1 .... Reference pulse is inverted. This setting is used for encoders
with a high pulse.
6 0 .... Set counter immediately to 0. In data word 0 (module status), bit
7 is immediately set to 1 and the counter is cleared.
1 .... Counter remains functioning. In data word 0 (module status), bit
7 is immediately set to 0 (referencing required).
5 0 .... Ignore reference enable switch (referencing using reference
pulse). Setting refers to bit 4
1 .... Actively switch reference enable switch (referencing using
reference pulse and reference enable switch)
4 0 .... No effect on counter
1 .... Clear counter (reference)
3 0
2 0
1 0
0 0
0 0 0 0 0 0
15 8 7 0

370 CM211 Chapter 3

13.4.21 Variable Declaration for Event Counter Operation

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

The module CM211 is equipped with a maximum of two event counters. The event counters are distributed
on slots 3 and 4.

B&R 2003 Modules

Event Counter 1 and 2 (Slot 3)

Chapter 3
Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for event counters 1 and 2.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 WORD Transp. In 0 ● Module status

Data word 1 WORD Transp. In 2 ● Counter value of counter 1

Data word 2 WORD Transp. In 4 ● Counter value of counter 2

Configuration word 5 WORD Transp. Out 10 ● Threshold value 1 for counter 2

Configuration word 7 WORD Transp. Out 14 ● Threshold value 2 for counter 2

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules CM211 371

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Not used

2 543 Not used

3 544 Count. 2 L Count. 2 H Count. 1 L Count. 1 H Status L Status H Not used

4 545 Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 3

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for both counter values.

Bit Description
6 - 15 x ....Not defined, masked out
5 0 ....Supply voltage <18 V
1 ....Supply voltage >18 V, Outputs OK
4 Output status of the comparator
3 Level of the encoder input for counter 1
2 Level of the encoder input for counter 2
0-1 x ....Not defined, masked out
x x x x x x x x x x x x
15 8 7 0

372 CM211 Chapter 3

Data Word 1 (read)

Counter value of counter 1.

Data Word 2 (read)

Counter value of counter 2.

Configuration Word 5 (write)

Threshold value 1 (16 Bit) for counter 2:

a) Number format: 16 bit without sign
Bit 10 in configuration word 14 (write) is set to 0.
Threshold value 1 must always be ≤ threshold value 2 .
Threshold values are internally arranged in increasing order. The sign is ignored.
b) Number format: 16 bit without sign - cyclic operation

B&R 2003 Modules

Bit 10 in configuration word 14 (write) is set to 1.
The threshold values are not placed in order internally. The sign is ignored.

Chapter 3
Configuration Word 7 (write)

Threshold value 2 (16 Bit) for counter 2.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules CM211 373

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description
14 - 15 0
13 0 ....Event counter operation
12 1 ....Event counter operation
11 0 ....No effect on counting direction
1 ....Count direction inverted as compared to counter wiring
10 0 ....Number format: 16 bit without sign
1 ....Number format: 16 bit without sign - cyclic operation
In continuous operation, the internal order of the threshold
values are kept. If a counter overflow occurs, the behavior of the
comparator does not have to be changed.
9 0
8 0 ....Counter 1 and 2: Only count positive edges
1 ....Counter 1 and 2: Count both edges
6-7 0
5 0 ....No effect on counter 2
1 ....Immediately clear counter 2
4 0 ....No effect on counter 1
1 ....Immediately clear counter 1
3 0 ....Comparator off
Output 1 is handled as defined in the variable declaration for
digital outputs.
1 ....Comparator on
2 0 ....The comparator output is set to the level given in bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 ....The comparator output is set to the inverted level of bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 0
0 Level of the comparator output
0 0 0 1 0 0 0 0
15 8 7 0

Event Counter 3 (Slot 4)

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for event counter 3.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 WORD Transp. In 0 ● Module status
Data word 1 WORD Transp. In 2 ● Counter value of counter 3
Configuration word 14 WORD Transp. In 28 ● Module type
WORD Transp. Out 28 ● Module configuration

374 CM211 Chapter 3

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Not used

2 543 Not used

3 544 Not used

4 545 Not used Count. 3 L Count. 3 H Status L Status H Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 4

B&R 2003 Modules

Chapter 3
B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description
4 - 15 x ....Not defined, masked out
3 Level of the encoder input for counter 3
0-2 x ....Not defined, masked out
x x x x x x x x x x x x x x x
15 8 7 0

Data Word 1 (read)

Counter value of counter  3.

B&R 2003 Modules CM211 375

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description
14 - 15 0
13 0 ....Event counter operation
12 1 ....Event counter operation
11 0 ....No effect on counting direction
1 ....Count direction inverted as compared to counter wiring
9 - 10 0
8 0 ....Counter 3: Only count positive edges
1 ....Counter 3: Count both edges
5-7 0
4 0 ....No effect on counter 3
1 ....Immediately clear counter 3
0-3 0
0 0 0 1 0 0 0 0 0 0 0 0 0
15 8 7 0

13.4.22 Variable Declaration for Gate and Period Measurement

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

The module CM211 is equipped with a maximum of three channels for gate and period measurement. The
channels are distributed on slots 3 and 4.

376 CM211 Chapter 3

Gate and Period Measurement 1 and 2 (Slot 3)

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 WORD Transp. In 0 ● Module status
Data word 1 WORD Transp. In 2 ● Counter value gate / period 1
Data word 2 WORD Transp. In 4 ● Counter value gate / period 2
Configuration word 14 WORD Transp. In 28 ● Module type
WORD Transp. Out 28 ● Module configuration

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".

B&R 2003 Modules

The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Chapter 3
In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Not used

2 543 Not used

3 544 Count. 2 L Count. 2 H Count. 1 L Count. 1 H Status L Status H Not used

4 545 Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 3

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules CM211 377

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for both counter values.

Bit Description
3 - 15 x ....Not defined, masked out
2 Level of the encoder input for gate / period 1
1 x ....Not defined, masked out
0 Level of the encoder input for gate / period 2
x x x x x x x x x x x x x x
15 8 7 0

Data Word 1 (read)

Counter Value Gate / Period 1.

Data Word 2 (read)

Counter Value Gate / Period 2.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

378 CM211 Chapter 3

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description
14 - 15 0
13 1 ....Gate / period measurement
12 1 ....Gate / period measurement
11 0 ....Channel 2: No effect on counter value
1 ....Channel 2: Set counter value to zero (retrigger)
10 0 ....Channel 1: No effect on counter value
1 ....Channel 1: Set counter value to zero (retrigger)
8-9 0
7 0 ....Channel 2: Gate measurement
1 ....Channel 2: Period measurement
4-6 Channel 2: Definition of counter frequency
0 ....16 MHz, internal
1 ....4 MHz, internal
2 ....1 MHz, internal

B&R 2003 Modules

3 ....250 kHz, internal
4 ....external, only rising edges

Chapter 3
5 ....external, both edges
3 0 ....Channel 1: Gate measurement
1 ....Channel 1: Period measurement
0-2 Channel 1: Definition of counter frequency
0 ....16 MHz, internal
1 ....4 MHz, internal
2 ....1 MHz, internal
3 ....250 kHz, internal
4 ....external, only rising edges
5 ....external, both edges
0 0 1 1 0 0
15 8 7 0

Gate and Period Measurement 3 (Slot 4)

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 WORD Transp. In 0 ● Module status
Data word 1 WORD Transp. In 2 ● Counter value gate / period 3
Configuration word 14 WORD Transp. In 28 ● Module type
WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules CM211 379

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM211 is accessed with module addresses 1 and 2.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Not used

2 543 Not used

3 544 Not used

4 545 Not used Count. 3 L Count. 3 H Status L Status H Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 1
sl ....... Slot number = 4

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description
1 - 15 x ....Not defined, masked out
0 Level of the encoder input for gate / period 3
x x x x x x x x x x x x x x x
15 8 7 0

Data Word 1 (read)

Counter Value Gate / Period 3.

380 CM211 Chapter 3

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $40

0-7 x ....Not defined, masked out

0 1 0 0 0 0 0 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description
14 - 15 0

B&R 2003 Modules

13 1 ....Gate / period measurement
12 1 ....Gate / period measurement

Chapter 3
11 0
10 0 ....Channel 3: No effect on counter value
1 ....Channel 3: Set counter value to zero (retrigger)
4-9 0
3 0 ....Channel 3: Gate measurement
1 ....Channel 3: Period measurement
0-2 Channel 3: Definition of counter frequency
0 ....16 MHz, internal
1 ....4 MHz, internal
2 ....1 MHz, internal
3 ....250 kHz, internal
4 ....external, only rising edges
5 ....external, both edges
0 0 1 1 0 0 0 0 0 0 0
15 8 7 0

13.4.23 Variable Declaration for Digital Inputs/Outputs

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

B&R 2003 Modules CM211 381

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Designation VD Data VD Module VD R W Description

Type Type Chan.
Digital inputs 1 - 8 BIT Digit. In 1 ... 8 ● Level of the digital inputs
Digital outputs 1 - 8 BIT Digit. Out 1 ... 8 ● Level of the digital outputs
Module status BYTE Status In 0 ● Module status

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Digital inputs

A maximum of eight digital I/O modules can be operated in packed mode.

The CM211 modules uses two module addresses. If two CM211 modules are used, only four additional digital
I/O modules can be used.

The following example shows the structure of the CAN object if two CM211 and four DI435 modules are used.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
286 CM211 CM211 CM211 CM211 DI435 DI435 DI435 DI435
Not used I1-8 Not used I1-8

1)
CAN ID = 286 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

The following example shows the structure of the CAN object if one CM211 and two DI435 modules are used.

1)
Module CAN ID Byte
286 Not used
CM211
287 Inputs 1 - 8
DI435 288 Inputs 1 - 8
DI435 289 Inputs 1 - 8

1)
CAN ID = 286 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

382 CM211 Chapter 3

Digital Outputs

A maximum of eight digital I/O modules can be operated in packed mode.

The CM211 modules uses two module addresses. If two CM211 modules are used, only four additional digital
I/O modules can be used.

The following example shows the structure of the CAN object if two CM211 and four DO722 modules are
used.

1)
CAN ID Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
414 CM211 CM211 CM211 CM211 DO722 DO722 DO722 DO722
Not used O1-8 Not used O1-8

1)
CAN ID = 414 + (nd - 1) x 4 nd .... Node number of the CAN slave = 1

A maximum of four digital I/O module can be run in unpacked mode.

B&R 2003 Modules

The following example shows the structure of the CAN object if one CM211 and two DO722 modules are
used.

Chapter 3
1)
Module CAN ID Byte
414 Not used
CM211
415 Outputs 1 - 8
DO722 416 Outputs 1 - 8
DO722 417 Outputs 1 - 8

1)
CAN ID = 414 + (nd - 1) x 4 + (ma - 1) nd ... Node number of the CAN slave = 1
ma ... Module address of digital I/O modules = 1 - 4

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Module status

Bit Description

7 0 ....No supply voltage or supply voltage too low for digital

inputs/outputs
1 ....Module voltage OK
6 Digital module = 0

5 0 ....No error
1 ....Error (short circuit, over-temperature, etc.)
0-4 Module code = $17

0 1 0 1 1 1

7 0

B&R 2003 Modules CM211 383

13.5 CM411

13.5.1 Technical Data

Terminal block is not included in the delivery.

Module ID CM411

General Information

Model Number 7CM411.70-1

Short Description 2003 Combination Module, 3 inputs, 24 VDC, 50 kHz, sink,

one-channel or two-channel counters, incremental encoders, 2 transistor outputs, 24 VDC,
0.5 A, comparator function, short-circuit protection, 3 inputs, +/- 10 V, 16 Bit,
3 outputs, +/- 10 V, 16 Bit, Order terminal blocks separately!

C-UL-US Listed in preparation

B&R ID Code $C2

Module Type B&R 2003 I/O Module

Amount 1)

CP430, EX270 1

CP470, CP770 2
CP474, CP476, CP774
EX470, EX770
EX477, EX777

Voltage and Yes (LED: OK)

Output Monitoring Supply voltage >18 V, Outputs OK

Electrical Isolation
Analog - PCC No
Digital - PCC Yes
Digital - Analog Yes

Power Consumption Max. 2.4 W

Analog Inputs

Number of Inputs 3

Input Signal - Nominal ±10 V

Digital Converter Resolution 16 Bit

384 CM411 Chapter 3

 Module ID CM411

Data Format Delivered to 16 Bit 2s complement

Application Program

Value Range
+10 V $7FFF
-10 V $8001

Measurement Range Monitoring

Open Inputs $7FFF
Range Exceeded (neg.) $8001
Range Exceeded (pos.) $7FFF
General Error $8000

Maximum Error at 25 °C ±0.1 % 2)

Offset Drift ±0.3 LSB / °C 2)

Gain Drift ±65 ppm / °C 3)

Maximum Error over Entire ±0.25 % 2)

Temperature Range

Repeat Precision ±0.025 % 2)

Input Impedance in Signal Range ≥1 MΩ

B&R 2003 Modules

Analog Outputs

Number of Outputs 3

Chapter 3
Output Signal ±10 V

Load Max. ±10 mA

Digital Converter Resolution 16 Bit

Maximum Error at 25 °C ±0.1 % 2)

Offset Drift ±2.5 LSB / °C 2)

Gain Drift ±110 ppm / °C 3)

Maximum Error over Entire ±0.25 % 2)

Temperature Range

Load Impedance ≥1 kΩ

Short Circuit Current ±15 mA (individual sustained short-circuit protection)

Digital inputs

Number of Inputs 3 counter inputs

Wiring Sink

Input Voltage
Minimum 18 VDC
Nominal 24 VDC
Maximum 30 VDC

Switching Threshold
LOW Range <5 V
HIGH Range >15 V

Input Delay Max. 3 µs

Input Current at Nominal Voltage Approx. 6 mA

Incremental Encoder Operation

Signal Form Square wave pulses
Evaluation 4-fold, cyclic counter
Input Frequency 50 kHz
Counter Frequency 200 kHz
Count Size 32 Bit
Input 1 Channel A
Input 2 Channel B
Input 3 Ref

B&R 2003 Modules CM411 385

 Module ID CM411

Event Counter Operation

Signal Form Square wave pulses
Evaluation Each edge, cyclic counter
Input Frequency 50 kHz
Counter Frequency 100 kHz
Count Size 2 x 16 Bit
Input 1 Counter 1
Input 2 Counter 2

Comparator
Evaluation Actual value comparison of the counter value during incremental encoder operation
or of counter 2 during event counter operation (window comparator)
Comparator Output Output 1
Reaction Time <100 µs

Electrical Isolation
Input - Input No

Digital Outputs

Number and type of outputs 2 transistor outputs

Rated Current Max. 0.5 A

Total Output Current Max. 1 A

Rated Voltage 24 VDC

Switching Voltage Range 18 -30 VDC

Wiring Source

Short Circuit Protection Yes

Overload Protection Yes

Negative Anode Potential when 59 V

Switching Off Inductive Loads

Switching Delay
log 0 - log 1 Max. 100 µs
log 1 - log 0 Max. 100 µs

Electrical Isolation
Output - Output No

Mechanical Characteristics

Dimensions B&R 2003 single width

1)
Two logical module slots are required by the module.
2)
Referring the measurement range.
3)
Referring the current measurement value.

13.5.2 Status LEDs

LED Description

OK This orange LED is lit when the external supply voltage for the outputs
is within the defined range (>18 VDC).

LED 1 -2, green Logical status of the respective digital input.

LED 1 -2, orange Control status of the respective digital output.

386 CM411 Chapter 3

13.5.3 Input Circuit Diagram

Analog Inputs

+15 V

AD
Converter
AI1+
+

AI1
Filter
- To the
AI1- processor ports

-15 V

AI2
3x

B&R 2003 Modules

AI3

Chapter 3
Digital inputs

I 1-3
Input
Status

GND

13.5.4 Output Circuit Diagram

Analog Outputs

Relay +
PTC Local
D/A Processor Port
AOx+ -
Converter

AOx-

Digital Outputs

+24 VDC

Output
Status

O 1-2

GND

B&R 2003 Modules CM411 387

13.5.5 Supply Voltage Monitoring

+24 VDC
Diagnose
Voltage Status
Monitoring U-OK

GND

13.5.6 Module Design

General Information

The design of the combination module CM411 corresponds to two AF101 adapter modules with two screw-
in modules installed.

CM411 AF101 AF101

= A A
+ D D
I O I O
N U N U
T T

AIN ... Analog inputs

AOUT ... Analog outputs
DIN ... Digital inputs (counter inputs)
DOUT ... Digital outputs

Module Addresses

Because of this special module design, the combination module CM411 requires two module addresses.
A CPU, a combination module CM411 and a digital input module DI435 are used in the example shown below.
The module address assignments are to be made as shown in the diagram.

Module Address

1+2 3

CPU CM411 DI435

388 CM411 Chapter 3

Variable Declaration

To avoid conflicts in the register, the settings listed below must be used in the variable declaration for the
module address and for the slot.
In this case, the module is accessed with module addresses 1 and 2.

CM411

Module Address Module Address

1 2

Slot 1 Slot 2 Slot 1 Slot 2

AIN AOUT DIN DOUT

B&R 2003 Modules

Chapter 3
13.5.7 Timing

The following three factors must be taken into consideration for timing when a B&R 2003 CPU is used as
controller:

• Internal Bus Cycle

• I/O AF Cycle
• I/O CPU Load

Internal bus cycle

I/O AF cycle

B&R 2003 Modules CM411 389

Internal Bus Cycle
All combination modules, AF modules and digital I/O modules are processed during this time. The internal
bus cycle for a CM411 is calculated as follows:

There is no AF101 adapter module on the bus

tint_cycle = n * 44 µs * 6 +6 * 120 µs + 1200 µs = 2184 µs (n = 1)
n ............... Number of CM411 modules
44 µs ........ Time for a combination module CM411
6 ............... Number of data words for a CM411
120 µs ...... Combination module CM411 busy
1200 µs .... Offset

There is an AF101 adapter module on the bus or a CPx74 is used as CPU

tint_cycle = n * 44 µs * 6 + 6 * 200 µs + 1200 µs = 2664 µs (n = 1)
n ............... Number of CM411 modules
44 µs ........ Time for a combination module CM411
6 ............... Number of data words for a CM411
200 µs ...... AF101 or CPx74 busy
1200 µs .... Offset

I/O-AF Cycle
During this time, all data points on the combination module CM411 are updated or read in internally.
tIO_AF ≤1 ms

I/O CPU Load

This time determines how long the CPU requires to process the I/O data passed on by the combination module
CM411. The CPU is loaded considerably by the analog I/O data.

A CP430 or CPx70 is used as CPU

tIO_CPU = 6 * 100 µs = 600 µs
6 ............... Number of data words for a CM411
100 µs ...... Analog data point on CP430 or CPx70

A CPx74 is used as CPU

tIO_CPU = 6 * 70 µs = 420 µs
6 ............... Number of data words for a CM411
70 µs ........ Analog data point on CPx74

A CP476 is used as CPU

tIO_CPU = 6 * 50 µs = 300 µs
6 ............... Number of data words for a CM411
50 µs ........ Analog data point on CP476

390 CM411 Chapter 3

Task Class

Fastest Task Class Recommended: 4 ms

13.5.8 Legend Sheets

A legend sheet can be slid into the front of the module from above. The module circuit is shown on the back.
The inputs/outputs can be labelled on the front.

13.5.9 Connections

B&R 2003 Modules

Chapter 3
1 2 3 4 5 6 7 8 9 10

X1

X2
Tighten ground screw

X3

TB710

X1 X2 X3
Analog Inputs Analog Inputs Analog
1 + Input AI1 Inputs / Outputs
1 - Input AI1
2 + Input AI2 2 - Input AI2 1 Shield
3 + Input AI3 2 Shield
3 - Input AI3
Analog Outputs Analog Outputs 3 Shield
4 + Output AO1 4 Ground AO1- 4 Shield
5 + Output AO2 5 Ground AO2- 5 Shield
6 + Output AO3 6 Ground AO3- 6 Shield
Digital Inputs Digital Digital
7 Input DI1 Inputs/Outputs Inputs / Outputs

8 Input DI2 7 DI3 7 Ground

8 +24 VDC 8 Ground
Digital Outputs
9 +24 VDC 9 Ground
9 Output DO1
10 Output DO2 10 +24 VDC 10 Ground

B&R 2003 Modules CM411 391

13.5.10 Connection Example Analog Inputs

+
U
aaa
bbb
bbb
aaa
aaa
bbb
Measurement signal
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
bbb
aaa
bbb
aaa

1 2 3 4 5 6 ...

AI1+

AI1-

Shield

13.5.11 Connection Example Analog Outputs

aaa
bbb
aaa
bbb
aaa
bbb
Load
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb
aaa
bbb

1 2 3 4 5 6 ...

AO1+

AO1-

Shield

392 CM411 Chapter 3

13.5.12 Connection Example Incremental Encoder Operation

Encoder

A B

... 5 6 7 8 9 10

Ref

B&R 2003 Modules

Shield +24 VDC

Chapter 3
13.5.13 Connection Example Event Counter Operation

Counter 1 Counter 2

A B

Shield Shield

... 5 6 7 8 9 10

+24 VDC

B&R 2003 Modules CM411 393

13.5.14 Connection Example Digital Outputs

Load Load

... 5 6 7 8 9 10

+24 VDC

13.5.15 Variable Declaration for the Analog Inputs

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the analog inputs.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 INT16 Analog In 1 ● Analog input value channel 1
Data word 1 INT16 Analog In 2 ● Analog input value channel 2
Data word 2 INT16 Analog In 3 ● Analog input value channel 3
Configuration word 12 WORD Transp. In 24 ● Module status
Configuration word 14 WORD Transp. IN 28 ● Module type

394 CM411 Chapter 3

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM411 is accessed with module addresses 1 and 2.

Analog input data cannot be packed. Only the first object from this group of four will be created and sent.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Not used

2 543 Not used

3 544 Not used

4 545 Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1

B&R 2003 Modules

ma .... Module address = 1

Chapter 3
sl ....... Slot number = 1

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data word 0, 1, 2 (read)

16 bit standardized voltage value.

Configuration Word 12 (read)

Configuration word 12 contains the module status.

Bit Description
12 - 15 x .... Not defined, masked out
11 0 .... Converter values ready
1 .... Converter values not yet ready
3 - 10 x .... Not defined, masked out
2 0 .... Channel 3: No error
1 .... Channel 3: Error present
1 0 .... Channel 2: No error
1 .... Channel 2: Error present
0 0 .... Channel 1: No error
1 .... Channel 1: Error present
x x x x x x x x x x x x
15 8 7 0

B&R 2003 Modules CM411 395

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $32

0-7 x ....Not defined, masked out

0 0 1 1 0 0 1 0 x x x x x x x x

15 8 7 0

13.5.16 Variable Declaration for the Analog Outputs

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the analog outputs.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 INT16 Analog Out 1 ● Analog output value channel 1
Data word 1 INT16 Analog Out 2 ● Analog output value channel 2
Data word 2 INT16 Analog Out 3 ● Analog output value channel 3
Configuration word 14 WORD Transp. In 28 ● Module type

396 CM411 Chapter 3

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM411 is accessed with module addresses 1 and 2.

Analog output data cannot be packed. Only the second object from this group of four will be created.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 1054 Not used

2 1055 Chan. 1L Chan. 1H Chan. 2L Chan. 2H Chan. 3L Chan. 3H Not used

3 1056 Not used

4 1057 Not used

1)
CAN ID = 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1

B&R 2003 Modules

ma .... Module address = 1

Chapter 3
sl ....... Slot number = 2

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data word 0, 1, 2 (write)

The 16 bit standardized values for voltage are written to the module output channel.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $34

0-7 x ....Not defined, masked out

0 0 1 1 0 1 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules CM411 397

13.5.17 Variable Declaration for Incremental Encoder Operation

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Incremental encoder operation with PCC 2003 CPU and remote slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the digital inputs in incremental encoder operation.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 WORD Transp. In 0 ● Module status

Data word 1 INT32 Transp. In 2 ● Counter value

Configuration word 4 INT32 Transp. Out 8 ● Threshold value 1

Configuration word 6 INT32 Transp. Out 12 ● Threshold value 2

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

398 CM411 Chapter 3

Incremental Encoder Operation with CAN Slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the digital inputs in incremental encoder operation.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT32 Transp. In 0 ● Counter value

Data word 2 WORD Transp. In 4 ● Module status

Configuration word 4 INT32 Transp. Out 8 ● Threshold value 1

Configuration word 6 INT32 Transp. Out 12 ● Threshold value 2

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2000 users have to exchange the two counter status words so that the high word
is first (Motorola format)!

B&R 2003 Modules

Chapter 3
Access Using CAN IDs

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM411 is accessed with module addresses 1 and 2.

Digital input data cannot be packed. Only the first object from this group of four will be created and sent.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 546 Count. LL Count. ML Count. MH Count. HH Status L Status H Not used

2 547 Not used

3 548 Not used

4 549 Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 2
sl ....... Slot number = 1

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

B&R 2003 Modules CM411 399

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description
8 - 15 x .... Not defined, masked out
7 0 .... Referencing is taking place
1 .... Counter is referenced (resetting takes place when the reference
command is received)
6 Changes state each time referencing takes place
5 0 .... Supply voltage <18 V
1 .... Supply voltage >18 V, Outputs OK
4 Output status of the comparator
3 Level of encoder input A
2 Level of encoder input B
1 x .... Not defined, masked out
0 Level of the reference pulse
x x x x x x x x x
15 8 7 0

Data Word 1 (read)

Counter Value MSW

Data Word 2 (read)

Counter Value LSW

Configuration Words 4+5 (write)

Threshold value 1 (32 Bit)

Number format: 32 bit with sign

Bit 10 in configuration word 14 (write) is set to 0.
Threshold value 1 must always be ≤ threshold value 2 .
Threshold values are internally arranged in increasing order including sign.

Number format: 32 bit without sign - cyclic operation

Bit 10 in configuration word 14 (write) is set to 1.
The threshold values are not placed in order internally. The sign is not used in the comparator calculation.

Configuration Words 6+7 (write)

Threshold value 2 (32 Bit)

400 CM411 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched). The module status is written
to data word 0.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $36

0-7 x ....Not defined, masked out

0 0 1 1 0 1 1 0 x x x x x x x x

15 8 7 0

Configuration Word 14 (write)

B&R 2003 Modules

The module is configured using configuration word 14.

Chapter 3
Bit Description
13 - 15 0
12 0 .... Incremental encoder operation
11 0 .... No effect on count direction
1 .... Count direction inverted as compared to counter wiring
10 0 .... Number format: 32 bit with sign
1 .... Number format: 32 bit without sign - cyclic operation
In continuous operation, the internal order of the threshold
values are kept. If a counter overflow occurs, the behavior of the
comparator does not have to be changed. Comparator operation
takes place without consideration of the sign.
8-9 0 .... Incremental encoder operation with 4-fold evaluation
7 0 .... No effect on reference pulse
1 .... Reference pulse is inverted. This setting is used for encoders
with a high pulse.
6 0 .... Set counter immediately to 0. In data word 0 (module status), bit
7 is immediately set to 1 and the counter is cleared.
1 .... Counter remains functioning. In data word 0 (module status), bit
7 is immediately set to 0 (referencing required).
5 0
4 0 .... No effect on counter
1 .... Clear counter (reference)
3 0 .... Comparator off
Output 1 is handled as defined in the variable declaration for
digital outputs.
1 .... Comparator on
2 0 .... The comparator output is set to the level given in bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 .... The comparator output is set to the inverted level of bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 0
0 Level of the comparator output
0 0 0 0 0 0 0 0
15 8 7 0

B&R 2003 Modules CM411 401

13.5.18 Variable Declaration for Event Counter Operation

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the digital inputs in event counter operation.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 WORD Transp. In 0 ● Module status

Data word 1 WORD Transp. In 2 ● Counter value of counter 1

Data word 2 WORD Transp. In 4 ● Counter value of counter 2

Configuration word 5 WORD Transp. Out 10 ● Threshold value 1 for counter 2

Configuration word 7 WORD Transp. Out 14 ● Threshold value 2 for counter 2

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

402 CM411 Chapter 3

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM411 is accessed with module addresses 1 and 2.

Digital input data cannot be packed. Only the first object from this group of four will be created and sent.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 546 Count. 2L Count. 2H Count. 1L Count. 1H Status L Status H Not used

2 547 Not used

3 548 Not used

4 549 Not used

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1

B&R 2003 Modules

ma .... Module address = 2

Chapter 3
sl ....... Slot number = 1

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for both counter values.

Bit Description
6 - 15 x ....Not defined, masked out
5 0 ....Supply voltage <18 V
1 ....Supply voltage >18 V, Outputs OK
4 Output status of the comparator
3 Level of encoder input A: Counter 1
2 Level of encoder input B: Counter 2
0-1 x ....Not defined, masked out
x x x x x x x x x x x x
15 8 7 0

B&R 2003 Modules CM411 403

Data Word 1 (read)

Counter value of counter 1.

Data Word 2 (read)

Counter value of counter 2.

Configuration Word 5 (write)

Threshold value 1 (16 Bit) for counter 2.

Number format: 16 bit without sign

Bit 10 in configuration word 14 (write) is set to 0.
Threshold value 1 must always be ≤ threshold value 2 .
Threshold values are internally arranged in increasing order. The sign is ignored.

Number format: 16 bit without sign - cyclic operation

Bit 10 in configuration word 14 (write) is set to 1.
The threshold values are not placed in order internally. The sign is ignored.

Configuration Word 7 (write)

Threshold value 2 (16 Bit) for counter 2.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $36

0-7 x ....Not defined, masked out

0 0 1 1 0 1 1 0 x x x x x x x x

15 8 7 0

404 CM411 Chapter 3

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description
13 - 15 0
12 1 .... Event counter operation
11 0
10 0 .... Number format: 16 bit without sign
1 .... Number format: 16 bit without sign - cyclic operation
In continuous operation, the internal order of the threshold
values are kept. If a counter overflow occurs, the behavior of the
comparator does not have to be changed.
9 0
8 0 .... Counter 1 and 2: Only count positive edges
1 .... Counter 1 and 2: Count both edges
6-7 0
5 0 .... No effect on counter 2
1 .... Immediately clear counter 2

B&R 2003 Modules

4 0 .... No effect on counter 1

Chapter 3
1 .... Immediately clear counter 1
3 0 .... Comparator off
Output 1 is handled as defined in the variable declaration for
digital outputs.
1 .... Comparator on
2 0 .... The comparator output is set to the level given in bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 .... The comparator output is set to the inverted level of bit 0, if
threshold value 1 ≤ counter ≤ threshold value 2
1 0
0 Level of the comparator output
0 0 0 1 0 0 0 0 0
15 8 7 0

B&R 2003 Modules CM411 405

13.5.19 Variable Declaration for the Digital Outputs

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for the digital outputs.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 WORD Transp. Out 0 ● Digital outputs 0 and 1
Configuration word 14 WORD Transp. In 28 ● Module type

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

In the example below, the combination module CM411 is accessed with module addresses 1 and 2.

Digital output data cannot be packed. Only the second object from this group of four will be created.

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 1058 Not used

2 1059 Output L Output H Not used

3 1060 Not used

4 1061 Not used

1)
CAN ID = 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address = 2
sl ....... Slot number = 2

B&R 2000 users have to exchange the data so that the high data is first (Motorola
format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

406 CM411 Chapter 3

Description of Data and Configuration Words

Data Word 0 (write)

State of the digital outputs 0 and 1. Bits 2 to 15 must be 0.

Bit Description
2 - 15 0
1 Digital output 1
0 Digital output 0
Status of output 0, if the comparator is switched off.
0 0 0 0 0 0 0 0 0 0 0 0 0 0
15 8 7 0

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

B&R 2003 Modules

Bit Description

Chapter 3
8 - 15 Module code = $38

0-7 x ....Not defined, masked out

0 0 1 1 1 0 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules CM411 407

13.6 ME010

13.6.1 Technical Data

Module ID ME010

General Information

Model Number 7ME010.9

Short Description 2003 expansion for the CP476, 1 PCMCIA slot

C-UL-US Listed in preparation

B&R ID Code $00

Module Type B&R 2003 Expansion for CP476

Slot Can be installed on the far left of the system bus next to the CP476

Power Consumption 0.35 W, without PCMCIA memory card

Peripheral

PCMCIA Interface 1
Standard JEIDA V 4.0 or PCMCIA Standard Release 2.0
Card Height Max. 3 mm
Card Type Memory cards
Memory Size
SRAM Max. 4 MByte
FlashPROM Max. 4 MByte

Status Display 2 LEDs

Mechanical Characteristics

Module Width 20 mm

408 ME010 Chapter 3

13.6.2 General Information

The CP476 now provides another expansion possibility on the far left of the system bus. Special expansion
modules can be installed here. One of these is the ME010.
The ME010 provides a PCMCIA slot for B&R memory cards. This expansion can be used to update the
controller. Another possibility is using the PCMCIA cards as external recipe memory for these types of
applications.
In principle, it is possible to use memory cards as "normal" memory areas, but we strongly advice against
this because the PCMCIA cards are not mechanically fixed in place and therefore are not vibration resistant.
Access of memory cards is also very slow.

B&R 2003 Modules

Chapter 3
13.6.3 Status LEDs

LED Description

Card Indicates access of the PCMCIA memory card.

Mode Indicates that a memory card is being programmed and therefore is not allowed to be removed.

B&R 2003 Modules ME010 409

13.6.4 PCMCIA Interface

General Information

The ME010 is equipped with a PCMCIA interface.

PCMCIA memory cards conforming to JEIDA V 4.0 Type I or PCMCIA Standard Release 2.0 (max. 3 mm
high) are supported.
The ME010 supports memory cards with up to 4 MByte SRAM or with up to 4 MByte FlashPROM. The
following memory card can be ordered from B&R:

Model Number Short Description Power Consumption

0MC111.9 PCMCIA Memory Card, 2 MB FlashPROM Max. 0.8 W

0MC211.9 PCMCIA Memory Card, 2 MB SRAM Max. 0.8 W

The memory cards are used by the CP476 as ROM Type "MEMCARD".

Limitations when using memory cards:

• Internal variables cannot be stored on the memory card

• memory cannot be allocated on the memory cards
• the data format is not compatible to the B&R SYSTEM 2005 CPU CP260

The SRAM and FlashPROM memory cards can only be written to by the CP476. Therefore it is not possible
to program system software or the application on a memory card directly on a PC with a PCMCIA interface.

Operating Modes

The CP476 is has two hex switches which are used as CAN node number switches. Some switch settings
are reserved for special operating modes.

Switch Settings Operating Mode Description

CP476
00 Bootstrap Loader In this switch position, the operating system can be programmed via the
online interface. User Flash is deleted after the update begins.
FD Update In this switch position, the CPU checks if an update memory card is inserted.
If not, the CPU goes into SERVICE mode.
Otherwise the operating system, System ROM, User ROM and, if available,
FIX RAM on the CP476 is deleted and reinstalled from the memory card.
If an error occurs during the installation, the ERROR and BAT LEDs blink.
During error free installation, the READY and RUN LEDs blink.
FF Diagnosis The CPU boots in Diagnosis mode. The program sections in User RAM and
User FlashPROM are not initialized. After diagnosis mode, the CPU always
boots with a cold start.

410 ME010 Chapter 3

13.7 ME020

13.7.1 Technical Data

B&R 2003 Modules

Chapter 3
The IF671 interface module insert shown in the picture is not included in the delivery.

Module ID ME020

General Information

Model Number 7ME020.9

Short Description 2003 expansion for the CP476, 1 PCMCIA slot,

1 slot interface module inserts
C-UL-US Listed in preparation

B&R ID Code $02

Module Type B&R 2003 Expansion for CP476

Slot Can be installed on the far left of the system bus next to the CP476

Power Consumption 0.7 W, without PCMCIA memory card and without interface module insert

Peripheral

PCMCIA Interface 1
Standard JEIDA V 4.0 or PCMCIA Standard Release 2.0
Card Height Max. 3 mm
Card Type Memory cards
Memory Size
SRAM Max. 4 MByte
FlashPROM Max. 4 MByte

Status Display 2 LEDs

Insert Slots 1 (for interface module inserts)

Mechanical Characteristics

Module Width 37 mm

B&R 2003 Modules ME020 411

13.7.2 General Information

The CP476 now provides another expansion possibility on the far left of the system bus. Special expansion
modules can be installed here. One of these is the ME020.
The ME020 provides a PCMCIA slot for B&R memory cards. This expansion can be used to update the
controller. Another possibility is using the PCMCIA cards as external recipe memory for these types of
applications.
In principle, it is possible to use memory cards as "normal" memory areas, but we strongly advice against
this because the PCMCIA cards are not mechanically fixed in place and therefore are not vibration resistant.
Access of memory cards is also very slow.
Additionally, the ME020 provides a slot for B&R SYSTEM 2005 interface module inserts.

13.7.3 Status LEDs

LED Description

Card Indicates access of the PCMCIA memory card.

Mode Indicates that a memory card is being programmed and therefore is not allowed to be removed.

412 ME020 Chapter 3

13.7.4 PCMCIA Interface

General Information

The ME020 is equipped with a PCMCIA interface.

PCMCIA memory cards conforming to JEIDA V 4.0 Type I or PCMCIA Standard Release 2.0 (max. 3 mm
high) are supported.
The ME020 supports memory cards with up to 4 MByte SRAM or with up to 4 MByte FlashPROM. The
following memory card can be ordered from B&R:

Model Number Short Description Power Consumption

0MC111.9 PCMCIA Memory Card, 2 MB FlashPROM Max. 0.8 W

0MC211.9 PCMCIA Memory Card, 2 MB SRAM Max. 0.8 W

The memory cards are used by the CP476 as ROM Type "MEMCARD".

Limitations when using memory cards:

B&R 2003 Modules

• Internal variables cannot be stored on the memory card

Chapter 3
• memory cannot be allocated on the memory cards
• the data format is not compatible to the B&R SYSTEM 2005 CPU CP260

The SRAM and FlashPROM memory cards can only be written to by the CP476. Therefore it is not possible
to program system software or the application on a memory card directly on a PC with a PCMCIA interface.

Operating Modes

The CP476 is has two hex switches which are used as CAN node number switches. Some switch settings
are reserved for special operating modes.

Switch Settings Operating Mode Description

CP476
00 Bootstrap Loader In this switch position, the operating system can be programmed via the
online interface. User Flash is deleted after the update begins.
FD Update In this switch position, the CPU checks if an update memory card is inserted.
If not, the CPU goes into SERVICE mode.
Otherwise the operating system, System ROM, User ROM and, if available,
FIX RAM on the CP476 is deleted and reinstalled from the memory card.
If an error occurs during the installation, the ERROR and BAT LEDs blink.
During error free installation, the READY and RUN LEDs blink.
FF Diagnosis The CPU boots in Diagnosis mode. The program sections in User RAM and
User FlashPROM are not initialized. After diagnosis mode, the CPU always
boots with a cold start.

B&R 2003 Modules ME020 413

13.7.5 Interface Module Inserts

The following B&R SYSTEM 2005 interface module inserts can be operated with the ME020 module:

Model Number Short Description

3IF613.9 Three RS232 interfaces

3IF621.9 One RS485/RS422 interface and one CAN interface

3IF622.9 One RS232 interface and two RS485/RS422 interfaces

3IF661.9 One RS485 interface (PROFIBUS-DP Slave)

3IF671.9 One RS232 interface, one RS485/RS422 interface and one CAN interface

3IF672.9 One RS232 interface and two CAN interfaces

3IF681.95 One RS232 interface and one ETHERNET interface with 10 BASE2 connection (CHEAPERNET
BNC socket)

3IF681.96 One RS232 interface and one ETHERNET interface with 10 BASE-T connection (Twisted Pair /
RJ45 socket)

13.7.6 Operation of Interface Module Inserts

The operation is software compatible to the B&R SYSTEM 2005. Existing software can be used, e.g. NET2000,
Frame driver, etc.

414 ME020 Chapter 3

14 COMMUNICATION MODULES
14.1 OVERVIEW

Module Description
IF311 2003 interface module, 1 RS232 interface, screw-in module

IF321 2003 interface module, 1 RS485/RS422 interface, electrically isolated, network capable, screw-in module

IF361 2003 interface module, 1 RS485 interface, electrically isolated and network capable,
transfer protocol: PROFIBUS-DP, screw-in module

IF371 2003 interface module, 1 CAN interface, electrically isolated, network capable, screw-in module

B&R 2003 Modules

Chapter 3

B&R 2003 Modules Communication Modules 415

14.2 IF311 / IF321

14.2.1 Technical Data

Module ID IF311 IF321

General Information

Model Number 7IF311.7 7IF321.7

Short Description 2003 interface module, 2003 interface module,

1 RS232 interface, screw-in module 1 RS485/RS422 interface,
electrically isolated, network capable,
screw-in module

C-UL-US Listed Yes Yes

B&R ID Code $18 $16

Module Type B&R 2003 screw-in module

Slot CP Interface, slots 1, 2 and 3

Power Consumption Max. 0.5 W Max. 1.4 W

max. 1.6 W with P120 / P121  1)

Standard
Communication Interface

Interface Type RS232 RS485/RS42 2)

Electrical Isolation
Interface - PCC No Yes

Design 9 pin D-type plug 9 pin D-type socket

Handshake Lines RTS, CTS ——

Baudrate 2) Max. 115.2 kBaud Max. 115.2 kBaud

Distance 15 m at 19200 Baud 1200 m (without repeater)

Network Capable No Yes

Data Formats
Data Bits 5 to 8 7/8
Parity yes / no / even / odd yes / no / even / odd
Stop Bits 1/2 1/2

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

1)
Integrated power supply on pin 4 of the RS232 interface for simple PANELWARE controllers, e.g. P120.
2)
Can be configured using software.

416 IF311 / IF321 Chapter 3

14.2.2 Pin Assignments IF311

Assignment
Pin RS232
9 pin D-type plug 1 NC Reserved
2 RXD Receive Signal
1
6 3 TXD Transmit Signal
4 +5 VDC /max. 500 mA Panel Supply
5 GND Ground
6 NC Reserved
9
5 7 RTS Request To Send
8 CTS Clear To Send
9 NC Reserved

14.2.3 Pin Assignments IF321

B&R 2003 Modules

Chapter 3
Assignment
Pin RS485 RS422
1 NC NC
9 pin D-type socket 2 NC TXD
5 3 DATA RXD
9
4 NC NC
5 GND GND
6 +5 VDC / 50 mA +5 VDC / 50 mA
6 7 NC n_TXD
1
8 n_DATA n_RXD
9 NC NC

14.2.4 Bus Termination Resistance IF321

The IF321 is equipped with a bus termination resistor. The resistance is turned on and off with a switch.

Using the remote bus connector 0G1000.00-090 is possible.

Wiring remote I/O networks is described in Chapter 2 "Project Planning and Installation", section "Remote
I/O Bus".

B&R 2003 Modules IF311 / IF321 417

14.3 IF361

14.3.1 Technical Data

Module ID IF361

General Information

Model Number 7IF361.70-1

Short Description 2003 interface module, 1 RS485 interface, electrically isolated and network capable,
Transfer protocol: PROFIBUS-DP, screw-in module

C-UL-US Listed in preparation

B&R ID Code $25

Module Type B&R 2003 screw-in module

Slot CP Interface, slots 1, 2 and 3

Power Consumption Max. 2.6 W

Standard
Communication Interface

Interface Type RS485

Controller ASIC SPC3

RAM 1.5 KByte

Transfer Protocol PROFIBUS-DP

Design 9 pin D-type socket

Electrical Isolation Yes

Maximum Distance 1000 m

Protective Circuit Yes

Maximum Baudrate
Bus Length <100 m 12 MBit/s
Bus Length <200 m 1.5 MBit/s
Bus Length <400 m 500 kBit/s
Bus Length <1000 m 187.5 kBit/s

Network Capable Yes

Bus Termination Resistance External T-connector

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

418 IF361 Chapter 3

14.3.2 Pin Assignments

Assignment
Pin PROFIBUS-DP
1
9 pin D-type socket 2
5 3 B (Data)
9
4 RTS
5 GND
6 +5 VDC / 50 mA
6 7
1
8 A (Data\)
9

B&R 2003 Modules

Chapter 3

B&R 2003 Modules IF361 419

14.4 IF371

14.4.1 Technical Data

Module ID IF371

General Information

Model Number 7IF371.70-1

Short Description 2003 interface module, 1 CAN interface,

electrically isolated, network capable, screw-in module

C-UL-US Listed Yes

B&R ID Code $24

Module Type B&R 2003 screw-in module

Slot CP Interface, slots 1, 2 and 3

Power Consumption Max. 2.5 W

Standard
Communication Interface

Interface Type CAN

Electrical Isolation Interface - PCC

Design 9 pin D-type plug

Interface LEDs RXD and TXD

Maximum Distance 1000 m

Maximum Baudrate
Bus Length 10 - 60 m Max. 500 kBit/s
Bus Length 100 - 200 m Max. 250 kBit/s
Bus Length 800 - 1000 m Max. 50 kBit/s

Network Capable Yes

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

420 IF371 Chapter 3

14.4.2 Pin Assignments

Assignment
Pin CAN

9 pin D-type plug 1 NC

2 CAN_L
1
6 3 CAN_GND
4 NC
5 NC
6 Reserved
9
5 7 CAN_H
8 NC
9 NC

B&R 2003 Modules

Chapter 3

B&R 2003 Modules IF371 421

15 COUNTER AND POSITIONING MODULES
15.1 OVERVIEW

Module Description

NC161 2003 encoder module, input frequency 100 kHz, incremental or absolute, 32 Bit,
encoder supply 5 VDC or 24 VDC, screw-in module

422 Counter and Positioning Modules Chapter 3

15.2 NC161

15.2.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID NC161

General Information

Model Number 7NC161.7

Short Description 2003 encoder module, input frequency 100 kHz, incremental or absolute,
32 bit, encoder supply 5 VDC or 24 VDC, screw-in module

C-UL-US Listed Yes

B&R ID Code $10

Module Type B&R 2003 screw-in module

Slot AF101 adapter module, CP interface

Power Consumption 0.3 W + I encoder * 5.4 V

Encoder Input

General Information Connection using 15 pin D-type socket

incremental or SSI absolute encoder (both electrically isolated)

Incremental Encoder
Signal Form Square wave pulses
Evaluation 4-fold
Input Frequency Max. 100 kHz
Counter Frequency Max. 400 kHz
Phase Shift between 90° ±15°
Channel A and B
Counter Size 32 Bit
Inputs A, A\, B, B\, R, R\
Input Level 5 V (differential input)

SSI Absolute Encoder

Coding Gray, Binary
Word Size Max. 31 Bit
Baudrate 100 kBaud
Data Input Level 5 V (differential signal)
Clock Output Level 5 V (differential signal)
Max. Signal Delay ≤2.5 µs
Clock - Data

B&R 2003 Modules NC161 423

 Module ID NC161

Additional Inputs +24 VDC

Reference Enable Switch Connected using terminal block
Electrical Isolation Yes
Reference Pulse Connected using 15 pin D-type socket (pin 10 and 11)
Electrical Isolation Yes

Encoder Supply

Output Voltage +5 VDC / max. 500 mA without external feed

Protection Short Circuit and Overload Protection

External Supply Voltage +24 VDC / max. 300 mA

Protection Short circuit protection

Mechanical Characteristics

Dimensions B&R 2003 screw-in module

15.2.2 General Information

The NC161 is an encoder module with symmetrical incremental encoder or absolute encoder evaluation.
A 5 V encoder supply is available directly on the module. A 24 V encoder supply must be connected
externally to terminals 1 and 2 on the terminal block. The reference enable switch is connected to terminals
3 and 4 .

15.2.3 Operating Modes

The NC161 is used for single axis positioning with ramps in conjunction with the AO352 analog output module.

15.2.4 Special Functions

• Latches the counter value using the reference enable switch

• Enables use of a comparator output when during incremental encoder operation. The clock output
(pins 7 and 8) is used as the comparator output.

424 NC161 Chapter 3

15.2.5 Encoder Connection

15 pin D-type socket

8
15

9 1

Pin ID Incremental ID Absolute ID Additional Input ID Encoder Supply

Encoder Encoder

1 A Channel A

B&R 2003 Modules

2 A\ A inverted

Chapter 3
3 B Channel B

4 B\ B inverted

5 R Reference pulse 1) D Data input

1)
6 R\ R inverted D\ D inverted

7 C Clock output

8 C\ C inverted

9 ES Encoder supply 2)
+5 VDC / 500 mA

10 Reference pulse +24 VDC 1)

11 Reference pulse GND 1)

12 EG Encoder supply ⊥

13 ES Encoder supply 3)
+24 VDC / 300 mA
external voltage from
terminal block

14

15

1)
Pins 5 and 6 as well as 10 and 11 are linked together using OR logic (hardware). Open pins are considered 0.
2)
The 5 V encoder supply is not supplied externally. Bit 7 of configuration word 8 must be set in order to activate the 5 V encoder supply.
3)
In order to use an encoder requiring a 24 V power supply, terminals 1 and 2 on the terminal block must be connected to an external 24 V
encoder supply.

B&R 2003 Modules NC161 425

15.2.6 Terminal Blocks

The terminal block is found on the bottom of the module. It is integrated in the housing.

Pin Assignments

Pin Assignment

1 Feed for external encoder supply max. +24 VDC

2 GND

3 Input reference enable switch +24 VDC

4 Input reference enable switch GND

Connection Example

+24 VDC Supply

Z1
Z2
Z3

Reference Enable Switch Z4

426 NC161 Chapter 3

15.2.7 Variable Declaration for Incremental Encoder Operation

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Incremental encoder operation with PCC 2003 CPU and remote slaves

B&R 2003 Modules

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Chapter 3
Data Access VD Data VD Module VD R W Description
Type Type Chan.

Data word 0 WORD Transp. In 0 ● Module status

Data word 1 INT32 Transp. In 2 ● Counter value

Configuration word 4 INT32 Transp. In 8 ● Counter value at positive edge of the reference enable
switch

INT32 Transp. Out 8 ● Threshold value 1

Configuration word 6 INT32 Transp. In 12 ● Counter value at negative edge of the reference enable
switch
INT32 Transp. Out 12 ● Threshold value 2

Configuration word 8 WORD Transp. Out 16 ● Incremental encoder / comparator control

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules NC161 427

Incremental Encoder Operation with CAN Slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.

Data word 0 INT32 Transp. In 0 ● Counter value

Data word 2 WORD Transp. In 4 ● Module status

Configuration word 4 INT32 Transp. In 8 ● Counter value at positive edge of the reference enable
switch

INT32 Transp. Out 8 ● Threshold value 1

Configuration word 6 INT32 Transp. In 12 ● Counter value at negative edge of the reference enable
switch

INT32 Transp. Out 12 ● Threshold value 2

Configuration word 8 WORD Transp. Out 16 ● Incremental encoder / comparator control

Configuration word 12 WORD Transp. In 24 ● Module status

Configuration word 14 WORD Transp. In 28 ● Module type

WORD Transp. Out 28 ● Module configuration

B&R 2000 users have to exchange the two counter status words so that the high word
is first (Motorola format)!

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the NC161. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four NC161 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

2 543 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

3 544 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

4 545 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola format)!

428 NC161 Chapter 3

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Counter value not taken

1.... Counter value is taken with the first positive edge on the
reference enable switch
10 0.... Counter value not taken
1.... Counter value is taken with the first negative edge on the
reference enable switch

9 0.... If bit 8 and bit 9 = 0, then the load is in the valid range or the

B&R 2003 Modules

supply is not switched on
1.... 5 V encoder supply overload or short-circuit

Chapter 3
8 0.... If bit 8 and bit 9 = 0, then the load is in the valid range or the
supply is not switched on
1.... 5 V encoder supply is not loaded
7 0.... Referencing is taking place
1.... Counter is referenced (resetting takes place when the reference
command is received)

6 Changes state each time referencing takes place

5 x .... Not defined, masked out

4 Output status of the comparator

2-3 x .... Not defined, masked out

1 Level of the reference enable switch
0 1) Bit 0 in configuration word 14 = 0
Level of the reference pulse
2) Bit 0 in configuration word 14 = 1
Level of the combination of reference pulse and reference enable
switch
Normal and inverted reference pulses are differentiated.
Switching takes place using bit 2 in configuration word 14 (see
following explanation).

x x x x x x x

15 8 7 0

B&R 2003 Modules NC161 429

Normal Reference Pulse:

Please refer to path/status and timing diagrams in the section, "Incremental Encoder
Operation".

Bit 0 in Data Word 0 is always 1 when the level of the reference enable switch is 0.
Bit 0 only takes the level of the reference pulse when the level of the reference enable switch is 1.

Bit 0 = Reference pulse or (not reference enable switch)

Reference Pulse Reference Enable Switch Bit 0 in Data Word 0

0 0 1

1 0 1
0 1 0

1 1 1

Inverted Reference Pulse:

Bit 0 in data word 0 is always 1 when the level of the reference enable switch is 0.
Bit 0 only takes the level of the inverted reference pulse when the state of the reference enable switch is 1.

Bit 0 = (not reference pulse) or (not reference enable switch)

Reference Pulse Reference Enable Switch Bit 0 in Data Word 0

0 0 1

1 0 1

0 1 1
1 1 0

430 NC161 Chapter 3

Data Word 1 (read)

Counter Value MSW

Data Word 2 (read)

Counter Value LSW

Configuration Words 4+5 (read)

After setting bit 11 in configuration word 8, the configuration words receive the latched counter value with
the first positive edge of the reference enable switch. The value is also valid if bit 11 is set in data word 0.
Please refer to the timing diagram "Latching the Counter Value" in the section, "Incremental Encoder
Operation".

Configuration Words 4+5 (write)

B&R 2003 Modules

Threshold value 1 (32 Bit)

Chapter 3
Threshold value 1 must always be ≤ threshold value 2 .
Threshold values are internally arranged in increasing order including sign.

Configuration Words 6+7 (read)

After setting bit 10 in configuration word 8, the configuration words receive the latched counter value with
the first negative edge of the reference enable switch. The value is also valid if bit 10 is set in data word 0.
Please refer to the timing diagram "Latching the Counter Value" in the section, "Incremental Encoder
Operation".

Configuration Words 6+7 (write)

Threshold value 2 (32 Bit)

Configuration Word 8 (write)

Incremental encoders and comparators are configured using configuration word 8.

During incremental encoder operation the clock output (pins 7 and 8) is used as the comparator output.

B&R 2003 Modules NC161 431

 Bit Description

12 - 15 0

11 0 ....Counter value not taken

1 ....Counter value is taken with the first positive edge on the
reference enable switch
(see configuration words 4 and 5) 1)
10 0 ....Counter value not taken
1 ....Counter value is taken with the first negative edge on the
reference enable switch
(see configuration words 6 and 7) 1)
8-9 0

7 0 ....5 V encoder supply off (default)

1 ....5 V encoder supply on

5-6 0
4 0 ....No effect on counter
1 Clear counter (reference)
With the positive edge on bit 4, the counter is cleared depending
on the control signal in configuration word 14 (write). Before
further referencing, bit 4 must be reset and set again.

3 0 ....Comparator off
The comparator output is set to the level given in bit 0.
1 ....Comparator on
2 0 ....Unconditional comparator output
The comparator output is set to the level given in bit 0, if
threshold value 1 < counter ≤ threshold value 2
1 ....Conditional comparator output
The comparator output can be controlled in two ways:
a) Using the reference enable switch, if bit 15 is reset in
configuration word 14.
Reference enable switch = 1
The comparator output is handled as with
"Unconditional comparator output".
Reference enable switch = 0
The comparator output is set to the inverted level of
bit 0.
b) In TPU operation using the TPU-IN line. The line is
handled using LTX functions (e.g. with LTXdo0()). TPU
operation is defined by setting bit 15 in configuration
word 14.
TPU-IN line = 1
The comparator output is handled as with
"Unconditional comparator output".
TPU-IN line = 0
The comparator output is set to the inverted level of
bit 0.

1 0
0 Level of the comparator output

0 0 0 0 0 0 0 0 0

15 8 7 0
1)
The counter value is only taken once. Bit 10 and bit 11 must be reset for the value to be taken again. Bit 10 and bit 11 can be set again in
configuration word 8 after the corresponding bit in the module status bit has gone to 0.

432 NC161 Chapter 3

Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched). The module status is written
to data word 0.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $10

0-7 x .... Not defined, masked out

0 0 0 1 0 0 0 0 x x x x x x x x

15 8 7 0

B&R 2003 Modules

Configuration Word 14 (write)

Chapter 3
The module is configured using configuration word 14.

With the standard setting, the encoder module is operated as 32 Bit up/down counter with 4-fold evaluation.

Please refer to path/status and timing diagrams in the section, "Incremental Encoder
Operation".

B&R 2003 Modules NC161 433

 Bit Description

15 0.... TPU operation switched off

1.... TPU operation switched on
To be able to use TPU operation, the module must be operated
on the CP Interface.
Channels A and B are switched through to the TPU (can be
operated using LTX functions e.g. with LTXcab2()).
Using the TPU-IN line, the signal source for the TPU-OUT line
is selected. Both lines are operated using LTX functions
(TPU-IN line e.g. with LTXdo0(), TPU-OUT line e.g. with
LTXdi1()).
A differentiation must be made as to if the comparator is
switched on or off.
a) Comparator is switched off
(bit 3 in configuration word 8 = 0)
TPU-IN = 0... TPU-OUT = reference pulse
TPU-IN = 1 TPU-OUT = reference pulse & reference
enable switch (binary AND logic)
b) Comparator is switched on
(bit 2 and bit 3 in configuration word 8 = 1, also compared
to status of bit 2 in configuration word 8)
TPU-IN = 0... TPU-OUT = inverted level of bit 0 in
configuration word 8
TPU-IN = 1... TPU-OUT = Level of bit 0 in configuration
word 8, if threshold value 1 < counter ≤
threshold value 2
13 - 14 0

12 0.... Incremental encoder operation

1.... Absolute encoder operation
6 - 11 0

5 0.... No effect on count direction

1.... Reversed count direction
4 0.... Incremental encoder without comparator
1.... Incremental encoder with comparator

3 0
2 0.... No effect on reference pulse
1.... Reference pulse is inverted. This setting is used for encoders
with a high pulse.

1 0.... Set counter immediately to 0. In data word 0 (module status),

bit 7 is immediately set to 1.
1.... Counter remains functioning. In data word 0 (module status),
bit 7 is immediately set to 0 (conditional referencing).
Depending on bit 0 in configuration word 14, bit 7 in data word 0
is set to 1 and cleared again with a positive edge on bit 4 in
configuration word 8.
0 0.... Ignore reference enable switch
(referencing with reference pulse)
Refers to bit 4 in configuration word 8.
1.... Activate reference enable switch
(referencing with reference pulse and reference enable switch)

0 0 0 0 0 0 0 0 0 0

15 8 7 0

434 NC161 Chapter 3

15.2.8 Variable Declaration for Absolute Encoder Operation

The variable declaration is valid for the following controllers:

• 2003 PCC CPU

• Remote I/O Bus Controller
• CAN Bus Controller

The variable declaration is made in PG2000. The variable declaration is described in Chapter 4, "Module
Addressing".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

Accessing screw-in modules is also explained in the sections "AF101" and "CPU".

Absolute encoder operation with PCC 2003 CPU and remote slaves

B&R 2003 Modules

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Chapter 3
Data Access VD Data VD Module VD R W Description
Type Type Chan.
Data word 0 WORD Transp. In 0 ● Module status
Data word 1 INT32 Transp. In 2 ● Counter value
Configuration word 4 INT32 Transp. In 8 ● Counter value at positive edge of the reference enable
switch
Configuration word 6 INT32 Transp. In 12 ● Counter value at negative edge of the reference enable
switch
Configuration word 8 WORD Transp. Out 16 ● Absolute encoder control
Configuration word 12 WORD Transp. In 24 ● Module status
Configuration word 14 WORD Transp. In 28 ● Module type
WORD Transp. Out 28 ● Module configuration

B&R 2003 Modules NC161 435

Absolute encoder operation with CAN slaves

Data access takes place using data and configuration words. The following table provides an overview of
which data and configuration words are used for this module.

Data Access VD Data VD Module VD R W Description

Type Type Chan.
Data word 0 INT32 Transp. In 0 ● Counter value
Data word 2 WORD Transp. In 4 ● Module status
Configuration word 4 INT32 Transp. In 8 ● Counter value at positive edge of the reference enable
switch
Configuration word 6 INT32 Transp. In 12 ● Counter value at negative edge of the reference enable
switch
Configuration word 8 WORD Transp. Out 16 ● Absolute encoder control
Configuration word 12 WORD Transp. In 24 ● Module status
Configuration word 14 WORD Transp. In 28 ● Module type
WORD Transp. Out 28 ● Module configuration

Access using CAN Identifiers

Access via CAN Identifiers is used if the slave is being controlled by a device from another manufacturer.
Access via CAN Identifiers is described in an example in Chapter 4, "Module Addressing".
The transfer modes are explained in Chapter 5, "CAN Bus Controller Functions".

Data cannot be packed on the NC161. Therefore one CAN object is transferred per screw-in module.
If an adapter module AF101 is equipped with a four NC161 modules, the CAN object has the following
structure:

1)
Slot CAN ID Word 1 Word 2 Word 3 Word 4

1 542 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

2 543 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

3 544 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

4 545 Count. LL Count. ML Count. MH Count. HH Status L Status H Free

1)
CAN ID = 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1)
nd ..... Node number of the CAN slave = 1
ma .... Module address of the AF101 = 1
sl ....... Slot number of the screw-in module on the AF101 (1 - 4)

B&R 2000 users have to exchange the data so that the high data is first (Motorola format)!

For more information on ID allocation, see Chapter 5, "CAN Bus Controller Functions".

436 NC161 Chapter 3

Description of Data and Configuration Words

Data Word 0 (read)

Data word 0 includes the module status time constant for the counter value.

Bit Description

12 - 15 x .... Not defined, masked out

11 0.... Counter value not taken

1.... Counter value is taken with the first positive edge on the
reference enable switch
10 0.... Counter value not taken
1.... Counter value is taken with the first negative edge on the
reference enable switch
9 0.... If bit 8 and bit 9 = 0, then the load is in the valid range or the
supply is not switched on
1.... 5 V encoder supply overload or short-circuit

8 0.... If bit 8 and bit 9 = 0, then the load is in the valid range or the

B&R 2003 Modules

supply is not switched on
1.... 5 V encoder supply is not loaded

Chapter 3
2-7 x .... Not defined, masked out
1 Level of the reference enable switch

0 x .... Not defined, masked out

x x x x x x x x x x x

15 8 7 0

Data Word 1 (read)

Counter Value MSW

Data Word 2 (read)

Counter Value LSW

Configuration Words 4+5 (read)

After setting bit 11 in configuration word 8, the configuration words receive the latched counter value with
the first positive edge of the reference enable switch. The value is also valid if bit 11 is set in data word 0.
Please refer to the timing diagram "Latching the Counter Value" in the section, "Incremental Encoder
Operation".

Configuration Words 6+7 (read)

After setting bit 10 in configuration word 8, the configuration words receive the latched counter value with
the first negative edge of the reference enable switch. The value is also valid if bit 10 is set in data word 0.
Please refer to the timing diagram "Latching the Counter Value" in the section, "Incremental Encoder
Operation".

B&R 2003 Modules NC161 437

Configuration Word 8 (write)

The absolute encoder is configured using configuration word 8.

Bit Description

12 - 15 0

11 0.... Counter value not taken

1.... Counter value is taken with the first positive edge on the
reference enable switch
(see configuration words 4 and 5) 1)
10 0.... Counter value not taken
1.... Counter value is taken with the first negative edge on the
reference enable switch
(see configuration words 6 and 7) 1)
8-9 0

7 0.... 5 V encoder supply off (default)

1.... 5 V encoder supply on

0-6 0

0 0 0 0 0 0 0 0 0 0 0 0 0

15 8 7 0
1)
The counter value is only taken once. Bit 10 and bit 11 must be reset for the value to be taken again. Bit 10 and bit 11 can
be set again in configuration word 8 after the corresponding bit in the module status bit has gone to 0.

Configuration Word 12 (read)

Configuration word 12 contains the module status (current status unlatched). The module status is written
to data word 0.

Configuration Word 14 (read)

The High Byte of configuration word 14 defines the module code.

Bit Description

8 - 15 Module code = $10

0-7 x .... Not defined, masked out

0 0 0 1 0 0 0 0 x x x x x x x x

15 8 7 0

438 NC161 Chapter 3

Configuration Word 14 (write)

The module is configured using configuration word 14.

Bit Description

15 0.... TPU operation switched off

1.... TPU operation switched on
To be able to use TPU operation, the module must be operated
on the CP Interface.
The TPU-OUT line is used for status information. The line is
handled using LTX functions (e.g. with LTXdi1()).
TPU-OUT = 0 ... Position measurement active
TPU-OUT = 1 ... New count available
13 - 14 0

12 0.... Incremental encoder operation

1.... Absolute encoder operation
11 0.... Binary coded SSI encoder signal (SSI encoder)
1.... Gray coded SSI encoder signal

B&R 2003 Modules

10 0

Chapter 3
5-9 Number of preceding zeros before the MSB of the encoder value

0-4 Number of valid bits in the encoder value

As standard, bits 0 - 9 = 0. With this setting, the first 32 bits of the
SSI encoder data flow are output.

0 0 1 0

15 8 7 0

Please refer to the example in section "Absolute Encoder Information".

B&R 2003 Modules NC161 439

15.2.9 Incremental Encoder Operation

The following path/status and timing diagrams illustrate the functional behavior of the NC161 in incremental
encoder operation with various configurations.

Comparator - Unconditional

The following settings are to be made:

Data / Configuration Word Command to be Description

Executed

Configuration words 4+5 Threshold value 1 Define threshold value 1 for comparator, threshold value 1 ≤ threshold value 2

Configuration words 6+7 Threshold value 2 Define threshold value 2 for counter
Configuration word 8 Bit 0 = 0 or 1 Level of the comparator output

Configuration word 8 Bit 2 = 0 Unconditional comparator output

Configuration word 8 Bit 3 = 1 Switch comparator on

Configuration word 14 Bit 4 = 1 Incremental encoder operation with comparator

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Path/Status Diagram

Threshold value 1:
Configuration words 4+5

Threshold value 2:
Configuration words 6+7

Comparator value :
1)
≥ Threshold value 1 ≤ Threshold value 2
Bit 4 in data word 0, if bit 0
in configuration word 8 = 1

1)
Comparator value : ≥ Threshold value 1 ≤ Threshold value 2
Bit 4 in data word 0, if bit 0
in configuration word 8 = 0

Position

1)
The comparator shows jitter of 0 - ca. 1 ms

The clock output (pins 7 and 8) correspond to the comparator status of bit 4 in data word 0.

440 NC161 Chapter 3

Comparator - Conditional

The following settings are to be made:

Data / Configuration Word Command to be Description

Executed

Configuration words 4+5 Threshold value 1 Define threshold value 1 for comparator, threshold value 1 ≤ threshold value 2

Configuration words 6+7 Threshold value 2 Define threshold value 2 for counter

Configuration word 8 Bit 0 = 0 or 1 Level of the comparator output

Configuration word 8 Bit 2 = 1 Conditional comparator output

Configuration word 8 Bit 3 = 1 Switch comparator on

Configuration word 14 Bit 4 = 1 Incremental encoder operation with comparator

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Path/Status Diagram

B&R 2003 Modules

Threshold value 1:

Chapter 3
Configuration words 4+5

Threshold value 2:
Configuration words 6+7

Reference enable switch

1)
Comparator value : ≥ Threshold value 1 ≤ Threshold value 2
Bit 4 in data word 0, if bit 0
in Configuration word 8 = 1

1)
Comaparator value : ≥ Threshold value 1 ≤ Threshold value 2
Bit 4 in data word 0, if bit 0
in Configuration word 8 = 0

Position

1)
The comparator shows jitter of 0 - ca. 1 ms

The clock output (pins 7 and 8) correspond to the comparator status of bit 4 in data word 0.

B&R 2003 Modules NC161 441

Latching the Counter Value

The following settings are to be made:

Data / Configuration Word Command to be Description

Executed

Configuration word 8 Bit 10 = 0 or 1 Counter value is taken with the first negative edge on the reference enable
switch

Configuration word 8 Bit 11 = 0 or 1 Counter value is taken with the first positive edge on the reference enable
switch

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Timing Diagram

Latch on positive edge:

Bit 11 in configuration word 8

Latch on negative edge:

Bit 10 in configuration word 8

Counter value transferred

on first pos. edge:
Bit 11 in data word 0

Counter value transferred

on first neg. edge:
Bit 10 in data word 0

Reference enable switch

Time

442 NC161 Chapter 3

Referencing - Unconditional

The following settings are to be made:

Data / Configuration Word Command to be Description

Executed

Configuration word 8 Bit 4 = 0 or 1 Clear counter (referencing), for control signal see configuration word 14

Configuration word 14 Bit 1 = 0 Clear counter immediately (unconditional referencing)

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Timing Diagram

Clear counter:
Bit 4 in configuration word 8

Counter cleared:

B&R 2003 Modules

Bit 7 in data word 0

Chapter 3
State change after
each reference:
Bit 6 in data word 0

Time

B&R 2003 Modules NC161 443

Referencing - Conditional with Reference Enable Switch

Reference pulse - non-inverted

Make the following settings for conditional referencing with reference enable switch and non-inverted
reference pulse:

Data / Configuration Word Command to be Description

Executed

Configuration word 8 Bit 4 = 0 or 1 Clear counter (referencing), for control signal see configuration word 14

Configuration word 14 Bit 0 = 1 Activate reference enable switch

Configuration word 14 Bit 1 = 1 Conditional referencing

Configuration word 14 Bit 2 = 0 Reference pulse non-inverted

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Timing Diagram

Reference pulse

Clear counter:
Bit 4 in configuration word 8

Reference enable switch

Reference pulse or
(not reference enable switch):
Bit 0 in data word 0

Counter cleared:
Bit 7 in data word 0

Status change after

each reference:
Bit 6 in data word 0

Time

444 NC161 Chapter 3

Reference pulse - inverted

Make the following settings for conditional referencing with reference enable switch and inverted reference
pulse:

Data / Configuration Word Command to be Description

Executed

Configuration word 8 Bit 4 = 0 or 1 Clear counter (referencing), for control signal see configuration word 14

Configuration word 14 Bit 0 = 1 Activate reference enable switch

Configuration word 14 Bit 1 = 1 Conditional referencing

Configuration word 14 Bit 2 = 1 Reference pulse inverted

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Timing Diagram

Reference pulse

B&R 2003 Modules

Chapter 3
Clear counter:
Bit 4 in configuration word 8

Reference enable switch

(not reference pulse) or

(not reference enable switch):
Bit 0 in data word 0

Counter cleared:
Bit 7 in data word 0

Status change after

each reference:
Bit 6 in data word 0

Time

B&R 2003 Modules NC161 445

Referencing - Conditional without Reference Enable Switch

Reference pulse - non-inverted

Make the following settings for conditional referencing without reference enable switch and with non-inverted
reference pulse:

Data / Configuration Word Command to be Description

Executed

Configuration word 8 Bit 4 = 0 or 1 Clear counter (referencing), for control signal see configuration word 14

Configuration word 14 Bit 0 = 0 Ignore reference enable switch

Configuration word 14 Bit 1 = 1 Conditional referencing

Configuration word 14 Bit 2 = 0 Reference pulse non-inverted

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Timing Diagram

Reference pulse

Clear counter:
Bit 4 in configuration word 8

Reference pulse:
Bit 0 in data word 0

Counter cleared:
Bit 7 in data word 0

Status change after

each reference:
Bit 6 in data word 0

Time

446 NC161 Chapter 3

Reference pulse - inverted

Make the following settings for conditional referencing without reference enable switch and with inverted
reference pulse:

Data / Configuration Word Command to be Description

Executed

Configuration word 8 Bit 4 = 0 or 1 Clear counter (referencing), for control signal see configuration word 14

Configuration word 14 Bit 0 = 0 Ignore reference enable switch

Configuration word 14 Bit 1 = 1 Conditional referencing

Configuration word 14 Bit 2 = 1 Reference pulse inverted

Configuration word 14 Bit 12 = 0 Incremental encoder operation

Timing Diagram

Reference pulse

B&R 2003 Modules

Chapter 3
Clear counter:
Bit 4 in configuration word 8

Not reference pulse:

Bit 0 in data word 0

Counter cleared:
Bit 7 in data word 0

Status change after

each reference:
Bit 6 in data word 0

Time

B&R 2003 Modules NC161 447

15.2.10 Absolute Encoder Operation

In the following examples, the absolute encoder will be read in once in formatted form and once as raw value.
The following absolute encoder is used in both examples:

Encoder Type Multiturn encoder

Encoder Resolution 256 x 4096 ⇒ 20 Bits

Bits Transferred 24
Data Bits 20
Preceding Zeros 4

Read in formatted data

If the protocol format delivered by the absolute encoder is known, the data is read in in formatted form. The
following settings are to be made:

Data / Configuration Word Command to be Description

Executed

Configuration word 14 Bit 0 - 4 = %10100 Number of valid bits in the encoder value: 20

Configuration word 14 Bit 5 - 9 = %00100 Number of preceding zeros: 4

Configuration word 14 Bit 11 = 0 Binary coded SSI encoder signal

Configuration word 14 Bit 12 = 1 Absolute encoder operation

Protocol format

448 NC161 Chapter 3

Read in data as 32 bit raw value

The data is read in as 32 bit raw value if e.g. the protocol format delivered by the absolute encoder in not
known. The following settings are to be made:

Data / Configuration Word Command to be Description

Executed

Configuration word 14 Bit 0 - 4 = %00000 Number of valid bits in the encoder value: 0

Configuration word 14 Bit 5 - 9 = %00000 Number of preceding zeros: 0

Configuration word 14 Bit 11 = 0 Binary coded SSI encoder signal

Configuration word 14 Bit 12 = 1 Absolute encoder operation

Protocol format

B&R 2003 Modules

Chapter 3

B&R 2003 Modules NC161 449

16 ACCESSORIES
16.1 OVERVIEW

Model Number Description

7AC010.9 2003 bus cover, 5 pcs.

7AC011.9 2003 stress relief attachment, 5 pcs., incl. mounting material

7AC020.9 2003 bus cover, 1 pcs.

7TB710.9 2003 terminal block, 10 pin, screw clamps

7TB710.91 2003 terminal block, 10 pin, cage clamps

7TB710:90-01 2003 terminal block, 10 pin, 30 pcs., screw clamps

7TB710:91-01 2003 terminal block, 10 pin, 30 pcs., cage clamps

7TB712.9 2003 terminal block, 12 pin, screw clamps

7TB712.91 2003 terminal block, 12 pin, cage clamps

7TB712:90-02 2003 terminal block, 12 pin, 20 pcs., screw clamps

7TB712:91-02 2003 terminal block, 12 pin, 20 pcs., cage clamps

7TB718.9 2003 terminal block, 18 pin, screw clamps

7TB718.91 2003 terminal block, 18 pin, cage clamps

7TB718:90-02 2003 terminal block, 18 pin, 20 pcs., screw clamps

7TB718:91-02 2003 terminal block, 18 pin, 20 pcs., cage clamps

7TB722.9 2003 terminal block, 22 pin, screw clamps

7TB722.91 2003 terminal block, 22 pin, cage clamps

7TB733.9 2003 terminal block, 33 pin, screw clamps

7TB733.91 2003 terminal block, 33 pin, cage clamps

7TB736.9 2003 terminal block, 36 pin, screw clamps

7TB736.91 2003 terminal block, 36 pin, cage clamps

7TB754.9 2003 terminal block, 54 pin, screw clamps

7TB754.91 2003 terminal block, 54 pin, cage clamps

7TB772.91 2003 terminal block, 72 pin, cage clamps

450 Accessories Chapter 3

16.2 AC010 / AC020

16.2.1 Technical Data

B&R 2003 Modules

Chapter 3
Module ID AC010 AC020

Model Number 7AC010.9 7AC020.9

Short Description 2003 bus cover, 5 pcs. 2003 bus cover, 1 pcs.

16.2.2 General Information

If module slots remains free, fitting a bus cover on the first free slot is recommended. In this way, the last module
can be protected from damage.

B&R 2003 Modules AC010 / AC020 451

16.3 AC011

16.3.1 Technical Data

M3 x 8 ... 10 pieces

Mounting Strips ... 5 pieces

Stress Relief Attachment ... 5 pieces

Module ID AC011

Model Number 7AC011.9

Short Description 2003 stress relief attachment, 5 pcs., incl. mounting material

16.3.2 General Information

The stress relief attachment is intended for use with the DO721 digital output modules. It can be installed
on the module rack directly underneath the modules to prevent the cabling placing too much stress on the
4 pin connectors.
The stress relief attachment is mounted underneath the DO721. To do this, a threaded strip is inserted in
the module rack and the stress relief attachment is fastened with two screws. The mounting material is
contained in the delivery of the stress relief attachment.
The wires running into the module are then secured to the stress relief attachment using cable ties. In this
way, the connectors are freed from stress, and the security of the electrical wiring can be guaranteed.

452 AC011 Chapter 3

16.3.3 Connection Example

OUTPUT
RELAY N#
240 VAC
24 VDC
4 A / terminal

Fuse: S#
T 5A H 250V
1 2 3 4

DO721

Y1 Y2 Y3 Y4

B&R 2003 Modules

Chapter 3

B&R 2003 Modules AC011 453

16.4 TB710

16.4.1 Order Data

Model Number Short Description

7TB710.9 2003 terminal block, 10 pin, screw clamps

7TB710.91 2003 terminal block, 10 pin, cage clamps

7TB710:90-01 2003 terminal block, 10 pin, 30 pcs., screw clamps

7TB710:91-01 2003 terminal block, 10 pin, 30 pcs., cage clamps

Most I/O modules are wired using this 10 pin single row terminal block. This terminal block has a compact
design and is easy remove (each module has two ejection levers).

16.4.2 Technical Data

TB710.9

TB710.91

Module ID TB710

Number of Pins 10

Type of Terminal Implemented as screw or cage clamps

Distance between Contacts 5.08 mm

Resistance between Contacts 6 mΩ

Nominal Voltage 250 V

Current Load 1) Max. 12 A / contact

Wire Cross Section 0.14 mm² (AWG26) - 2.5 mm² (AWG12)

Cable Type Only copper wires (no aluminum wires!)

Removal Mechanical

1)
Take the respective limit data for the I/O modules into consideration!

454 TB710 Chapter 3

16.5 TB712

16.5.1 Order Data

Model Number Short Description

7TB712.9 2003 terminal block, 12 pin, screw clamps

7TB712.91 2003 terminal block, 12 pin, cage clamps

7TB712:90-02 2003 terminal block, 12 pin, 20 pcs., screw clamps

7TB712:91-02 2003 terminal block, 12 pin, 20 pcs., cage clamps

This single row 12 pin terminal block is used to connect screw-in modules. Removal is simplified by two ejection
levers on the terminal block.

16.5.2 Technical Data

B&R 2003 Modules

Chapter 3
TB712.9

TB712.91

Module ID TB712

Number of Pins 12

Type of Terminal Implemented as screw or cage clamps

Distance between Contacts 3.5 mm

Nominal Voltage 125 V

Current Load 1) Max. 12 A / contact

Wire Cross Section 0.08 mm² (AWG28) - 1.5 mm² (AWG16)

Cable Type Only copper wires (no aluminum wires!)

Removal Mechanical

1)
Take the respective limit data for the I/O modules into consideration!

B&R 2003 Modules TB712 455

16.6 TB718

16.6.1 Order Data

Model Number Short Description

7TB718.9 2003 terminal block, 18 pin, screw clamps

7TB718.91 2003 terminal block, 18 pin, cage clamps

7TB718:90-02 2003 terminal block, 18 pin, 20 pcs., screw clamps

7TB718:91-02 2003 terminal block, 18 pin, 20 pcs., cage clamps

This single row 18 pin terminal block is used to connect B&R 2003 I/O modules. Removal is simplified by two
ejection levers on the terminal block.

16.6.2 Technical Data

TB718.9

TB718.91

Module ID TB718

Number of Pins 18

Type of Terminal Implemented as screw or cage clamps

Distance between Contacts 3.5 mm

Nominal Voltage 125 V

Current Load 1) Max. 12 A / contact

Wire Cross Section 0.08 mm² (AWG28) - 1.5 mm² (AWG16)

Cable Type Only copper wires (no aluminum wires!)

Removal Mechanical

1)
Take the respective limit data for the I/O modules into consideration!

456 TB718 Chapter 3

16.7 TB722

16.7.1 Order Data

Model Number Short Description

7TB722.9 2003 terminal block, 22 pin, screw clamps

7TB722.91 2003 terminal block, 22 pin, cage clamps

The terminal block TB722 is used to supply the digital inputs on the DM435 module. It is a 22 pin dual level
terminal block with either screw clamps or cage clamps. The contacts on the front are connected together
and the ones on the back are also connected together which creates a positive and a GND strip.

16.7.2 Technical Data

B&R 2003 Modules

Chapter 3
TB722.9

TB722.91

Module ID TB722

Number of Pins 22

Type of Terminal Implemented as screw or cage clamps

Distance between Contacts 5.08 mm

Nominal Voltage 250 V

Current Load 1) Max. 12 A / contact

Wire Cross Section 0.14 mm² (AWG26) - 2.5 mm² (AWG12)

Cable Type Only copper wires (no aluminum wires!)

Dimensions TB722.9 TB722.91

Height 33 mm 33 mm
Width 76 mm 76 mm
Depth 52 mm 33 mm

1)
Take the respective limit data for the I/O modules into consideration!

B&R 2003 Modules TB722 457

16.8 TB733

16.8.1 Order Data

Model Number Short Description

7TB733.9 2003 terminal block, 33 pin, screw clamps

7TB733.91 2003 terminal block, 33 pin, cage clamps

The terminal block TB733 is used as an additional jumper terminal if the digital mixed module DM435 is
operated using a 3-line connection. The TB733 is a 33 pin 3-level terminal block with either screw clamps
or cage clamps. All terminals in a terminal row are electrically connected

16.8.2 Technical Data

TB733.9

TB733.91

Module ID TB733

Number of Pins 33
All 11 terminals in a terminal row are electrically connected

Type of Terminal Implemented as screw or cage clamps

Distance between Contacts 5.08 mm

Nominal Voltage 250 V

Current Load 1) Max. 10 A / contact

Fuse External fuse is required

Wire Cross Section 0.14 mm² (AWG26) - 2.5 mm² (AWG12)

Cable Type Only copper wires (no aluminum wires!)

Dimensions TB733.9 TB733.91

Height 48 mm 48 mm
Width 76 mm 76 mm
Depth 52 mm 44 mm

1)
Take the respective limit data for the I/O modules into consideration!

458 TB733 Chapter 3

16.9 TB736

16.9.1 Order Data

Model Number Short Description

7TB736.9 2003 terminal block, 36 pin, screw clamps

7TB736.91 2003 terminal block, 36 pin, cage clamps

The terminal block TB736 is used to supply the digital inputs on the DM465 module. The TB736 consists of
two 18 pin pin-connectors and corresponding socket connectors as screw or cage clamp terminal blocks
with ejection levers. All terminals in a terminal row are electrically connected

16.9.2 Technical Data

B&R 2003 Modules

Chapter 3
TB736.9

TB736.91

Module ID TB736

Number of Pins 36
All 18 terminals in a terminal row are electrically connected

Design Two 18 pin pin-connectors and corresponding socket connectors as

screw or cage clamp terminal blocks with ejection levers

Distance between Contacts 3.5 mm

Nominal Voltage 125 V

Current Load 1) Max. 12 A / contact

Wire Cross Section 0.08 mm² (AWG28) - 1.5 mm² (AWG16)

Cable Type Only copper wires (no aluminum wires!)

Dimensions TB736.9 TB736.91

Height 33 mm 33 mm
Width 76 mm 76 mm
Depth 32 mm 32 mm

1)
Take the respective limit data for the I/O modules into consideration!

B&R 2003 Modules TB736 459

16.10 TB754

16.10.1 Order Data

Model Number Short Description

7TB754.9 2003 terminal block, 54 pin, screw clamps

7TB754.91 2003 terminal block, 54 pin, cage clamps

The terminal block is used as an additional jumper terminal and is specially designed for 3-line connections,
e.g. for the DM465 (3-line sensors). The TB754 consists of three18 pin pin-connectors and corresponding
socket connectors as screw or cage clamp terminal blocks with ejection levers. All connections in a terminal
row are electrically connected.

16.10.2 Technical Data

TB754.9

TB754.91

Module ID TB754

Number of Pins 54
All 18 terminals in a terminal row are electrically connected

Design Three 18 pin pin-connectors and corresponding

socket connectors as screw or cage clamp terminal blocks with ejection levers

Distance between Contacts 3.5 mm

Nominal Voltage 125 V

Current Load 1) Max. 12 A / contact

Fuse External fuse is required

Wire Cross Section 0.08 mm² (AWG28) - 1.5 mm² (AWG16)

Cable Type Only copper wires (no aluminum wires!)

Dimensions
Height 50 mm
Width 76 mm
Depth 32 mm

1)
Take the respective limit data for the I/O modules into consideration!

460 TB754 Chapter 3

16.11 TB772

16.11.1 Order Data

Model Number Short Description

7TB772.91 2003 terminal block, 72 pin, cage clamps

The terminal block TB772 is used as an additional jumper terminal if the digital mixed module DM465 is
operated using a 3-line connection. The TB772 consists of two 36 pin pin-connectors and corresponding
socket connectors as cage clamp terminal blocks with ejection levers. All terminals in a terminal row are
electrically connected

16.11.2 Technical Data

B&R 2003 Modules

Chapter 3
Module ID TB772

Number of Pins 72
All 18 terminals in a terminal row are electrically connected

Design Two 36 pin pin-connectors and corresponding

socket connectors as cage clamp terminal blocks with ejection levers
Distance between Contacts 3.5 mm

Nominal Voltage 50 V

Current Load 1) Max. 5 A / contact

Fuse External fuse is required

Wire Cross Section 0.5 mm² - 1 mm²

Cable Type Only copper wires (no aluminum wires!)

Dimensions
Height 48 mm
Width 76 mm
Depth 34 mm

1)
Take the respective limit data for the I/O modules into consideration!

B&R 2003 Modules TB772 461

17 MANUALS
17.1 OVERVIEW

Model Number Description

MASYS22003-0 B&R 2003 User’s Manual, German

MASYS22003-E B&R 2003 User’s Manual, English

462 Manuals Chapter 3

 CHAPTER 4
MODULE ADDRESSING

Module Addressing
Chapter 4

Module Addressing 463

464 Chapter 4
1 MEMORY AREA FOR A SCREW-IN MODULE
1.1 STRUCTURE

Data exchange with a screw-in module takes place using a 32 word long memory area. Depending on the
screw-in module, up to 16 words can be accessed (read or write).
The memory area has the same structure for all screw-in modules:

Read (R) Write (W) Processing

Data word 0 Data word 0 Processing takes place
Data word 1 Data word 1 cyclically and automatically by
Data word 2 Data word 2 the operating system
Data word 3 Data word 3
Configuration word 4 Configuration word 4 Processing takes place
Configuration word 5 Configuration word 5 when requested by the user
Configuration word 6 Configuration word 6
Configuration word 7 Configuration word 7
Configuration word 8 Configuration word 8
Configuration word 9 Configuration word 9
Configuration word 10 Configuration word 10
Configuration word 11 Configuration word 11
Configuration word 12 Configuration word 12
Configuration word 13 Configuration word 13
Configuration word 14 Configuration word 14

Module Addressing
Configuration word 15 Configuration word 15

Chapter 4
1.2 DATA WORDS

The data words are processed by the operating system cyclically and automatically. They are used for the
following tasks:

• Input data is read by the input modules.

• Output data is written to the output modules.

1.3 CONFIGURATION WORDS

The configuration words are processed when requested by the user. Configuration words are also called
CFG words.
They are used for the following tasks:

• Configuring a screw-in module

• Writing output data
• Reading input data
• Reading the module status
• Reading the module type

Module Addressing 465

2 VARIABLE DECLARATION IN PG2000
The variable declaration in the PG2000 programming system depends on the controller:

CPU - PCC 2003

Data words Variable declaration

Configuration words I/O FBKs

Remote I/O Slave

Data words Variable declaration

Configuration words Variable declaration

CAN Slave

Data words Variable declaration

Configuration words CAN command FBK CANIOcmd()

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

466 Chapter 4
3 VARIABLE DECLARATION WITH 2003 PCC CPU
3.1 GENERAL INFORMATION

Entering the variable declaration is described in the "PG2000 Software User’s Manual".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

The example described here are especially suited to the specific characteristics of a B&R 2003 CPU.

Take note of the following points:

• Screw-in modules inserted on the CP interface are assigned module address 0.

• Accessing configuration words takes place using I/O function blocks.
• Eight configuration words are processed in a program cycle per analog interface module! If more
configuration words are required, some of the screw-in modules must be inserted in another AF101
module or access of the configuration words must be staggered.

The variable declaration is described using the hardware configuration shown below:

Module Addressing
Chapter 4

Module Addressing 467

3.2 MODULE ASSIGNMENTS

AT664 on CP Interface and AT664 on AF101

Channels 1 - 4 All channels are assigned

AI351

Channel 1 Voltage measurement without threshold switch

AO352

Channels 1 -2 All channels are assigned

DM435

Digital Outputs

Channels 1 -2 Assigned

Channels 3 -8 Free

Digital Inputs

Channels 1 -2 Assigned

Channels 3 -8 Free

DO435

Channels 1 -2 Digital inputs

Channels 3 - 4 Digital outputs

Channels 5 -8 Free

468 Chapter 4
3.3 TASK OVERVIEW

The application program is divided into the following tasks:

3.4 I/O LIBRARY

Before you can use the function blocks to handle the configuration words, you have to import the I/O library
into the project database. The function, Import Library in the File menu is provided for this purpose.
The I/O library must be entered in the GDM as a system module.

3.5 AF101

This task processes the screw-in modules on the CP interface and on the analog interface module AF101.
The shovel entries are defined in the INIT-SP. The shovel entries for the configuration are carried out in the
INIT-SP, the ones for reading the module status are carried out in the cyclic section of the program.

3.5.1 INIT-SP

Project: cpu File: InitSP : af101

Module Addressing
;*****************************************************************************

Chapter 4
;** Definition of the individual shovel instructions for the main rack **
;*****************************************************************************

Err_Ptest = 0
Err_IO_data = 0

AF101_slot = 1 ;Module address on rack

AT664_slot = 1 ;Slot address on AF101
AI351_slot = 2 ;Slot address on AF101

;#############################################################################
;## Multipler physical shovel instruction used to write ##
;## parameter word 14 from the AT664 to the AF101, Slot 1 ##
;#############################################################################
IO_struct.io_type=5 ;2003 IO
IO_struct.master_no=1 ;Master always 1
IO_struct.slave_no=0 ;Slave number always 0
IO_struct.module_adr=AF101_slot ;Module slot
IO_struct.intern_off= 32*(AT664_slot -1)+ 14 *2 ;Reg. no. 14 on ScrM = AT664_slot
IO_struct.mode=%00000000 ;Write, Normal
IO_struct.data_len=2 ;2*Byte
IO_struct.reserve=0 ;Not used
IO_struct.data_adr=adr(AT_r_reg14) ;Address of the data area with image of
;parameter word 14
AT_r_reg14 = $0000 ;No conversion
;AT_r_reg14 = $1001 ;J type sensor \
;AT_r_reg14 = $1002 ;K type sensor > filter time 60 Hz
;AT_r_reg14 = $1003 ;S type sensor /

Module Addressing 469

 IO_ptest(1,adr(IO_struct),status_pt1,ptest1_ok);Test if shovel instruction
;can be carried out

if (ptest1_ok = 1) then
;Declare shovel instruction #0
IO_mphydef(1,adr(IO_struct),adr(af_sc_buf),0,status_mp1,af_ident)
else
Err_Ptest = BIT_SET(Err_Ptest,0)
endif

;#############################################################################
;## Multipler physical shovel instruction to write parameter word ##
;## 14 from the AT664 to the left side of the CP474 (CP interface) ##
;#############################################################################
IO_struct.io_type=5 ;2003 IO
IO_struct.master_no=1 ;Master always 1
IO_struct.slave_no=0 ;Slave number always 0
IO_struct.module_adr=0 ;Module slot 0 -> left side
IO_struct.intern_off= 32*(AT664_slot -1)+ 14 *2 ;Reg. no. 14 on ScrM = AT664_slot
IO_struct.mode=%00000000 ;Write, Normal
IO_struct.data_len=2 ;2*Byte
IO_struct.reserve=0 ;Not used
IO_struct.data_adr=adr(AT_l_reg14) ;Address of the data area with image of
;parameter word 14
AT_l_reg14 = $0000 ;No conversion
;AT_l_reg14 = $1001 ;J type sensor \
;AT_l_reg14 = $1002 ;K type sensor > filter time 60 Hz
;AT_l_reg14 = $1003 ;S type sensor /

IO_ptest(1,adr(IO_struct),status_pt2,ptest2_ok);Test id shovel instruction

;can be carried out

if (ptest2_ok = 1) then
;Declare shovel instruction #1
IO_mphydef(1,adr(IO_struct),adr(af_sc_buf),1,status_mp2,af_ident)
else
Err_Ptest = BIT_SET(Err_Ptest,1)
endif

if Err_Ptest=0 then
loop ;Shovel instruction carried out cyclically ...
IO_data(1,af_ident,status_dat)
exitif status_dat <> 5559 ;...until shovelling is no longer active
endloop
endif

;#############################################################################
;## Multipler physical shovel instruction to read the module status ##
;## (parameter word 12) for AI351 ##
;#############################################################################
IO_struct.io_type=5 ;2003 IO
IO_struct.master_no=1 ;Master always 1
IO_struct.slave_no=0 ;Slave number always 0 for 2003
IO_struct.module_adr=AF101_slot ;Module slot
IO_struct.intern_off=32*(AI351_slot -1)+ 12 *2;Reg. no. 12 on ScrM = AI351_slot
IO_struct.mode=%00100000 ;Read, Normal
IO_struct.data_len=2 ;Word
IO_struct.reserve=0 ;Not used
IO_struct.data_adr=adr(AI_statin) ;Address of the data area where
;status word is stored.

470 Chapter 4
 IO_ptest(1,adr(IO_struct),status_pt2,ptest2_ok);Test if shovel instruction
;can be carried out

if (ptest2_ok = 1) then
;Change parameters for shovel instruction #0
IO_mphydef(1,adr(IO_struct),adr(af_sc_buf),0,status_mp2,af_ident)
;Delete shovel instruction #1
IO_mphydef(1,0,adr(af_sc_buf),1,status_mp3,af_ident)
else
Err_Ptest = BIT_SET(Err_Ptest,2)
endif

AF101_data = $FF
if (status_mp2=0) and (status_mp3=0) and (Err_Ptest=0) and (status_dat=0) then
AF101_data = 0
endif

;-----------------------------------------------------------------------------

3.5.2 Cyclic Program

Project: cpu File: af101.src

;*****************************************************************************
;*** Required for the definition of the variables (I/O variable would be ***
;*** linked in a more logical manner in real applications !) ***
;*****************************************************************************

Module Addressing
AT664r_in.chan1=AT664r_in.chan1
AT664r_in.chan2=AT664r_in.chan2

Chapter 4
AT664r_in.chan3=AT664r_in.chan3
AT664r_in.chan4=AT664r_in.chan4
AI351_in=AI351_in
AO352_out.chan1=AO352_out.chan1
AO352_out.chan2=AO352_out.chan2
AT664l_in1=AT664l_in1
AT664l_in2=AT664l_in2
AT664l_in3=AT664l_in3
AT664l_in4=AT664l_in4

;*****************************************************************************
;*** Carry out the defined multiple shovel instructions using IO_data ***
;*****************************************************************************

;*** Read parameter word 12 on AI351 cyclically ***

if ( AF101_data = 0 ) then ;Only if INIT-SP successful

IO_data(1,af_ident,status) ;Carry out shovel instruction
;If shovel instruction is not complete(0) and not active(5559)
if (status<>0) and (status<>5559) then
;Error evaluation here
endif
endif

Module Addressing 471

3.5.3 Variable Declaration

472 Chapter 4
3.5.4 AT664 on CP Interface

Four channels are used on the AT664.

Data type

The definition can be made in two ways:

• Individually for each channel

• Using a structure variable (see section "AT664 on AF101")

On this AT664, the data type is defined individually for each channel.

I/O Type

Select I/O type "2003 I/O" from the pop-up window. Then a dialog box will be opened.

The following settings are to be made in the dialog box:

Module Addressing
Chapter 4
Channel 1 Channel 2

Channel 3 Channel 4

Module Addressing 473

3.5.5 AT664 on AF101

Four channels are used on the AT664.

Data type

A structure will be defined for this AT664 using the data type typedef. After entering the structure name at664,
the elements of the structure variables can be entered in a dialog box:

I/O Type

The following settings are to be made in the dialog box I/O Type:

Channels 1 - 4

474 Chapter 4
3.5.6 AI351

For the AI351, the following settings are to be made in the dialog box I/O Type:

Channel 1

Module Addressing
Chapter 4

Module Addressing 475

3.5.7 AO352

Two channels are used on the AO352.

Data type

The channels can also be accessed individually instead of using transparent access (as in this example).
A structure is defined using the typedef data type. After entering the structure name ao352, the elements
of the structure variables can be entered in a dialog box:

I/O Type

The following settings are to be made in the dialog box I/O Type:

Channels 1 and 2

476 Chapter 4
3.6 DM435

On the DM435, two channels are used as digital inputs and two channels are used as digital outputs.

3.6.1 Variable Declaration

3.6.2 I/O Type

The settings shown below are to be made in the dialog box I/O Type.
The parameter Slot is set to 1 by the PG2000 programming system, and therefore does not have to be set
by the user.

Channel 1 - Digital Input Channel 2 - Digital Input

Module Addressing
Chapter 4
Channel 1 - Digital Output Channel 2 - Digital Output

Module Status

Module Addressing 477

3.7 DO435

On the DO435, two channels are used as digital inputs and two channels are used as digital outputs.

3.7.1 Variable Declaration

3.7.2 I/O Type

The settings shown below are to be made in the dialog box I/O Type.
The parameter Slot is set to 1 by the PG2000 programming system, and therefore does not have to be set
by the user.

Channel 1 - Digital Input Channel 2 - Digital Input

Channel 3 - Digital Output Channel 4 - Digital Output

Module Status

478 Chapter 4
4 VARIABLE DECLARATION WITH REMOTE I/O SLAVE
4.1 GENERAL INFORMATION

Entering the variable declaration is described in the "PG2000 Software User’s Manual".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

The examples described here are especially suited to the specific characteristics when using a Remote I/O
Slave.

The variable declaration is described using the hardware configuration shown below. The Remote I/O Slave
has node number 1.

Module Addressing
Chapter 4
4.2 MODULE ASSIGNMENTS

AT664

Channels 1 - 4 All channels are assigned

AI351

Channel 1 Voltage measurement without threshold switch

AO352

Channels 1 -2 All channels are assigned

Module Addressing 479

 DM435

Digital outputs

Channels 1 -2 Assigned

Channels 3 -8 Free

Digital inputs

Channels 1 -2 Assigned

Channels 3 -8 Free

DO435

Channels 1 -2 Digital inputs

Channels 3 - 4 Digital outputs

Channels 5 -8 Free

4.3 TASK OVERVIEW

The application program is divided into the following tasks:

4.4 REMOTE I/O LIBRARY

In order to program a Remote I/O Slave, the Remote I/O Library must be imported in the project database.
The function, Import Library in the File menu is provided for this purpose.
The Remote I/O Library must be entered in the GDM as a system module.

480 Chapter 4
4.5 AF101

This task is used to process the screw-in modules.

4.5.1 Variable Declaration

4.5.2 AT664

Four channels are used on the AT664.

Module Addressing
Select "REMOTE I/O" from the I/O Type pop-up selection window. Then a dialog box will be opened.

Chapter 4
The following settings are to be made in the dialog box I/O Type:

Module Addressing 481

 Channel 1 Channel 2

Channel 3 Channel 4

Module Status Module Type

Module Configuration

482 Chapter 4
4.5.3 AI351

For the AI351, the following settings are to be made in the dialog box I/O Type:

Channel 1 Module Status

Module Type Module Configuration

Module Addressing
Chapter 4

Module Addressing 483

4.5.4 AO352

Two channels are used on the AO352. The following settings are to be made in the I/O Type dialog box:

Channel 1 Channel 2

Module Status Module Type

4.6 DM435

On the DM435, two channels are used as digital inputs and two channels are used as digital outputs.

4.6.1 Variable Declaration

484 Chapter 4
4.6.2 I/O Type

The settings shown below are to be made in the dialog box I/O Type.
The parameter Slot is set to 1 by the PG2000 programming system, and therefore does not have to be set
by the user.

Channel 1 - Digital Input Channel 2 - Digital Input

Channel 1 - Digital Output Channel 2 - Digital Output

Module Addressing
Chapter 4
Module Status

Module Addressing 485

4.7 DO435

On the DO435, two channels are used as digital inputs and two channels are used as digital outputs. The
output mask is defined with the variable „outs“.

4.7.1 Variable Declaration

486 Chapter 4
4.7.2 I/O Type

The settings shown below are to be made in the dialog box I/O Type.
The parameter Slot is set to 1 by the PG2000 programming system, and therefore does not have to be set
by the user.

Channel 1 - Digital Input Channel 2 - Digital Input

Channel 3 - Digital Output Channel 4 - Digital Output

Module Addressing
Chapter 4
Module Status Output Mask

Module Addressing 487

5 VARIABLE DECLARATION WITH CAN SLAVE
5.1 GENERAL INFORMATION

Entering the variable declaration is described in the "PG2000 Software User’s Manual".

Automation Studio™ Support: See Automation Studio™ Help starting with V 1.40

The examples described here are especially suited to the specific characteristics when using a CAN Slave.

Take note of the following points:

• Accessing configuration words takes place using the CAN command function block CANIOcmd().
• Additional information concerning the CAN command function block can be found in the CANIO
online help.
• The variable declaration for a CAN Slave functions starting with PG2000 Programming System
Version 2.35.

The variable declaration is described using the hardware configuration shown below:

488 Chapter 4
5.2 MODULE ASSIGNMENTS

AT664

Channels 1 - 4 All channels are assigned

AI351

Channel 1 Voltage measurement without threshold switch

AO352

Channels 1 -2 All channels are assigned

DM435

Digital outputs

Channels 1 -2 Assigned

Channels 3 -8 Free

Module Addressing
Digital inputs

Chapter 4
Channels 1 -2 Assigned

Channels 3 -8 Free

DO435

Channels 1 -2 Digital inputs

Channels 3 - 4 Digital outputs

Channels 5 -8 Free

Module Addressing 489

5.3 TASK OVERVIEW

The application program is divided into the following tasks:

5.4 CANIO LIBRARY

In order to program a CAN Slave, the CANIO Library must be imported into the project data bank. The
function, Import Library in the File menu is provided for this purpose.
The CANIO master must be entered in the GDM as system module.

5.5 SYSTEM CONFIGURATION

The system configuration must be entered in the GDM. The following settings must be made for CAN I/O:

490 Chapter 4
5.6 ERROR EVALUATION

Errors, such as a node dropping out, alarm messages etc. can be evaluated in an exception task (exception
number 170).

Project: canio_bs File: canioexc.src

;#############################################################################
;## Error evaluation for CANIO in exception task ##
;#############################################################################

;Check reason for this exception

CANIOexc(1, status, exctyp, busnr, nodenr, errcode, addcode)

;Evaluation:
if (busnr = 1) and (nodenr = 1) then ;Node ?
case exctyp of ;Type of exception
action 1: ;1 ... Node drops out
node_act = 0 ;-> is no longer active
;Message to ask „AF101“
endaction
action 2: ;2 ... Node is active again
node_act = 1 ;Active
init_ok = 0 ;Reinitialize ScrM
;Message to task „AF101“
endaction
action 3: ;3 ... Alarm
;Alarm message from node
; <errcode> and <addcode> can be evaluated here

Module Addressing
endaction
action 4: ;4 ... BUSOFF
;Error on CAN Bus, possibly a loose cable

Chapter 4
endaction
elseaction:
;Exception type reserved for future updates
endaction
endcase
endif

Module Addressing 491

5.7 AF101

This task is used to process the screw-in modules.

5.7.1 INIT-SP

Project: canio_bs File: InitSP : af101

;#############################################################################
;## Commands to initialize the screw-in modules ##
;#############################################################################
;Only the screw-in modules have to be configured, the configuration of the
;digital output masks and the timeouts are taken care of by the CANIO driver

comtab[0].code=3 ;Code
comtab[0].comcode=11 ;Write operating parameters
comtab[0].param1 =28 ;CFG word 14
comtab[0].param2 =0 ;Module 1, Slots 1+2
comtab[0].data =$00010000 ;CFG word 14 Slot 1 = 1
; -> AT664 J type sensor
;CFG word 14 Slot 2 = 0
; -> AI351 default setting

comtab[1].code=4 ;Code
comtab[1].comcode=12 ;Activate operating parameters
comtab[1].param1 =0 ;Always 0
comtab[1].param2 =0 ;Always 0
comtab[1].data =0 ;Always 0

com = 0 ;Begin with first command

no_com = 2 ;Total of 2 commands

init_ok = 0 ;Initialization of node not yet complete

node_act = 1 ;Node is active

;#############################################################################
;## Declaration of IO variables, they would be linked in a more logical ##
;## manner in real applications, any the variable names can be used. ##
;#############################################################################
anain1_1_1 = anain1_1_1 ;Channel 1 on AT664
anain1_1_2 = anain1_1_2 ;Channel 2 on AT664
anain1_1_3 = anain1_1_3 ;Channel 3 on AT664
anain1_1_4 = anain1_1_4 ;Channel 4 on AT664

anain1_2_1 = anain1_2_1 ;Channel 1 on AI351

anaout_1 = anaout_1 ;Channel 1 on AO352

anaout_2 = anaout_2 ;Channel 2 on AO352

492 Chapter 4
5.7.2 Cyclic Program

Project: canio_bs File: af101.src

if node_act = 1 then ;Node is active

if init_ok = 0 then ;Node not yet initialized
busnr = 1 ;Bus number from sysconf
nodenr = 1 ;Node number set on EX470 or EX770
;comtab ;Command table see INIT-SP
;response ;Buffer for command response
CANIOcmd(1, busnr, nodenr, adr(comtab[com]), adr(response), status)
if status = 0 then ;Command carried out
if (bit_tst(response.code,7)=1) then ;Error carrying out command
;Evaluate error message from command response here
else ;otherwise
com = com + 1 ; -> next command
endif
else if status = 8979 then ;Error message for node inactive ?
node_act = 0 ; -> Node inactive !
else if status<>$FFFF then ;Error other than $FFFF=busy
;->Evaluate here
endif
if com >= no_com then ;All command carried out
init_ok = 1 ; -> Init complete
com=0 ;Start from beginning with next Init
endif
else ;Node is active and initialized

;Cyclic program here

;....

Module Addressing
endif

Chapter 4
endif

5.7.3 Variable Declaration

Module Addressing 493

5.7.4 Data Type

A structure is defined for the variables "response" and "comtab" using the data type typedef. After entering
the structure name command, the elements of the structure variable can be entered in a dialog box.

5.7.5 AT664

Four channels are used on the AT664.

Select "CAN-I/O" from the pop-up window I/O Type. Then a dialog box will be opened.

The following settings are to be made in the dialog box I/O Type:

Channel 1 Channel 2

Channel 3 Channel 4

494 Chapter 4
5.7.6 AI351

For the AI351, the following settings are to be made in the dialog box I/O Type:

Channel 1

Module Addressing
5.7.7 AO352

Chapter 4
Two channels are used on the AO352. The following settings are to be made in the I/O Type dialog box:

Channel 1 Channel 2

Module Addressing 495

5.8 DM435

On the DM435, two channels are used as digital inputs and two channels are used as digital outputs.

5.8.1 Variable Declaration

5.8.2 I/O Type

The settings shown below are to be made in the dialog box I/O Type.
The parameter Slot is set to 1 by the PG2000 programming system, and therefore does not have to be set
by the user.

Channel 1 - Digital Input Channel 2 - Digital Input

Channel 1 - Digital Output Channel 2 - Digital Output

496 Chapter 4
5.9 DO435

On the DO435, two channels are used as digital inputs and two channels are used as digital outputs. The
output mask is defined automatically by the CANIO master.

5.9.1 Variable Declaration

5.9.2 I/O Type

The settings shown below are to be made in the dialog box I/O Type.
The parameter Slot is set to 1 by the PG2000 programming system, and therefore does not have to be set
by the user.

Channel 1 - Digital Input Channel 2 - Digital Input

Module Addressing
Chapter 4
Channel 3 - Digital Output Channel 4 - Digital Output

Module Addressing 497

6 CAN ID ACCESS
6.1 GENERAL INFORMATION

Access via CAN Identifier is used if the slave is being controlled by a device from another manufacturer.

The following hardware configuration is used for the example:

6.2 MODULE ASSIGNMENTS

AT664

Channels 1 - 4 All channels are assigned

AI351

Channel 1 Voltage measurement without threshold switch

AO352

Channels 1 -2 All channels are assigned

498 Chapter 4
 DM435

Digital outputs

Channels 1 -2 Assigned

Channels 3 -8 Free

Digital inputs

Channels 1 -2 Assigned

Channels 3 -8 Free

DO435

Channels 1 -2 Digital inputs

Channels 3 - 4 Digital outputs

Channels 5 -8 Free

6.3 TASK OVERVIEW

Module Addressing
The application program is divided into the following tasks:

6.4 LIBRARIES Chapter 4

The B&R TRAP Library and the CAN Library must be imported into the project database. The function, Import
Library in the File menu is provided for this purpose.

6.5 SYSTEM MODULES

The CAN2000, B&R TRAP Library and the CAN Library must be entered in the GDM as system modules.

Module Addressing 499

6.6 DEMO TASK

6.6.1 INIT-SP

Project: ex470tst File: InitSP : demotask

step=0 ;Start at the beginning after Init

;CAN interface initialization

enable = 1
baud_rate= 25 ;250k Baud
cob_no=20 ;Number of CAN objects to be reserved
error_adr=adr(CAN_err) ;Address for error messages
CANopen(enable,baud_rate,cob_no,error_adr,0,0,us_ident,status)

if status=0 then
canop_OK=1
endif

error=DA_ident(„cantab“,0,adr(ident))

if error=0 then
error=DA_info(ident,adr(D_Adr),adr(D_Len),0)
endif

D_no=D_Len/72 ;72 Byte per table entry

if (error=0) and (canop_OK=1) then

CANdftab(1,us_ident,D_Adr,word(D_no),tab_ident,statusdf)
if status<>0 then
canop_OK=0
endif
else
canop_OK=0
endif

;Reset all trigger variables

Id_Node_tr=0
Command1_tr=0
Resp_B1_tr=0
DigIn1_tr=0
DigOut1_tr=0
AnaIn1_tr=0
AnaIn2_tr=0
AnaOut1_tr=0

comtab[0].code=2 ;Code
comtab[0].comcode=11 ;Write operating parameters
comtab[0].param1 =14 ;Output mask
comtab[0].param2 =0 ;Modules 1-4
comtab[0].data =$00FF0C00 ;Module #2: Channels 1-8, Module #3: Channels 3+4
;On the DM435, all channels are declared as outputs
;On the DO435, the first two channels are used as outputs

comtab[1].code=3 ;Code
comtab[1].comcode=11 ;Write operating parameters
comtab[1].param1 =28 ;CFG word 14
comtab[1].param2 =0 ;Module 1, Slots 1+2
comtab[1].data =$00010000 ;CFG word 14 Slot 1 = 1
; -> AT664 J type sensor
;CFG word 14 Slot 2 = 0
; -> AI351 default setting

500 Chapter 4
 comtab[2].code=4 ;Code
comtab[2].comcode=12 ;Activate operating parameters
comtab[2].param1 =0 ;Always 0
comtab[2].param2 =0 ;Always 0
comtab[2].data =0 ;Always 0

com=0 ;Begin with the first command

no_com=3 ;Number of commands is 3

Id_Node[0]=0 ;So this variable is declared

6.6.2 Cyclic Program

Project: ex470tst File: demotask.src

;This task takes care of IO handling for an EX47 controller

;An AF101, a DM435 and a DO435 module are inserted on the
; EX470 controller, the number switches are set to 01
;An AT664 is inserted in the first slot of the AF101
;An AI351 is inserted in the second slot of the AF101
;An AO352 is inserted in the third slot of the AF101

;All IO data is placed in PCC global variables and can therefore

;be used by other tasks.

if canop_OK=1 then
CANrwtab(1,tab_ident,status)
endif

Module Addressing
select step
when canop_OK=0 ;If Init-SP has problems

Chapter 4
next ERROR
when Id_Node_tr=1 ;If Identify Node is received, a new node is present
;on the network -> new initialization
Id_Node_tr = 0
next WAIT_awake

;Request the status of the EX470 cyclically until in runs

state WAIT_awake
Command1.code=1 ;Code
Command1.comcode=0 ;Read slave status
Command1.param1=0 ;
Command1.param2=0 ;00->SlaveStatus
Command1_tr=1 ;Check EX470 cyclically
when (Resp_B1_tr=1) and (Resp_B1.data=0)
Command1_tr=0
Resp_B1_tr=0
com=0
next INIT ;If response is there and response data=0 then
; the EX470 is active and without errors
if Resp_B1_tr=1 then ;If response is there and response data<>0 then
Resp_B1_tr=0 ; acknowledge and wait
endif

;EX470 is now ready -> Start initialization

Module Addressing 501

 state INIT
Command1.code= comtab[com].code ;Copy next command in buffer
Command1.comcode=comtab[com].comcode
Command1.param1= comtab[com].param1
Command1.param2= comtab[com].param2
Command1.data= comtab[com].data
Command1_tr=1
if Resp_B1_tr=1 then
if Resp_B1.code=Command1.code then
com=com+1 ;If response received
endif ;then next command
Resp_B1_tr=0
endif
when com>=no_com ;All initialization commands carried out
oldOutA1=anaout_1+1 ;Outputs are only handled if a difference
oldOutA2=anaout_2+1 ;is found.
oldOutD1=OutputD1+1 ;We have created a difference here
oldOutD2=OutputD2+1
next CYCLIC

;Cyclic section
state CYCLIC
;Handle analog inputs
if AnaIn1_tr=1 then ;Receive analog IN object from AT664
;Analog data comes in Intel Format -> Swap
anain1_1_1=lsl(WORD(AnaIn1.word1.high),8)+AnaIn1.word1.low
anain1_1_2=lsl(WORD(AnaIn1.word2.high),8)+AnaIn1.word2.low
anain1_1_3=lsl(WORD(AnaIn1.word3.high),8)+AnaIn1.word3.low
anain1_1_4=lsl(WORD(AnaIn1.word4.high),8)+AnaIn1.word4.low
AnaIn1_tr=0 ;Reset trigger
endif

if AnaIn2_tr=1 then ;Receive analog IN object from AI351

;Analog data comes in Intel Format -> Swap
anain1_2_1=lsl(WORD(AnaIn2.word1.high),8)+AnaIn2.word1.low
AnaIn2_tr=0 ;Reset trigger
endif

;Handle digital inputs

if DigIn1_tr=1 then ;Receive digital IN object
;Module #2, Channel #1
digin_2_1=bit_tst(DigIn1.byte2,0)
;Module #2, Channel #2
digin_2_2=bit_tst(DigIn1.byte2,1)
;Module #3, Channel #1
digin_3_1=bit_tst(DigIn1.byte3,0)
;Module #3, Channel #2
digin_3_2=bit_tst(DigIn1.byte3,1)
DigIn1_tr=0 ;Reset trigger
endif

;Handle analog outputs

502 Chapter 4
 if anaout_1<>oldOutA1 then ;Has output data on channel 1 changed ?
;Copy swapped output data in CAN data buffer
AnaOut1.word1.low=BYTE(anaout_1)
AnaOut1.word1.high=BYTE(lsr(anaout_1,8))
oldOutA1=anaout_1
AnaOut1_tr=1
endif

if anaout_2<>oldOutA2 then ;Has output data on channel 2 changed ?

;Copy swapped output data in CAN data buffer
AnaOut1.word2.low=BYTE(anaout_2)
AnaOut1.word2.high=BYTE(lsr(anaout_2,8))
oldOutA2 = anaout_2
AnaOut1_tr=1 ;Set trigger
endif

;Handle digital outputs

OutputD1=0
OutputD2=0
if digout_2_1=1 then
OutputD1 = bit_set(OutputD1, 0)
endif
if digout_2_2=1 then
OutputD1 = bit_set(OutputD1, 1)
endif
if digout_3_3=1 then
OutputD2 = bit_set(OutputD2, 2)
endif
if digout_3_4=1 then
OutputD2 = bit_set(OutputD2, 3)

Module Addressing
endif

Chapter 4
if (OutputD1<>oldOutD1) or (OutputD2<>oldOutD2) then ;Dig out data changed
DigOut1.byte2=OutputD1 ;Output data in CAN data buffer
DigOut1.byte3=OutputD2
oldOutD1=OutputD1
oldOutD2=OutputD2
DigOut1_tr=1 ;Set trigger
endif

if time>=10 then ;Send outputs every 10 cycles

time=0 ;because otherwise they drop out after timeout
DigOut1_tr=1
AnaOut1_tr=1
else
time=time+1 ;Increment time counter
endif

when 1=1
next CYCLIC

;If error
state ERROR
when canop_OK=0
next ERROR
endselect

Module Addressing 503

6.6.3 Cantab

Project: ex470tst File: cantab.dat

;CAN-ID ,Name of the buffer variables ,Name of the trigger variables ,0->read
; 1->write
; ,"1234567890123456789012345678901","1234567890123456789012345678901",$00000000
;Identify node
$000007E6,"Id_Node ","Id_Node_tr ",$00000000
;Command ID for node #1
$0000061E,"Command1 ","Command1_tr ",$00000001
;Command response ID for node #1
$0000065E,"Resp_B1 ","Resp_B1_tr ",$00000000
;Digital IN for node #1
$0000011E,"DigIn1 ","DigIn1_tr ",$00000000
;Digital OUT to node #1
$0000019E,"DigOut1 ","DigOut1_tr ",$00000001
;Analog IN for node #1 Module #1 Slot #1 (AT664)
$0000021E,"AnaIn1 ","AnaIn1_tr ",$00000000
;Analog IN for node #1 Module #1 Slot #2 (AI351)
$0000021F,"AnaIn2 ","AnaIn2_tr ",$00000000
;Analog OUT to node #1 Module #1 Slot #3 (Ao352)
$00000420,"AnaOut1 ","AnaOut1_tr ",$00000001

504 Chapter 4
 CHAPTER 5
CAN BUS CONTROLLER
FUNCTIONS

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 505

506 Chapter 5
1 GENERAL INFORMATION

This description refers to operating system version xx.27 of the CAN bus controller.

B&R 2003 CAN bus controllers are suitable for operation with B&R devices and also in other CAN networks.

A CAN bus controller has essentially the following functions:

• Initializing the station from the time the it is switched on until active operation in the CAN network.
• Evaluating and sending input states
• Receiving and switching the outputs
• Error reaction during power failure or local problems.
• Setting and changing operating parameters using the network and/or configuration memory ME770
(internally in the EX270 bus controller).

The remote I/O system B&R 2003 is based on the existing CiA/CAL network concept.

The CAN bus controller can be operated in class 0, 1 and 2 networks.

1.1 ABBREVIATIONS AND TERMS

This section contains explanations of some of the terms you will come across in this chapter. Further
explanations for individual terms can be found in the relevant CAN network literature.

Term Description
CiA Unification of European users of CAN networks.

CAL CAL describes the application layer of the CAN protocol according to CiA

CAN Bus Controller

specifications.

Chapter 5

Functions
NMT NMT ... Network management
An NMT master (specific station within the network) takes over the management of
the CAN network. It has to recognize, transfer, remove, and configure network
nodes, and carry out "life guarding".

DBT DBT ... Distributor service element

A DBT master determines the identifier for sending messages over the network (also
see "Allocating the CAN Identifier using a DBT Master").

Identifier (ID) IDs allow the messages on the bus to be differentiated between (the smaller the
number, the higher its priority on the bus). Using an identifier, a specific object can
be addressed in a network. Two objects are not allowed to have the same identifier.
Digital inputs and outputs as well as analog channels can be read or written to using
an identifier. If a particular identifier is used, commands can be sent to a station or
the operating parameters can be changed.

CAN Bus Controller Functions 507

 Term Description
CAN V. 2.0A Only 11 bit identifiers are allowed on the network.

CAN V. 2.0B Both 11 bit and 29 bit identifiers are allowed on the network.

BasicCAN Station supports only one receive buffer

FullCAN Station supports more than one receive buffer

The B&R SYSTEM 2003 supports both BasicCAN and FullCAN networks V. 2.0A and
V. 2.0B. It uses 11 bit identifiers.

Client Station which requests a service

Server Station which carries out service

Life Guarding An NMT master monitors NMT slave stations by communicating with reserved
identifiers to see if the station is still in operation. A station also recognizes whether
the NMT master is still working.

RTR Access to an identifier with direct response handling, using the CAN 80527 function
block.

Synchronization Jump Width Factor corresponding to the extent to which the CAN function block can synchronize
bit data. Synchronization is required because of oscillator tolerances.

Network Class 0 ... No network functionality (fixed identifier allocation, no life guarding)
1 ... Identifier and inhibit time allocation
2 ... Class 1 network plus Life Guarding

Module Name For identifying the node in the network (7 ASCII characters)

Module ID For identifying the network node

Inhibit Time Time which must pass between sending the same identifier on the bus. In this way
the bus load can be influenced by high priority objects (example: a fast changing
input cannot overload the bus).

1.2 CIA/CAL NETWORK CLASS 0

The CAN bus controller is not assigned to an NMT or a DBT master when booting or in normal operation.
This corresponds to a class 0 NMT master.

If a CAN bus controller is operated exclusively with B&R devices in a network, the class 0 CiA/CAL network
is used by default. The CAN bus controller can also be operated with devices from other manufacturers.

The CAN bus controller automatically recognizes the network class in question. In a class 0 network, the bus
controller automatically assigns a specific identifier to each object. Identifier allocation depends on the node
number, the module slot and the type of input or output.

508 Chapter 5
1.3 CIA/CAL NETWORK CLASS 1 OR 2

The B&R 2003 system can also be used in CiA/CAL class 1 and 2 networks together with devices from other
manufacturers.

The CAN bus controller automatically recognizes the network class in question. In class 1 or 2 networks, a
so called CiA/CAL NMT master must be available which coordinates the boot phase (standardized according
to CiA/CAL) of the network and the individual nodes.

You can also define the object identifier using a CiA/CAL DBT master. It is therefore possible to use the CAN
bus controller in any CAN bus system, if the CAN identifier allocation is within the identifier range released
by the CiA (1-1760,2022).

1.4 REQUIREMENTS FOR A NMT MASTER

An NMT master must be able to carry out at least the following functions so that a B&R CAN bus controller
can exist in a class 2 network:

Functionality Description
Identify_Node The master recognizes that a new node is present.

Identify_Remote_Node Slave responds to this message with Identify_Node, if its module ID is within the range
defined by the master.

Connect_Remote_Node Transfer of the parameters Life Guard Time, Life Guard CAN ID.

Prepare_Remote_Node Request the slave to create the object list (variable list).

Start_Node Message to the slave that it can now switch to normal operation (status: Operating). Only
then can inputs and outputs of this node be read or used.

Life_Guard Cyclic "life sign monitoring" - the NMT master monitors if the slave is still in operation, by
using a cyclic signal.

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 509

1.5 B&R DEVICES

The following B&R devices/components are capable of communicating with CAN bus controllers:

System / Module Description

B&R SYSTEM 2003

CP430 CPU

CP470 CPU

CP474 CPU

CP476 CPU

CP770 CPU

CP774 CPU

B&R SYSTEM 2005

CP260 CPU + interface module IF621, IF671 or IF672 for insert slot

IF060 Interface module + interface module IF621, IF671 or IF672 for insert slot

IF260 Programmable interface processor + interface module IF621, IF671 or IF672 for insert
slot

IP161 Programmable I/O processor

XP152 CPU – insert for power supply module

B&R SYSTEM 2010

CP104 CPU

CP200 CPU

CP210 CPU

IF100 Interface module

IF101 Interface module

B&R SYSTEM 2000 Logic

Scanner

LS251 Logic Scanner CPU

PANELWARE

C221 Intelligent controller module

PROVIT

PROVIT 2000 Modular Industrial PC

PROVIT 5000 Modular Industrial PC

B&R Compact Controller

COMPACT2 Compact controller with CAN Bus (model number BRCOMP2-0)

510 Chapter 5
A detailed description of these devices can be found in the following manuals:

Model Number Title

MASYS22005-E B&R 2005 User’s Manual

MASYS22010-E B&R 2010 User’s Manual

MASYS2LS-E Logic Scanner LS251 User’s Manual

MAPWHW-E PANELWARE Hardware and Installation Manual

MAPRV2000-E PROVIT 2000 User’s Manual

MAPRV5000-E PROVIT 5000 User’s Manual

MABRCOMP1-0E B&R Compact Controller User’s Manual German/English

1.6 OPERATION USING FUNCTION BLOCKS

A CAN bus controller is operated using function blocks.

Function blocks are used to control a CAN bus controller on a B&R device from systems B&R 2003, B&R
2005, B&R 2010, B&R 2000 Logic Scanner or PANELWARE. These function blocks are already available
in the PG2000 programming system in the form of a library. A description of the CAN library can be found
in the following manual:

Model Number Title

MASYS2LRM-E Library Reference Manual starting with Version 2.0

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 511

2 OPERATING PARAMETERS
The behavior of a CAN bus controller depends on the operating parameters. The operating parameters can
be set in various ways. The user can carry out any of the following:

• Use default values which are set independently by the CAN bus controller during the initialization
phase.
• The operating parameters are stored in a nonvolatile program memory, and the CAN bus controller
reads it from there.
• The operating parameters are transferred and activated from another station (client) to the CAN bus
controller.

2.1 OVERVIEW

The operating parameters which are relevant to the user have been summarized in the following overview
table. The table is divided into two groups.
The bold parameters can be changed and activated while the system is running. The others can only be
changed if the program memory module ME770 is being used, or after the CAN bus controller has been
restarted.

The value in column "No." is used by commands to read and write operating
parameters (see Section "Commands - CAN Bus Controller").

Take note of the example "Access via CAN Identifier" in Chapter  4 "Module
Addressing".

512 Chapter 5
 No. Data Type Value Label Description Standard
0 Byte 0-99 Version number (not changed)
1 Byte 0-63 Node number
2 Byte 0-7 active Baudrate
3 Byte 0 CAL Table Max. synchronization influences the selection of the baudrate 0
from one of five tables each containing eight values.
1-4 BuR value
0: CAL table
1-4 : Bit timing as with COMPACT2 PLC
4 reserved
5 reserved
6 Word 0-126*64 Units ms Guard time 1024
7 Word 0-0xffff Units Guard Time Life time factor 1
8 Word 000...x Packing Data: 0
000..x. Bit 0 0 ....pack digital inputs
000.x.. 1 ....do not pack digital inputs

000x... Bit 1 0 ....pack digital outputs

1 ....do not pack digital outputs
Bit 2 0 ....pack analog inputs
1 ....do not pack analog inputs
Bit 3 0 ....pack analog outputs
1 ....do not pack analog outputs

0...x00 Bit 8..... freeze all analog inputs at once

0..x.00 Bit 9..... freeze all analog outputs at once
9 Long Units µs SYNC cycle time 100000
10 Long Units µs SYNC window time 50000
11 Word 0-65000 Units ms Inhibit time for alarm object 5
12 Byte [m1..m8] 254 Asynchronous - cyclic Behavior of digital outputs in operation 254
13 Word 0-65000 Units ms Idle time for digital outputs 640
14 Byte [m1..m8] Change mask for digital outputs 0

CAN Bus Controller

15 Byte [m1..m4][sl1..sl4] 254 Asynchronous - cyclic Behavior of analog outputs in operation 254
16 Word 0-65000 Units ms Idle time for analog outputs 640

Chapter 5

Functions
17 Byte [m1..m8] 254 Asynchronous - cyclic Behavior of digital inputs in operation 255
255 Asynchronous - with change
and if idle time passes
18 Byte [m1..m8] 1 = edge formation Change mask for digital inputs 0xFF
19 Word 0-65000 Units ms Cycle time for digital inputs 100
20 Word 0-65000 Units ms Idle time for digital inputs 640
21 Word 0-65000 Units ms Inhibit time for digital inputs 5
22 Byte [m1..m4][sl1..sl4] 254 Asynchronous - cyclic Behavior of analog inputs in operation 255
255 Asynchronous - with change
and if idle time passes

CAN Bus Controller Functions 513

 No. Data Type Value ID Description Standard
23 Byte [m1..m4][sl1..sl4] 1 > upper limit Type of transmission trigger for analog inputs 4
2 < lower limit
4 <> hysteresis
8 < neg. hysteresis
16 > pos. hysteresis
24 int32 [m1..m4][sl1..sl4] Value corresponds to trigger type for analog inputs 160
25 Word 0-65000 Units ms Cycle time for analog inputs 100
26 Word 0-65000 Units ms Idle time for analog inputs 640
27 Word 0-65000 Units ms Inhibit time for analog Inputs 20

28 Word [m1..m4][sl1..sl4] Parameter value for analog screw-in module

29 Byte [m1..m8] Module code for digital I/O modules
30 Word [m1..m4][sl1..sl4] Module code for screw-in modules
(corresponds to configuration word 14, read)
31 Byte [m1..m8] ASCII String Module name "BRCIOxx"
32 Byte 0-7 Main group Priority group alarm message 1
33 Byte 0-7 Main group Priority group digital inputs 2
34 Byte 0-7 Main group Priority group digital outputs 3
35 Byte 0-7 Main group Priority group analog inputs 4
36 Byte 0-7 Main group Priority group analog outputs 5

37 Byte 0-7 Main group Priority group command write 7

38 Byte 0-7 Main group Priority group command read 7
39 Byte 0-7 Main group Priority group SDO 6
40 Long Identifier Identifier for SYNC object
41 Long Identifier Identifier for alarm object
42 Long Identifier Identifier for service data object master
43 Long Identifier Identifier for service data object slave
100 Identifier directory
Word Checksum

514 Chapter 5
2.2 DESCRIPTION OF THE OPERATING PARAMETERS

You will find a description of all the operating parameters in this section.

2.2.1 Version Number

The version number cannot be changed. It can only be read.

2.2.2 Node Number

The node number is diverted from both the dials to the CAN bus controller (see chapter: Hardware). Using
the dials, the node number can be set between 0 and 63:

Node Number Explanation

0 In this case, a configuration memory must be used, in which a node

number other than 0 is stored. Also, the node configuration
(number, type and slot) must tally with the one in the configuration
memory.

1 to 32 (a) If there is no configuration memory available, the CAN bus

slave module uses the default values.

(b) If there is a configuration memory available, the node

configuration (node number, number, type and module slot)
must tally with the one in the configuration memory.

33 to 63 In this case, a configuration memory MUST be used, in which a

node number other than 0 is stored. Also, the node configuration
(node number, number, type and module slot) must tally with the
one in the configuration memory.

CAN Bus Controller

If the values in the configuration memory area do not correspond with the node configuration, only the objects
command request, command response and alarm message will be activated. With this node status, outputs

Chapter 5

Functions
cannot be set and inputs cannot be read. However, it is possible to send alarms, and to transfer the correct
configuration to the configuration memory using the commands.

If the node numbers 0 or 33 - 63 are set on the dial and there is no configuration memory on the CAN bus
controller or valid data is not present in the internal EX270 configuration memory, then the node behaves
passively on the network. All outputs are switched to log. 0.

CAN Bus Controller Functions 515

2.2.3 Baudrate

The baudrates listed in the table can be set for the B&R SYSTEM 2003. You have to decide if the settings
are to be taken from the configuration memory or node number switch.
If the baudrate setting is made using configuration memory, the number shown in the column No. must be
entered in the operating parameters for the desired baudrate.
Making this setting using the node number switch is described in Chapter  3 "B&R 2003 Modules" in section
"CAN Bus Controller".

No. Baudrate Configuration Memory Node Number Switch

0 1 Mbit/sec 1)
●

1 500 kBit/sec ● ●

2 250 kBit/sec ● ●

3 125 kBit/sec ● ●

4 100 kBit/sec ●

5 50 kBit/sec ●

6 20 kBit/sec ● ●

7 10 kBit/sec ●

1)
1 MBit/sec cannot be guaranteed electrically because of isolation properties.

2.2.4 Synchronization Jump Width

As standard setting, the values corresponding to the CAL standard are used. In special cases, the
synchronization jump width can also be set using the configuration memory.
Oscillator tolerances which are too large can cause transmission disturbances. However, a large ("friendly")
setting for synchronization jump width reduces the max. bus length possible.
You can select from four different baudrate tables to compensate for deviations of the individual bits on the
bus caused by oscillator tolerances. These four tables correspond to the tables for the COMPACT2 PLC.
Setting these parameters also adjusts the synchronization jump width for this B&R PLC.

516 Chapter 5
2.2.5 Guard Time

The CAN bus controller can be operated either with or without Life Guarding. It depends on the first life guard
signal from the NMT master. If the life guarding signal is once received, life guard time monitoring is activated.
This parameter consists of two bytes, from which guard time is calculated:

Byte 1 Byte 0 Guard Time Calculation

0 to 126 64 Byte 1 x Byte 2

16 64 Default Setting: 16 x 64 => 1024 ms

2.2.6 Life Time Factor

Life Guard Time is calculated using the Life Time Factor:

Life Guard Time = Life Time Factor x Guard Time

Default setting: 1

2.2.7 Packing the Data

The data for I/O modules can be transferred either packed or unpacked.
The CAN objects for the modules are included with the respective module description in Chapter 3 "B&R
2003 Modules".

Default setting: Packed data transmission

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 517

Packed Digital I/O

In this mode, all of the I/O states for all modules of a certain type are transferred together. 8 Byte CAN objects
are always used. Modules which are not inserted or are of a different type get the value 0.
For mixed modules with channels which can be defined as inputs or outputs (DO435), the bits that correspond
to the outputs are set to 0 when transmitting input information and the bits that correspond to the inputs are
set to 0 when transmitting output information!
CAN
Bus Controller
Module 1 Module 2 Module 3 Module 4 Module 5 Module 6 Module 7 Module 8

CAN ID

Dig. Input Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

7 6 5 4 3 2 1 0

Input 1 from module 1

Input 2 from module 1
:
:
Input 8 from module 1

Unpacked Digital I/O

In unpacked mode, a node can be operated with a maximum of four digital I/O
modules.

A 1 byte CAN object is used for each digital module. For mixed modules, the outputs bits are read as 0 in
the input information. In the output information, the input bits are to be set to 0!

CAN
Bus Controller
Module 1 Module 2 Module 3 Module 4

CAN ID Data

Module 1 Byte

Module 2 Byte

Module 3 Byte

Module 4 Byte

7 6 5 4 3 2 1 0
Input 1 from module 4
Input 2 from module 4
:
:
Input 8 from module 4

518 Chapter 5
Packed Analog I/O

Four analog screw-in modules can be inserted per adapter module. The I/O values for these screw-in modules
are packed in an 8 Byte object. Screw-in modules which are not inserted or modules which are of a different
basic type (input/output) get the value 0.
The setting "pack analog modules" is possible in the configuration memory. But the setting to determine if
the data is actually packed comes from the configuration of the screw-in modules. The CAN bus controller
determines the configuration for each adapter module and makes the decision if the screw-in module data
can be packed.
The criteria is that only single channel screw-in modules are allowed to be installed. Therefore, the data per
screw-in module corresponds to 1 word. All data can be transferred with a CAN object because a CAN
object is 4 words long.
Word 1 of the CAN object corresponds to screw-in module 1, word 4 corresponds to screw-in module 4.
The decision if data can be packed or not is made separately for each adapter module.
CAN
Bus Controller
AF101 1 AF101 2 AF101 3 AF101 4

ScrM 1 ScrM 2 ScrM 3 ScrM 4

CAN ID

Analog Input
LB HB LB HB LB HB LB HB
AF101 1
Word 1 Word 2 Word 3 Word 4

AF101 adapter modules are only allowed to be operated with the first four module
addresses on the SYSTEMS B&R 2003 (see Chapter  3 "B&R 2003 Modules").

Unpacked Analog I/O

A 4 word long CAN object is used for each screw-in module. Each CAN object has a different CAN ID.
If four two-channel modules are installed on an AF101 adapter module, the data is written in the first two words.

CAN Bus Controller

Words 3 and 4 are not used.

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Functions
CAN
Bus Controller
AF101 1 AF101 2 AF101 3 AF101 4

ScrM 1 ScrM 2 ScrM 3 ScrM 4

CAN ID Word 1 Word 2

ScrM 1 Chan. 1L Chan. 1H Chan. 2L Chan. 2H

ScrM 2 Chan. 1L Chan. 1H Chan. 2L Chan. 2H

ScrM 3 Chan. 1L Chan. 1H Chan. 2L Chan. 2H

ScrM 4 Chan. 1L Chan. 1H Chan. 2L Chan. 2H

CAN Bus Controller Functions 519

2.2.8 Inhibit Time for an Alarm Object

This parameter determines the minimum time that is to pass after sending the alarm object before the alarm
object is resent.

Default setting: 5 ms

2.2.9 Behavior of Outputs during Operation

This parameter has a fixed setting of 254. This type of operation is called asynchronous cyclic. All other values
are reserved for future developments.

The outputs must be transferred cyclically during operation before the idle time passes. Otherwise, the output
is reset and an error message is given.

2.2.10 Idle Time for Outputs

This parameter determines the idle time for the outputs. All outputs on the station must be transferred at least
once within this time, otherwise the output is reset and an error message is given. A different idle time can
be set for digital and analog modules.

Default setting: 640 ms

2.2.11 Output Mask for Digital Outputs

For digital mixed modules with output response (e.g. DO435), the channels must be set as either inputs or
outputs. As default, this value is 0 (=> all channels are configured as inputs).

Pay attention to the output data!

All channels which are configured as inputs must be set to 0 in the output data, otherwise there is a conflict
with the output mask. That means the respective output must be set to 0 before a channel is used as an input.
However, if an output is set which is actually defined and is being used as an input, an error message is given
and the idle time is not reset. This results in all outputs being set to 0 if the data word (output data) is not
corrected in time.

Channels configured as outputs are read from the input data as 0.

Default setting: Output mask = 0

(=> all channels are defined as inputs)

520 Chapter 5
2.2.12 Behavior of the Inputs during Operation

This parameter determines the basic behavior of the inputs. Different behavior can be defined for digital and
analog modules. Select:

Value Description

254 Asynchronous – Cyclic

(a) These inputs states are sent cyclically (=> cycle time of the inputs).
(b) Sending the input states can be triggered by a defined event (command Read Inputs).

255 Asynchronous - Changes and when Idle Time Passes

(a) The inputs are sent when they change. The CAN bus controller holds to a minimum time between
objects with the same ID (=> Inhibit Time for Inputs). The idle time is not reset.
(b) If a change does not occur within a certain time (=> idle time for inputs), the input states are sent
automatically.
(c) Sending the input states can be triggered by a defined event (command Read Inputs).

Default setting: 255 - Asynchronous

Changes and when Idle Time Passes

2.2.13 Change Mask "Digital Inputs"

The standard setting ensures that the input states are sent automatically if a change occurs. With the "Digital
Inputs" change mask, sending when changes occur can be suppressed for certain inputs. The respective
bit is set to 0.

Default setting: $FF => Edge recognition is turned on for all inputs.

For digital mixed modules, all channels declared as outputs are automatically masked out. This guarantees
that sending is not triggered when these outputs change.

CAN Bus Controller

2.2.14 Cycle Time for Inputs

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This time determines the cycle time in which the input states are sent. A different cycle time can be entered
for digital and analog modules.

Default setting: 100 ms

2.2.15 Idle Time for Inputs

If the input states have not changed when the idle time passes, the input states are sent. A different idle time
can be set for digital and analog modules.

Default setting: 640 ms

CAN Bus Controller Functions 521

2.2.16 Inhibit Time for Inputs

A minimum time must pass between sending procedures on the network for objects with the same ID.

Default setting: Digital Inputs: 5 ms

Analog Inputs: 20 ms

Analog Inputs

If a DBT master is available, only times which are larger than those determined by the master are accepted.
If a DBT master is not available, times smaller than the default value of 20 ms or the value in configuration
memory can be set.

2.2.17 Transmission Trigger Type for Analog Inputs

The trigger type determines the criteria for triggering transmission. Presently, the hysteresis is implemented
as default. The hysteresis is defined using the operating parameter Value Corresponding to Trigger Type.
If the input value changes by the defined amount, transmission is triggered.

Default setting: 4

2.2.18 Value Corresponding to Trigger Type for Analog Inputs

The input value has to change by this amount in order to start transmission. If 4 is set for trigger type, this
value corresponds to a positive and negative hysteresis value.

Default setting: 160

2.2.19 Parameter Value for Screw-in Modules

Setting parameters for screw-in modules is included in Chapter 3 "B&R 2003 Modules" with the respective
module description (configuration word 14, write).
Chapter 4 "Module Addressing" contains an example program.

2.2.20 Module Code Digital I/O Modules

During the initialization phase, a code is saved in this location for each digital I/O module.
The B&R ID Code (Module Code + $E0) is listed in the module overview and the respective module description
in Chapter 3 "B&R 2003 Modules".

Bit Description

5-7 0 ....Status bits are masked out

0-4 Module code

0 0 0

7 0

522 Chapter 5
2.2.21 Module Code for Screw-in Modules

The module code can be read from configuration word 14. Module code and B&R ID code are identical
for the screw-in modules.
The B&R ID Code is listed in the module overview and the respective module description in Chapter 3 "B&R
2003 Modules".

2.2.22 Module Name "BRCIOxx"

The CAL module name in connection with the module ID (= node number) represents a distinct description
for a module in a CAL network. This name is fixed and cannot be changed. The name consists of the letters
BRCIO and a two digit module ID. The CAN bus controller with station number 9 has the CAL module name
BRCIO09.

2.2.23 Priority Groups

The priority group indicates to the DBT master how the priorities of CAN objects are to be handled for identifier
allocations. CAN objects with higher priority are assigned low IDs; objects with lower priority get higher IDs.

2.2.24 Identifier Directory

The identifiers for the inputs and outputs are stored in this directory. All of the IDs for the individual objects
are entered here.

Digital Analog Input Analog Output

Module Input Output Slot 1 Slot 2 Slot 3 Slot 4 Slot 1 Slot 2 Slot 3 Slot 4
1 ID ID ... ... ... .... .
2 ID
3 :
4 :

CAN Bus Controller

5 :

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6 :
7 ID
8 ... ... ID ID

The table shows the basic structure of the identifier directory. This directory can be accessed e.g. using the
commands Read Operating Parameter or Write Operating Parameter. How the individual IDs are accessed
is described in section "Commands - CAN Bus Controller".

CAN Bus Controller Functions 523

3 COMMANDS - CAN-BUS CONTROLLER
An identifier can send a CAN bus controller a command (object ID command request) from another station
(client; e.g.: CP200). A response to this command can be read again by another identifier (object ID
command response).

Command requests from only ONE sender for a node!

Command requests for one node are only allowed to be sent from ONE sender, otherwise there could
be conflicts on the bus.
Different nodes can get their commands different senders.

3.1 GENERAL STRUCTURE OF THE COMMANDS

Object command requests and command responses both have a similar structure. Both objects consist of
8 bytes:

3.1.1 Command Request

Byte Description

0 Code (number in range from 0 ... 126)

1 Command code

2 Parameter 1 (p1)

3 Parameter 2 (p2)

4-7 Command data in Motorola format

Not every command request to the bus controller automatically causes a command response (see description
of individual commands).

524 Chapter 5
3.1.2 Command Response

Byte Description

0 Transmission OK:
Code = Client code
Transmission faulty:
Bit 7 of the code is set
Transmission of a message which was not requested:
Code = $FF, e.g. Error message fro the
CAN slave module

1 Command code

2 Parameter 1 (p1)

3 Parameter 2 (p2)

4-7 Command response in Motorola format or

error code (see Appendix B "Error Messages CAN Bus
Slave Module")

The response contains the client’s code so that the client which sent the command
receives the response. If an error occurs while the command is being processed, bit
7 of the code is set. Therefore, the client recognizes that the last command was
acknowledged with an error message.

If the command response contains the code $FF, then an automatic message (i.e.: error message) is given
by the bus controller.

An echo can also be a command response. The echo is formed from the command request which was
originally sent.

CAN Bus Controller

The data format of the command data and the command response correspond to

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Functions
Motorola format:

HH MH ML LL

Note: Code
Valid values for a command response or command code are between 0 and 126. You can use
this code in your project if you like (e.g. to route the command requests and command
responses).

Note: Command Response

In order to read e.g. the operating parameters, a station (client) must first send a command
request to a bus controller and then wait for a response from that bus controller. The desired
data will be contained in this response.

CAN Bus Controller Functions 525

3.2 COMMAND CODES AND PARAMETERS

You will find a description of all special commands and their parameters in this section.
The abbreviation in the 2nd column "ScrM(p2)" stands for screw-in module.

3.2.1 Read Slave or Module Status

Command Code: 00
Module (p1) ScrM (p2) Command Data Command Response Description
0 0 ---- int32 Read the last slave error that occurred
1-8 0 ---- int32 Read the last module error that occurred
1-8 1-4 ---- int32 Read the last screw-in module error that
occurred

Response received by the client:

0 ............. No error
Error ....... contains error and additional code
see Appendix B "CAN Bus Controller Error Messages"

3.2.2 Read Number of Modules or Module Code

Command Code: 01 – Digital Modules

Module (p1) ScrM (p2) Command Data Command Response Description
0 0 ---- Number of bytes Number of analog modules and digital I/O modules on the slave
1-8 0 ---- Number of bytes Byte 4..........Number of channels on a digital module. 8 is returned as command response.
Byte status
Byte 5..........Module status
Byte version
Byte power Bit 0..........0: No error, the supply for the digital output is OK
1: Short circuit, over-temperature or the supply voltage for the digital outputs is
not OK
Bit 1..........0: Module voltage OK
1: No supply voltage or supply voltage too low for digital inputs/outputs
Byte 6..........Version code – only for modules with extended status
Bit 0 - 5.....Version
Bit 6 - 7.....Module width
Byte 7..........Power value for the digital module
For logical double width modules, the power value is divided between two slots.
1-8 ≠0 ---- Byte MK Byte 4..........Module code (see Chapter 3 "B&R 2003 Modules", section " B&R 2003 Module
Byte status Overview" or the respective module description)
Byte version
Byte 5..........Module status
Byte power
Bit 0..........0: No error, the supply for the digital output is OK
1: Short circuit, over-temperature or the supply voltage for the digital outputs is
not OK
Bit 1..........0: Module voltage OK
1: No supply voltage or supply voltage too low for digital inputs/outputs
Byte 6..........Version code – only for modules with extended status
Bit 0 - 5.....Version
Bit 6 - 7.....Module width
Byte 7..........Power value for the digital module
For logical double width modules, the power value is divided between two slots.

526 Chapter 5
 Command Code: 01 – Screw-in Modules
Module (p1) ScrM (p2) Command Data Command Response Description
1-4 0 ---- Number of bytes Byte 4.... Number of screw-in modules on an analog module. 0 - 4 will be returned
Byte reserved as command response.
Byte reserved
Byte 5.... reserved
Byte power
Byte 6.... reserved
Byte 7.... Power value for the analog module
1-4 1-4 ---- Byte AF code Module code (see Chapter 3 "B&R 2003 Modules", section " B&R 2003 Module
HB ScrM code Overview" or the respective module description)
LB ScrM code
Command Response:
Byte power
Byte 4.... $Cx code for the analog module
Byte 5.... Code for the screw-in module HB
Byte 6.... Code for the screw-in module LB
Byte 7.... Power value for the screw-in module

The power consumption of the module can be calculated using the power value in byte 7 of the command
response. For digital modules which are not entered in the module list of the operating system, the power
value is set to 0.

Power consumption = power value * 0.1 W

3.2.3 Reading Output

Command Code: 02
Module (p1) ScrM (p2) Command Data Command Response Description
0 0 ---- Byte m1 Read output level of modules 1 - 4
Byte m2 0 ...........no output modules
Byte m3
or outputs are logical 0
Byte m4
1 ...........output is logical 1
0 1 ---- Byte m5 Read output level of modules 5 - 8
Byte m6
0 ...........no output modules
Byte m7 or outputs are logical 0
Byte m8

CAN Bus Controller

1 .......... output is logical 1

Chapter 5
1-8 0 ---- Byte mx Read output level of module x

Functions
0 ...........output is logical 0
1 .......... output is logical 1
or error If the module is not a digital output module,
an error message is given

Module Order in Command Response

Byte 4 Byte 5 Byte 6 Byte 7

m1 m2 m3 m4

m5 m6 m7 m8

CAN Bus Controller Functions 527

The individual bits of Byte mx each represent an output (input):

Bit Description

7 Output 8 on module x
6 Output 7 on module x

5 Output 6 on module x
4 Output 5 on module x

3 Output 4 on module x

2 Output 3 on module x
1 Output 2 on module x

0 Output 1 on module x

7 0

Digital Mixed Modules

The current input state is sent for digital mixed modules with output feedback.

3.2.4 Read Input

Command Code: 03
Module (p1) ScrM (p2) Command Data Command Response Description
1-8 0 ---- No response Request the slave module to send to all
inputs on the given digital module.
or error message If the module is not an input module, an
error message is given.
1-4 Low Nibble: ---- Data word: Requests the slave module to send the
Scr.Mod. no 1-4 no response input data object of the given analog
screw-in module.
High Nibble: Configuration word:
Data word 0 - 3 command response
or
or error message
configuration
f the module is not an input module, an
word 4 - 12
error message is given.

The parameter ScrM (p2) is divided in the High Nibble and Low Nibble:

Bit Description

4-7 0 - 3 ..... Data word

4 - 12 ... Configuration word

0-3 1 - 4 ..... Screw-in module number

7 0

The data and configuration words for the screw-in modules are included in Chapter 3 "B&R 2003 Modules"
with the respective module description.
The send procedure for the data object is triggered when a data word is read.

528 Chapter 5
If a configuration word is read, the data is sent as command response. Using the command Read Input,
configuration words 4 - 15 can be read. The module code ins stored in configuration word 14. The module
code is read using command  1 Read Number of Modules or Module Code or command 10 Read Operating
Parameters (Parameter No. = 30).

Data format of the command response (read a configuration word):

Configuration words 4+5 and 6+7: 32 bit data

Byte 4 Byte 5 Byte 6 Byte 7

Configuration word Configuration word Configuration word Configuration word

4H 4L 5H 5L

Configuration words 8 -15: 16 bit data

Byte 4 Byte 5 Byte 6 Byte 7

Configuration word Configuration word 0 0

8H 8L

3.2.5 Set Output Masks for a Module

Command Code: 04
Module (p1) ScrM (p2) Command Data Command Response Description
0 0 Byte m Echo All output masks on a slaves
0 ..........set to input
255 ......set to output
1-8 0 Byte m Echo Set the output mask for each bit to input or
output on the given module
%00000000 ........ all to input

CAN Bus Controller

%11111111 ........ all to output

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Functions
or error An error message is created if the module
number > 8

This command is required e.g for the digital output module DO435.

The mask is accepted immediately. The command Activate Operating Parameters is not necessary.

The masks is automatically set to %11111111 for digital outputs alone. With mixed modules (individual digital
channels can be defined as either inputs or outputs ), the send mask for the inputs is created from this output
mask (inverse output mask).

CAN Bus Controller Functions 529

3.2.6 Set Change Mask for a Module

Command Code: 05
Module (p1) ScrM (p2) Command Data Command Response Description
0 0 Byte m Echo All change masks on a slave
0 .......... no edge
255 ...... edge (standard)
1-8 0 Byte m Echo Set change mask to edge or no edge for
each bit on the given module.
%00000000 set all to no edge
%11111111 set all to edge
or error An error message is created if the module
number > 8

The mask is accepted immediately. The command Activate Operating Parameters is not necessary.

For mixed modules, this change mask is linked with the inverse output mask (AND) so that changes to the
outputs do not trigger a send procedure (reduce load on the network).

3.2.7 Set Trigger Type for Analog Input Channel

Command Code: 06
Module (p1) ScrM (p2) Command Data Command Response Description
0 0 Byte type (4) Echo Set all entries to the given data
1-4 1-4 Byte type (4) Echo Set parameters for the given screw-in module
An error message is given if the module
or error number > 4 or ScrM > 4

The parameter is accepted immediately. Presently, the only type of triggering available is hysteresis
(command data = 4).

3.2.8 Set Change Value Corresponding to Trigger Type

Command Code: 07
Module (p1) ScrM (p2) Command Data Command Response Description
0 0 int32 value Echo Set all entries to the given data
1–4 1-4 int32 value Echo Set parameters for the given screw-in module
An error message is given if the module
or error number > 4 or ScrM > 4

The parameter is accepted immediately.

The command data must be given in Motorola format:

HH MH ML LL

530 Chapter 5
3.2.9 Write Value to Configuration Word

Command Code: 08
Module (p1) ScrM (p2) Command Data Command Response Description
1-4 Low Nibble: 2 or 4 Byte Echo Write command data in configuration word
ScrM no 1-4 for the given screw-in module

High Nibble: or error An error message is created if the

Configuration addressing is not correct.
word 4 - 12

The parameter ScrM (p2) is divided in the High Nibble and Low Nibble:

Bit Description

4-7 4 - 12 ... Configuration word

0-3 1 - 4 ..... Screw-in module number

7 0

The configuration words for the screw-in modules are included in Chapter 3 "B&R 2003 Modules" with the
respective module description.
Configuration words 4 - 12 can be written to Using the command Write Value to Configuration Word.
Configuration word 14 is written to using command 11 Write Operating Parameters (Parameter No. = 28).

Data format for command data:

Configuration words 4+5 and 6+7: 32 bit data

Byte 4 Byte 5 Byte 6 Byte 7

Configuration word Configuration word Configuration word Configuration word

4H 4L 5H 5L

CAN Bus Controller

Configuration words 8 - 12: 16 bit data

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Byte 4 Byte 5 Byte 6 Byte 7

Configuration word Configuration word 0 0

8H 8L

CAN Bus Controller Functions 531

3.2.10 Read Operating Parameters

Command Code: 10
No. (p1) Block (p2) Command Data Command Response Description
Number of Block no. In ---- Dependent on the Read the operating parameter according to
the operating the entry operating parameter entry number. For entries larger than 4 bytes,
parameter 0 to n data with block number x 4 as offset
(exception: see Identifier Directory).
An error message is given if the entry or block
or error
number is invalid.

Section "Operating Parameters" contains an overview. Each operating parameter is assigned a number in
the column "No.". The number of the operating parameter to be read is entered in Parameter No. (p1).

Operating parameter entries which are longer than 4 bytes must be requested with more than one command
since only 4 data bytes can be transferred per command. Parameter Block (p2) entries for block number
are used for the offset calculation. With the help of this offset, the operating parameter data is requested in
blocks of 4.

Offset = block number * 4

The use of the Read operating Parameter command will be explained using two examples.

Example 1

Read operating parameter no. 29 Module Code for Digital I/O Modules:

Command Code: 10
No. (p1) Block (p2) Command Data Command Response
29 0 ---- Byte 4....... Code for module 1
Byte 5....... Code for module 2
Byte 6....... Code for module 3
Byte 7....... Code for module 4
29 1 ---- Byte 4....... Code for module 5
Byte 5....... Code for module 6
Byte 6....... Code for module 7
Byte 7....... Code for module 8

532 Chapter 5
Example 2

Read operating parameter no. 30 Module Code for Screw-in Modules.

The assignment between block number and command data for the screw-in modules can be seen in the
following drawing:

Block Number 0 1 2 3 4 5 6 7

Command Data
Byte 4 ScrM 1H ScrM 3H ScrM 1H ScrM 3H ScrM 1H ScrM 3H ScrM 1H ScrM 3H
Byte 5 ScrM 1L ScrM 3L ScrM 1L ScrM 3L ScrM 1L ScrM 3L ScrM 1L ScrM 3L
Byte 6 ScrM 2H ScrM 4H ScrM 2H ScrM 4H ScrM 2H ScrM 4H ScrM 2H ScrM 4H
Byte 7 ScrM 2L ScrM 4L ScrM 2L ScrM 4L ScrM 2L ScrM 4L ScrM 2L ScrM 4L

The module codes for the screw-in modules on the first AF101 module and screw-in modules 3 and 4 on the
third AF101 module are read.

Command Code: 10
No. (p1) Block (p2) Command Data Command Response
30 0 ---- Byte 4 .......Code for module 1, screw-in module 1H
Byte 5 .......Code for module 1, screw-in module 1L
Byte 6 .......Code for module 1, screw-in module 2H

CAN Bus Controller

Byte 7 .......Code for module 1, screw-in module 2L
30 1 ---- Byte 4 .......Code for module 1, screw-in module 3H

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Byte 5 .......Code for module 1, screw-in module 3L
Byte 6 .......Code for module 1, screw-in module 4H
Byte 7 .......Code for module 1, screw-in module 4L
30 5 ---- Byte 4 .......Code for module 3, screw-in module 3H
Byte 5 .......Code for module 3, screw-in module 3L
Byte 6 .......Code for module 3, screw-in module 4H
Byte 7 .......Code for module 3, screw-in module 4L

CAN Bus Controller Functions 533

Identifier Directory

Take note of the following when reading the identifier directory:

You can read an identifier from the directory with each Read Operating Parameter command.

The following table shows a list of the No./Block No. to be used:

Digital Analog Input Analog Output

Module Input Output Slot 1 Slot 2 Slot 3 Slot 4 Slot 1 Slot 2 Slot 3 Slot 4

1 101 / 1 101 / 2 101 / 3 101 / 4 101 / 5 101 / 6 101 / 7 101 / 8 101 / 9 101 / 10
2 102 / 1 102 / 2 102 / 3 102 / 4 102 / 5 102 / 6 102 / 7 102 / 8 102 / 9 102 / 10
3 103 / 1 103 / 2 103 / 3 103 / 4 103 / 5 103 / 6 103 / 7 103 / 8 103 / 9 103 / 10
4 104 / 1 104 / 2 104 / 3 104 / 4 104 / 5 104 / 6 104 / 7 104 / 8 104 / 9 104 / 10

5 105 / 1 105 / 2 105 / 3 105 / 4 105 / 5 105 / 6 105 / 7 105 / 8 105 / 9 105 / 10
6 106 / 1 106 / 2 106 / 3 106 / 4 106 / 5 106 / 6 106 / 7 106 / 8 106 / 9 106 / 10
7 107 / 1 107 / 2 107 / 3 107 / 4 107 / 5 107 / 6 107 / 7 107 / 8 107 / 9 107 / 10
8 108 / 1 108 / 2 108 / 3 108 / 4 108 / 5 108 / 6 108 / 7 108 / 8 108 / 9 108 / 10

see "Identifier Directory", section "Operating Parameter"

In order to e.g. read the identifier for module 3 / analog output - slot 3, the following command request must
be sent:

Command Code: 10
No. (p1) Block (p2) Command Data Description

103 5 ----

3.2.11 Write Operating Parameters

Command Code: 11
No. (p1) Block (p2) Command Data Command Response Description
Number of Block no. in Byte x3 Echo Write the operating parameter in a buffer. For
the operating the entry Byte x2 entries larger than 4 bytes, data with block
parameter Byte x1 number x 4 as offset.
0 to n
Byte x0 or error An error message is given if the entry or block
number is invalid.

The data is written to the buffer and therefore does not influence the program. They
have to be copied to the active parameter area with the Activate Operating Parameters
command.

The parameters in the command request are (if possible) checked for plausibility. If an error is found, the
command response contains the respective error message.
Take note of the explanations concerning the block number which are given with the description of the Read
Operating Parameters command.

534 Chapter 5
3.2.12 Activate Operating Parameters

Command Code: 12
Parameter 1 Parameter 2 Command Data Command Response Description
0 0 ---- Echo Copy the operating parameters which are in
the buffer to the area for active parameters
(see section "Operating Parameters -
Overview").

The parameters found in the buffer (see command write operating parameters) are checked as thoroughly
as possible for plausibility. If an error is found, the command response contains the respective error message.
The command Activate Operating Parameters does not have to be carried out after every Write Operating
Parameters command. It is enough if it is carried out once after the last write command. In this way, all operating
parameters are accepted at once which saves time.

3.2.13 Transfer Operating Parameters to Configuration Memory (EX270 internal)

Command Code: 13
Parameter 1 Parameter 2 Command Data Command Response Description

0 0 Echo Copy the active operating parameters to

configuration memory.
or error If an error occurs, an error message is
generated.

Writing to the configuration memory is done in the background because of the time requirements of approx.
10 ms per word. Transferring the operating parameters to configuration memory is described in the following
steps:

• The contents are overwritten with $FFFF before the write procedure using the built-in delete function
(in configuration memory).
• Transfer operating parameters as word

CAN Bus Controller

• Calculate the checksum placed in configuration memory.

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• Verify the transferred parameters

During this procedure, the operating parameters cannot be changed. Commands such as Set Output Mask
for Module are disabled and return a corresponding error message.

CAN Bus Controller Functions 535

3.2.14 Delete Configuration Memory (EX270 internal)

Command Code: 14
Parameter 1 Parameter 2 Command Data Command Response Description
0 0 ---- Echo Delete the configuration memory (overwrite
EEPROM with $FFFF).
or error If an error occurs, an error message is
generated.

3.2.15 Test if Configuration Memory is Available

Command Code: 15
Parameter 1 Parameter 2 Command Data Command Response Description
0 0 ---- Byte 0 ..........no configuration memory
1 ..........configuration memory available

3.2.16 Read Operating System Version

Command Code: 16
Parameter 1 Parameter 2 Command Data Command Response Description
0 0 ---- Byte SW version Command Response:
Byte OP version
Byte 4....SW version of the controller.
HB checksum
The version is BCD coded:
LB checksum
V 2.7 = $27
Byte 5....Version of the operating parameter
memory data structure (see section
"Operating Parameter", Byte 0)
Byte 6....Checksum for the operating
parameter memory HB
Byte 7....Checksum for the operating
parameter memory LB

3.2.17 Restart Slave

Command Code: 20
Parameter 1 Parameter 2 Command Data Command Response Description
0 0 ---- ---- The slave is removed from the network and
restarted (see Initialization Phase). If new
parameters were transferred to configuration
memory, they become valid.

536 Chapter 5
3.2.18 Set Node Number

Command Code: 21
Parameter 1 Parameter 2 Command Data Command Description
Response
0 0 Byte 4 = Echo Setting the node number for following warm
node number start of the slaves (command code 20).
0 - 63 The node number remains set until the next
power-on.
or error An error message is generated if an error
occurs.

CAN Bus Controller

Chapter 5

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CAN Bus Controller Functions 537

4 START BEHAVIOR
The B&R System 2003 supports class 0, 1 and 2 in CiA/CAL networks. A CAN bus controller recognizes the
network it is in automatically and adjusts itself appropriately. After a power-on or a reset, the bus controller
starts according to a certain algorithm which is described in this section.

4.1 INITIALIZATION AND NETWORK CLASS RECOGNITION

The diagram shown is a simplified illustration of the internal operation of a CAN bus controller after power-
on or a reset.

538 Chapter 5
 CAN Bus Controller
Description of the Diagram

Chapter 5

Functions
1. Internal initialization of the interface components and the internal structures.

2. The CAN bus controller tries to send the message Identify_Node (ID = 2022) once every second to
a NMT master, which may be available.

3. The CAN bus controller observes the CAN bus to determine if data is being transferred. Only those
objects with an ID in the range from 222 to 1760 are noted (corresponds to valid ID for a bus controller).
If such an object is found, an available NMT master must respond to the message Identify_Node within
5 seconds by sending Identify_Remote_Node. If a response is not given, a class 0 network is required.

Note
If only B&R devices are used in a CAN network, class 0 is always used.
All CAN bus controller also support classes 1 and 2, and can therefore also be used in a network with CAN
bus capable devices from other manufacturers.

CAN Bus Controller Functions 539

4.2 WITHOUT NMT MASTER (CLASS 0)

If no NMT master responds during the bus controller’s start up phase, then there is a class 0 CiA/CAL network.
In this situation, the CAN bus controller is initialized as follows:

1. to 3. see section "Initialization and Recognition of the Network Class"

4. Pre-defined identifiers are assigned to all station objects by the CAN bus controller (see Appendix
"CAN Identifier - Fixed Allocation").

5. The CAN bus controller starts operating normally (status: Operating) and now behaves on the network
in accordance with the set operating parameters (e.g. cyclically sending digital inputs etc).

The CAN bus controller is now ready for communication. Other CAN stations (clients) can now access the
node objects using the identifier. Function blocks are available for this purpose for B&R devices.

540 Chapter 5
4.3 WITH NMT MASTER (CLASS 1 OR 2)

The following steps are carried out if the bus controller recognizes that an NMT master is available during the
initial start-up phase:
Bus Controller

NMT Master

DBT Master
NMT Master Available
(Network Class 1 or 2)

Send
Message
Identify_Node

Evaluate: Part 1 of
Connect_Remote_Node

Send
Response Part 1

Evaluate: Part 2 of
Connect_Remote_Node

Send
Error Status, Node ID,
Error Code Only Class 2:
Activate NMT Master
Life Guarding and carries
it out cyclically
Evaluate
Prepare_Remote_Node

*) See
Slave attempts to next graphic
communicate with
DBT Master

CAN Bus Controller

Chapter 5

Functions
Send
OK_Respnose

Wait for
Start_Remote_Node

Normal Operation
Operating

Network Class 1 2 These functions

are carried out by
Error Monitoring Yes Yes the NMT Master.
Reaction to new nodes Yes Yes
Life Guarding No Yes

The above diagram is a simplified version of the initialization phase and the communication between the bus
controller and the NMT/DBT master.

CAN Bus Controller Functions 541

Description of the Diagram

1. to 3. see section "Initialization and Recognition of the Network Class"

4. The bus controller sends the message Identify_Node again after it has received the message
Identify_Remote_Node.

5. The CAN bus controller waits for part 1 of the message Connect_Remote_Node as response from the
NMT master.

6. The bus controller sends the part 1 response to the master after receiving the Connect_Remote_Node
message. The bus controller gives different types of information to the NMT master in this message
(e.g.: desired guard time, module ID, etc).

7. The NMT master evaluates the response to part 1 and then sends part 2 of the Connect_Remote_Node
message including information from the master (guard time, life time, network class).

8. The slave evaluates part 2 of the message from the master and responds with Error Status, Node ID
(=> node number) and Error Code.

9. Only network class 2:The NMT master activates Life Guarding, which is then carried out parallel to
the following initialization phases.

10. The master signals to the slave that the slave can now start to register objects with the DBT master
by sending the message Prepare_Remote_Node. This message includes whether the slave should
keep the object list, or whether it should construct a new one.

11. Now the slave tries to communicate with the DBT master (see next point "DBT master").

12. After the slave has tried to communicate with the DBT master (regardless of if it was successful or not),
it sends an OK Response to the NMT master.

13. The slave waits for the response Start_Remote_Node from the NMT master.

14. The slave switches to Operating status, and operates normally.

15. (a) Class 1 Network: From this point on, the master only monitors for errors and reacts to new nodes.

(b) Class 2 Network:In addition to the functions of class 1, the master also carries out Life Guarding.

The CAN bus controller is now ready. Other CAN stations (clients) can only access these module objects using
the identifier. Function blocks are available for this purpose for B&R devices.

542 Chapter 5
4.4 DBT MASTER

If a DBT master is being used, an NMT master is required. A DBT master can assign identifiers to every station
object.

The user does not have to use the fixed ID allocation of the CAN bus controller. A new identifier can be assigned
to all station objects. The flexibility of free ID allocation (according to the CAL standard) has the following
advantages:

• The IDs are managed centrally from one station.

• The network configuration can be changed more easily (centrally). If, for example, a module is moved
onto another slot on a station, then all module objects on this module (inputs/outputs) are given
another identifier through fixed ID allocation. Without DBT, the program would have to be changed
since it accesses the object with an invalid ID. This is not necessary when all IDs are managed by a
DBT master. All changes are always made in the configuration for the DBT master.

During the initialization phase (see "With NMT Master Class 1 or 2"), the bus controller tries to communicate
with a DBT master, which may be available.
First, the slave receives permission from the NMT master to register its objects with the DBT master
(Prepare_Remote_Node).

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 543

The following diagram shows how communication with the DBT master takes place:

Bus Controller

DBT Master
Slave attempts to
communicate with
DBT Master

Should the
Object List YES
be Recreated

NO

Send
Message
Get_Checksum

Wait for Response Checksum is

Timeout from DBT Master Invalid

Checksum is
Valid Send
Predefined Object List, Message
Fixed Allocation of Delete_User_Definition
CAN Identifier Timeout for each Object
to DBT

DBT has Deleted

all Objects in its List

Send
Message
Create_User_Definition
Timeout for each Object
to DBT

DBT has Successfully

Allocated all Identifiers

Timeout: no response from DBT

544 Chapter 5
5 FIXED ALLOCATION OF THE CAN IDENDIFIER
If a DBT master is not available on the network, the CAN identifier must be allocated using fixed settings. Using
the method described in the following section, a priority is achieved for the CAN identifier which is similar that
used in the DBT master via priority groups.

The fixed ID allocation takes place dependent on the set transfer mode (packed or unpacked).

The fixed ID allocation only takes effect if one of the following points are true:

• No configuration memory is available.

• The available configuration memory is invalid.
• In configuration memory, none of the modules are defined corresponding to the identifier

Make sure that a maximum of 12 receive objects (output data) are created for the node.

5.1 PACKED MODE

Object Calculation nd ma

Alarm Message 222 + (nd - 1) 1 - 32 ----

Digital Inputs 286 + (nd - 1) x 4 1 - 32 ----

Digital Outputs 414 + (nd - 1) x 4 1 - 32 ----

Analog Inputs 542 + (nd - 1) x 16 + (ma - 1) x 4 1 - 32 1-4

Analog Output 1054 + (nd - 1) x 16 + (ma - 1) x 4 1 - 32 1-4

Command Request 1566 + (nd - 1) 1 - 63 ----

Command Response 1630 + (nd - 1) 1 - 63 ----

CAN Bus Controller

Chapter 5

Functions
nd.... Node number of the ma ...Module address of
CAN Slave the AF101

CAN Bus Controller Functions 545

5.2 UNPACKED MODE

Object Calculation nd ma sl

Alarm Message 222 + (nd - 1) 1 - 32 ---- ----

Digital Inputs 286 + (nd - 1) x 4 + (ma - 1) 1 - 32 1-4 ----

Digital Outputs 414 + (nd - 1) x 4 + (ma - 1) 1 - 32 1-4 ----

Analog Inputs 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1) 1 - 32 1-4 1-4

Analog Outputs 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1) 1 - 32 1-4 1-4

Command Request 1566 + (nd - 1) 1 - 63 ---- ----

Command Response 1630 + (nd - 1) 1 - 63 ---- ----

nd.... Node number of the ma ...Module address sl ..... Slot number of the
CAN Slave ofthe digital I/O screw-in module on
module or the AF101 the AF101

In unpacked mode, a maximum of four digital I/O modules can be operated on a node.

5.3 PACKED AND UNPACKED MODE

The following requirements must be met for the calculated allocation of the identifier:

• A maximum of 32 nodes can be present in the network

• If this limit is exceeded, either the configuration memory or a DBT master must be used.

In order to make working with the fixed allocation of identifiers easier, a complete list for all identifiers is
available in Appendix A "CAN Identifier with CAN Bus Controller (Fixed Allocation)".

546 Chapter 5
5.3.1 Examples

Example 1

Packed Mode

A node consists of ....

... CAN bus controller (node number 1)

... Adapter module AF101 (module address 1)
analog input module AI351 (slot 1)
analog input module AI351 (slot 2)
analog input module AI351 (slot 3)
The analog input data is packed, since only single channel modules are available.
... Digital input module DI435 (module address 2)
... Digital output module DO435 (module address 3)

Object Calculation Identifier

Alarm Message 222 + (nd - 1) 222 $00DE
222 + (1 - 1)

3 x AI351 542 + (nd - 1) x 16 + (ma - 1) x 4 542 $021E

542 + (1 - 1) x 16 + (1 - 1) x 4
DI435 286 + (nd - 1) x 4 286 $011E
286 + (1 - 1) x 4
DO435 - Outputs 414 + (nd - 1) x 4 414 $019E
414 + (1 - 1) x 4

DO435 - inputs 286 + (nd - 1) x 4 286 $011E

286 + (1 - 1) x 4
Command Request 1566 + (nd - 1) 1566 $061E

CAN Bus Controller

1566 + (1 - 1)
Command Response 1630 + (nd - 1) 1630 $065E

Chapter 5

Functions
1630 + (1 - 1)

nd.... Node number of the ma ...Module address of

CAN Slave the AF101

CAN Bus Controller Functions 547

Example 2

Packed Mode

A node consists of ....

... CAN bus controller (node number 4)

... Digital input module DI439 (module addresses 1 and 2)
The digital input module DI439 behaves like two 8 channel modules because of its 16 channels.
... Digital output module DO722 (module address 3)

Object Calculation Identifier

Alarm Message 222 + (nd - 1) 225 $00E1
222 + (4 - 1)
DI439 286 + (nd - 1) x 4 298 $012A
286 + (4 - 1) x 4

DO722 414 + (nd - 1) x 4 426 $01AA

414 + (4 - 1) x 4
Command Request 1566 + (nd - 1) 1569 $0621
1566 + (4 - 1)

Command Response 1630 + (nd - 1) 1633 $0661

1630 + (4 - 1)

nd.... Node number of the

CAN Slave

548 Chapter 5
Example 3

Unpacked Mode

A node consists of ....

... CAN bus controller (node number 12)

... Digital input module DI645 (module address 1)
... Digital output module DO720 (module address 2)

Object Calculation Identifier

Alarm Message 222 + (nd - 1) 233 $00E9
222 + (12 - 1)
DI645 286 + (nd - 1) x 4 + (ma - 1) 330 $014A
286 + (12 - 1) x 4 + (1 - 1)

DO720 414 + (nd - 1) x 4 + (ma - 1) 459 $01CB

414 + (12 - 1) x 4 + (2 - 1)
Command Request 1566 + (nd - 1) 1577 $0629
1566 + (12 - 1)
Command Response 1630 + (nd - 1) 1641 $0669
1630 + (12 - 1)

nd.... Node number of the ma ...Module address of

CAN Slave the digital I/O module

Example 4

Unpacked Mode

Switching the positions of the modules DI645 and DO720 from example 3 results in the following IDs:

CAN Bus Controller

Chapter 5

Functions
Object Calculation Identifier
Alarm Message 222 + (nd - 1) 233 $00E9
222 + (12 - 1)
DO720 414 + (nd - 1) x 4 + (ma - 1) 458 $01CA
414 + (12 - 1) x 4 + (1 - 1)
DI645 286 + (nd - 1) x 4 + (ma - 1) 331 $014B
286 + (12 - 1) x 4 + (2 - 1)
Command Request 1566 + (nd - 1) 1577 $0629
1566 + (12 - 1)
Command Response 1630 + (nd - 1) 1641 $0669
1630 + (12 - 1)

nd.... Node number of the ma ...Module address of

CAN Slave the digital I/O module

CAN Bus Controller Functions 549

Example 5

Unpacked Mode

A node consists of ....

... CAN bus controller (node number 1)

... Adapter module AF101 (module address 1)
analog input module AI351 (slot 1)
analog input module AI351 (slot 2)
analog output module AO352 (slot 3)
... Digital input module DI435 (module address 2)
... Digital output module DO435 (module address 3)

Object Calculation Identifier

Alarm Message 222 + (nd - 1) 222 $00DE
222 + (1 - 1)
AI351 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1) 542 $021E
542 + (1 - 1) x 16 + (1 - 1) x 4 + (1 - 1)

AI351 542 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1) 543 $021F

542 + (1 - 1) x 16 + (1 - 1) x 4 + (2 - 1)
AO352 1054 + (nd - 1) x 16 + (ma - 1) x 4 + (sl - 1) 1056 $0420
1054 + (1 - 1) x 16 + (1 - 1) x 4 + (3 - 1)
DI435 286 + (nd - 1) x 4 + (ma - 1) 287 $011F
286 + (1 - 1) x 4 + (2 - 1)
DO435 - Outputs 414 + (nd - 1) x 4 + (ma - 1) 416 $01A0
414 + (1 - 1) x 4 + (3 - 1)
DO435 - Inputs 286 + (nd - 1) x 4 + (ma - 1) 288 $0120
286 + (1 - 1) x 4 + (3 - 1)
Command Request 1566 + (nd - 1) 1566 $061E
1566 + (1 - 1)

Command Response 1630 + (nd - 1) 1630 $065E

1630 + (1 - 1)

nd.... Node number of the ma ...Module address of sl ..... Slot number of the
CAN Slave the digital I/O screw-in module on
module or AF101 the AF101

550 Chapter 5
Example 6

Unpacked Mode

A node consists of ....

... CAN bus controller (node number 4)

... Digital input module DI439 (module addresses 1 and 2)
The digital input module DI439 behaves like two 8 channel modules because of its 16 channels.
... Digital output module DO722 (module address 3)

Object Calculation Identifier

Alarm Message 222 + (nd - 1) 225 $00E1
222 + (4 - 1)
DI439 286 + (nd - 1) x 4 + (ma - 1) 298 $012A
Inputs 1 - 8 286 + (4 - 1) x 4 + (1 - 1)

DI439 286 + (nd - 1) x 4 + (ma - 1) 299 $012B

Inputs 9 - 16 286 + (4 - 1) x 4 + (2 - 1)

DO722 414 + (nd - 1) x 4 + (ma - 1) 428 $01AC

414 + (4 - 1) x 4 + (3 - 1)
Command Request 1566 + (nd - 1) 1569 $0621
1566 + (4 - 1)
Command Response 1630 + (nd - 1) 1633 $0661
1630 + (4 - 1)

nd.... Node number of the ma ...Module address of

CAN Slave the digital I/O module

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 551

6 ALLOCATING THE CAN IDENTIFIER USING DBT MASTER
If a DBT master is present in the network, the allocation of the CAN identifier is carried out by the DBT master.
An object name is required for management. The CAN object names are defined using the method described
below.

Make sure that a maximum of 10 receive objects (output data) are created for the node.

6.1 PACKED MODE

Object Object Name

Alarm Message 000EMCY000xxx

Digital Inputs 000TPDO001xxx

Digital Outputs 000RPDO001xxx

Analog Inputs 000TPDOyyyxxx

Analog Outputs 000RPDOyyyxxx

Command Request 000RPDO900xxx

Command Response 000TPDO900xxx

xxx ....Node number of the CAN Slave

yyy ....3 + no. of the AF101 in the search order - 1

552 Chapter 5
6.2 UNPACKED MODE

Object Object Name

Alarm Message 000EMCY000xxx

Digital Inputs 000TPDOyyyxxx

Digital Outputs 000RPDOzzzxxx

Analog Inputs 000TPDOaaaxxx

Analog Outputs 000RPDObbbxxx

Command Request 000RPDO900xxx

Command Response 000TPDO900xxx

xxx.... Node number of the CAN Slave

yyy.... 3 + no. of the digital input module in the search order up to the max. value - 1
zzz.... 3 + no. of the digital output module in the search order up to the max. value - 1
aaa ... yyy = 0 ⇒ aaa = 3 + no. of analog input module in the search order - 1
yyy ≠ 0 ⇒ aaa = yyy + no. of the analog input module in the search order
bbb ... zzz = 0 ⇒ bbb = 3 + no. of the analog output module in the search - 1
zzz ≠ 0 ⇒ bbb = zzz + no. of the analog output module in the search order

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 553

6.2.1 Examples

Example 1

Packed Mode

A node consists of ....

... CAN bus controller (node number 1)

... Adapter module AF101 (module address 1)
analog input module AI351 (slot 1)
analog input module AI351 (slot 2)
analog input module AI351 (slot 3)
The analog input data is packed, since only single channel modules are available.
... Digital input module DI435 (module address 2)
... Digital output module DO435 (module address 3)

Object Object Name

Alarm Message 000EMCY000001
3 x AI351 000TPDO003001

DI435 000TPDO001001

DO435 - Outputs 000RPDO001001

DO435 - Inputs 000TPDO001001

Command Request 000RPDO900001

Command Response 000TPDO900001

Example 2

Packed Mode

A node consists of ....

... CAN bus controller (node number 4)

... Digital input module DI439 (module addresses 1 and 2)
The digital input module DI439 behaves like two 8 channel modules because of its 16 channels.
... Digital output module DO722 (module address 3)

Object Object Name

Alarm Message 000EMCY000004

DI439 000TPDO001004
DO722 000RPDO001004
Command Request 000RPDO900004
Command Response 000TPDO900004

554 Chapter 5
Example 3

Unpacked Mode

A node consists of ....

... CAN bus controller (node number 12)

... Two digital input modules DI645 (module addresses 1 and 2)
... Two digital input modules DO720 (module addresses 3 and 4)

Object Object Name

Alarm Message 000EMCY000012
DI645 000TPDO003012
DI645 000TPDO004012
DO720 000RPDO003012
DO720 000RPDO004012
Command Request 000RPDO900012
Command Response 000TPDO900012

Example 4

Unpacked Mode

A node consists of ....

... CAN bus controller (node number 1)

... Adapter module AF101 (module address 1)
analog input module AI351 (slot 1)
analog input module AI351 (slot 2)
analog output module AO352 (slot 3)

CAN Bus Controller

... Digital input module DI435 (module address 2)

Chapter 5

Functions
... Digital output module DO435 (module address 3)

Object Object Name

Alarm Message 000EMCY000001
AI351 000TPDO005001
AI351 000TPDO006001
AO352 000RPDO004001

DI435 000TPDO003001
DO435 - Outputs 000RPDO003001

DO435 - Inputs 000TPDO004001

Command Request 000RPDO900001
Command Response 000TPDO900001

CAN Bus Controller Functions 555

Example 5

Unpacked Mode

A node consists of ....

... CAN bus controller (node number 4)

... Digital input module DI439 (module addresses 1 and 2)
The digital input module DI439 behaves like two 8 channel modules because of its 16 channels.
... Digital output module DO722 (module address 3)

Object Object Name

Alarm Message 000EMCY000004
DI439 000TPDO003004
Inputs 1 - 8
DI439 000TPDO004004
Inputs 9 - 16

DO722 000RPDO003004
Command Request 000RPDO900004
Command Response 000TPDO900004

556 Chapter 5
7 MONITORING FUNCTIONS
A CAN bus controller has various monitoring functions. Errors are reacted to in various ways, ranging from
an error message to a module reset. The following monitoring functions are carried out by the bus controller:

• Voltage Monitoring Bus Controller

• I/O Module Voltage Monitoring
• Life Guarding
• Idle Time Monitoring
• Output Monitoring
• Watchdog

7.1 VOLTAGE MONITORING BUS CONTROLLER

The supply voltage is continually monitored. If the monitoring function finds an error, the outputs are switched
off and the CAN function block is separated from the bus by a reset. A software reset is triggered. As soon as
the error is no longer present, the bus controller is initialized and started again (see section: "Start-up
Behavior").

7.2 I/O MODULE VOLTAGE MONITORING

The supply voltage is monitored for the I/O modules. If the monitoring function finds an error, the inputs are
no longer evaluated. If voltage monitoring finds an error for 30 ms, an error message is sent. If the voltage is
then stable again for 30 ms, normal operation is resumed. The bus controller sends the error as an alarm
message.

7.3 LIFE GUARDING

If the bus controller is in a class 2 network, the NMT master must send a life guard signal cyclically to the bus

CAN Bus Controller

controller. If the bus controller doesn’t receive a life guard signal for two life guard cycles (2 x Life Guard Time;
see section:"Operating Parameters"), all outputs are reset and the bus controller waits for the NMT master.

Chapter 5

Functions
Note: The life guard signal should be sent from the NMT master at cyclic intervals. It is recommended
that you set the cycle time to approx. the half the bus controller life guard time.

7.4 IDLE TIME MONITORING

All outputs must be function blocks are written to cyclically (see parameter: "Idle Time" in section: "Operating
Parameters"). If a module’s outputs are not described within the idle time, all this module’s outputs are reset
(to log. 0) and an alarm message is sent.

Note: The outputs should be sent twice within the idle time to guarantee secure communication.
Therefore, jitter in the transfer time does not cause errors that may reset the outputs.

CAN Bus Controller Functions 557

7.5 OUTPUT MONITORING

The set output states are compared with the actual outputs states which are read back. If a discrepancy is
found by the bus controller (e.g.: short circuit), then an alarm message is sent.

7.6 WATCHDOG

The hardware watchdog must be reset with a pulse after 50 ms at the latest, otherwise a hardware reset is
triggered and the node remains reset.

A 1 ms timer interrupt from the bus controller operating system handles resetting the Watchdog.

558 Chapter 5
8 NOTE
Pay attention to these important notes during operation.

• Each identifier is only allowed to exist once!

• An object (identifier) is only allowed to be sent from one node so that conflicts do not occur on the
bus.

CAN Bus Controller

Chapter 5

Functions

CAN Bus Controller Functions 559

560 Chapter 5
 B&R 2003
Chapter 6
Timing
CHAPTER 6
B&R 2003 TIMING

B&R 2003 Timing 561

562 Chapter 6
1 B&R 2003 SYSTEM TIMING
The timing for the B&R Systems 2003 depends on the hardware used. The most important criteria are:

B&R 2003
Chapter 6
Timing
• Which digital modules are being used?
• How many analog data points have to be processed?
• How are the screw-in modules arranged on the individual adapter modules?

The most important difference in timing is a result of the controller.

• 2003 PCC CPU

• Remote I/O Bus Controller e.g. EX477
• CAN Bus Controller e.g. EX470

B&R 2003 Timing 563

2 2003 PCC TIMING

The description refers to the AF101 analog interface modules with revisions ≥02.00.

2.1 CYCLES TO BE CONSIDERED

CP430, CP470, CP474, CP770, CP774

The following three factors must be taken into consideration for timing when one of the B&R 2003 CPUs listed
above is used as controller:

Internal bus cycle

I/O AF cycle

• Internal Bus Cycle

• I/O AF Cycle
• I/O CPU Load

564 Chapter 6
CP476

The following four factors must be taken into consideration for timing when a CP476 B&R 2003 CPU is used
as controller:

B&R 2003
Chapter 6
Timing
I/O CP Interface cycle Internal bus cycle

I/O AF cycle I/O AF cycle

• Internal Bus Cycle

• I/O AF Cycle
• I/O CP Interface Cycle
• I/O CPU Load

B&R 2003 Timing 565

2.1.1 Internal Bus Cycle

All AF and digital I/O modules are processed during this time.

CP430 / CP470 / CP476 / CP770

tint_cycle = ∑ AF modules * tAF * ndata_words +
tAF_busy_AI * ndata_words_AI +

tAF_busy_AO * ndata_words_AO +

∑ DIOM modules * tdig_IO * ndata_words_AI +

tOffset

CP474 / CP774
tint_cycle = (∑ AF modules + 1) * tAF * ndata_words +

tAF_busy_AI * ndata_words_AI +

tAF_busy_AO * ndata_words_AO +

∑ DIOM modules * tdig_IO * ndata_words + tOffset

ndata_words
∑ data words for the AF101, corresponds to the AF101 module with the most data words in the system.
If a CP474 or CP774 on the CP interface has more data words, the sum of these data words must be used for the
calculation.

ndata_words_AI = ndata_words - ndata_words_AO

Number of remaining analog inputs in ndata_words

ndata_words_AO
∑ analog output data words for the AF101, corresponds to the AF101 module with the most analog outputs in the
system.
If a CP474 or CP774 on the CP interface has more analog outputs, the sum of these analog output ata
d words must
be used for the calculation.

This AF101 does not have to be identical with the one with the most chann
els (AI + AO)
(see ndata_words ).

566 Chapter 6
 Description Abbreviation t [µs]
Adapter module (AF101) tAF 22

B&R 2003
Chapter 6
Adapter module busy

Timing
analog inputs tAF_busy_AI 200
analog outputs
AF101 or CP Interface on CP474 or CP774 which is only using tAF_busy_AO 850
analog outputs
AF101 or CP Interface on CP474 or CP774 which is using mixed tAF_busy_AO 1500
connections

Digital inputs (e.g. DI435, DI645) tdig_IO 14

Digital outputs (e.g. DO435, DO720)
Digital mixed module (e.g. DM435)

Offset tOffset 1200

Timing for the CM modules is described for the respective module.

2.1.2 I/O AF Cycle

During this time, the data from the AF module is copied to the screw-in modules. All data points on the
respective AF module are processed in one cycle.

I/O AF Cycle
tIO_AF = (ndata_words + 1) * tScrM_AF

ndata_words
The I/O AF cycle is calculated for the adapter module wit
h the most data words for analog inputs.The sum of the data
words is made up of all AI channels, even those which are not used.
Only the analog inputs are used for this calculation because writing directly to the an
alog outputs is already included
in the internal bus cycle (tAF_busy_AO).

tScrM_AF
Transfer time per AI data word ScrMÖ AF = 650 µs

B&R 2003 Timing 567

2.1.3 I/O CP Interface Cycle for CP476

During this time, the data from the CP interface is copied to the screw-in modules. All data points on the CP
interface are processed in one cycle.
To reduce the load on the CPU, an additional I/O processor handles operation of the all I/O data points. Screw-
in modules 1 and 2 as well as 3 and 4 are processed parallel to each other by the I/O processor.

The I/O CP interface cycle is calculated for the screw-in module pair which uses the most data words. The
sum of the data words is made up of all channels, even those which are not used.

Pair 1 ......... Screw-in modules 1 and 3

Pair 2 ......... Screw-in modules 2 and 4

I/O CP Interface Cycle for CP476

tIO_CP = (ndata_words + 1) * tScrM_CP

ndata_words
∑ data words for the screw-in module pair with the most data words

tScrM_CP
Transfer time per data word ScrMÖ CP Interface = 650 µs

2.1.4 Selecting the Task Class

Depending on which cycle is longer, the task class is set for the internal bus cycle or the I/O AF cycle (also
see calculation examples).

Generally, all digital I/O data is transferred multiple times. Therefore a minimum cycle time of 3 ms is permissible
for digital I/O data.

In this case, the data for the screw-in modules is not refreshed each cycle !

568 Chapter 6
2.1.5 I/O CPU Load

This time determines how long the CPU requires to process the I/O data passed on by the AF module. The
CPU is loaded considerably by the analog I/O data.

B&R 2003
Chapter 6
Timing
CP430 / CP470 / CP770
tIO_CPU = ndata_words * tCPx70_AF

CP474 / CP774
tIO_CPU = ndata_words * tCPx74_AF

CP476
tIO_Proc = ndata_words * tCP476_AF

ndata_words
∑ data words for the AF101, corresponds to the AF101 module with the most data words in the system.
The sum of
the data words is made up of all channels, even those which are not used.
If a CP474, CP476 or CP774 on the CP inte
rface has more data words, the sum of these data words must be used for
the calculation.
If an analog module (e.g. CM211) has more data words, then the number of data words for the analog module must
be used for the calculation.

Description Abbreviation t [µs]

Analog data point on CP430/CP470/CP770 tCPx70_AF 100

Analog data point on CP474/CP774 tCPx74_AF 70

Analog data point on CP476 tCP476_AF 50

This is the time require by the additional I/O processor to process an analog
data point.

The data words for the digital screw-in modules DI135 and DO135 are counted as analog data points.

2.1.6 Worst Case Reaction Time

The worst case reaction time for the system is calculated using the following formula:

Worst Case Reaction Time = Internal Bus Cycle + I/O AF Cycle + I/O CPU Load

B&R 2003 Timing 569

2.2 ACCESS PROCEDURE

Cyclic with TC#1

Cyclic with TC#1 or HSTC
or HSTC

• Cyclic in task class 1 or HS task class

2.2.1 Cyclic Access

Access can take place in two ways:

1) Cyclic with the system manager (10 ms).

2) If I/O points are used in the HSTC, access takes place automatically in relation to this HSTC (e.g.
5 ms), because it is started more often than the system manager.

The I/O AF cycle is determined by the adapter module with the most data words.

570 Chapter 6
2.3 CALCULATION EXAMPLES

Example 1

B&R 2003
Chapter 6
CP474/774

Timing
32 digital IN, 32 digital OUT: 4 x DM435
6 analog IN, 4 analog OUT: 1 x AF101 [2 x AI354, 2 x AO352]

Internal Bus Cycle

tint_cycle = (∑ AF modules + 1) * tAF * ndata_words + ndata_words_AI * tAF_busy_AI + ndata_words_AO * tAF_busy_AO +
∑ DIOM modules * tdig_IO * ndata_words + tOffset
tint_cycle = 2 * tAF * 12 + 8 * tAF_busy_AI + 4 * tAF_busy_AO + 4 * tdig_IO * 12 + tOffset
tint_cycle = 2 * 22 * 12 + 8 * 200 + 4 * 1500 + 4 * 14 * 12 + 1200
tint_cycle = 10000 µs

I/O AF Cycle
tIO_AF = (ndata_words + 1) * tScrM_AF
tIO_AF = (2 * 4 + 1) * 650
tIO_AF = 5850 µs

I/O CPU Load

tIO_CPU = n data_words * t CPx74_AF
tIO_CPU = (2 * 4 + 2 * 2) * 70
tIO_CPU = 840 µs

Fastest Task Class Recommended

10 ms (determined by internal bus cycle)
The 3 ms task class can also be used to process the digital I/O signals. However, that means the analog
data will not be refreshed every cycle.

B&R 2003 Timing 571

Example 2

CP474/774
32 digital IN, 32 digital OUT: 4 x DM435
6 analog IN, 4 analog OUT: 1 x AF101 [3 x AI351 + 1 x AO352]
1 x AF101 [3 x AI351 + 1 x AO352]

Internal Bus Cycle

tint_cycle = (∑ AF modules + 1) * tAF * ndata_words + n data_words_AI * tAF_busy_AI + ndata_words_AO * tAF_busy_AO +
∑ DIOM modules * tdig_IO * ndata_words + tOffset
tint_cycle = 3 * tAF * 5 +3 * tAF_busy_AI +2 * tAF_busy_AO + 4 * tdig_IO * 5 + tOffset
tint_cycle = 3 * 22 * 5 + 3 * 200 + 2 * 1500 + 4 * 14 * 5 + 1200
tint_cycle = 5410 µs

I/O AF Cycle
tIO_AF = (ndata_words + 1) * tScrM_AF
tIO_AF = (3 * 1 + 1) * 650
tIO_AF = 2600 µs

I/O CPU Load

tIO_CPU = ndata_words * tCPx74_AF
tIO_CPU = (3 * 1 + 2) * 70
tIO_CPU = 350 µs

Fastest Task Class Recommended

6 ms (determined by internal bus cycle)
The 3 ms task class can also be used to process the digital I/O signals. However, that means the analog
data will not be refreshed every cycle.

572 Chapter 6
Example 3

To allow a timing comparison, examples 3 and 4 use the same hardware configuration except for the CPU.

B&R 2003
Chapter 6
Example 3 ...... CP476

Timing
Example 4 ...... CP474/CP774

CP476
32 digital IN, 32 digital OUT: 4 x DM435
6 analog IN, 2 analog OUT: CP Interface [2 x NC161 + 1 x AO352]

Internal Bus Cycle

tint_cycle = ∑ DIOM modules * tdig_IO * 1 + t Offset
tint_cycle = 4 * tdig_IO * 1 + tOffset
tint_cycle = 4 * 14 * 1 + 1200
tint_cycle = 1256 µs

I/O CP Interface Cycle on CP476

tIO_CP = (ndata_words + 1) * tScrM_CP
tIO_CP = (1 * 3 + 1 * 2 + 1) * 650
tIO_CP = 3900 µs

I/O CPU Load

tIO_Proc = ndata_words * tCP476_AF
tIO_Proc = 8 * 50
tIO_Proc = 400 µs

Fastest Task Class Recommended

5 ms (determined by I/O CP Interface Cycle on CP476)
The 3 ms task class can also be used to process the digital I/O signals. However, that means the analog
data will not be refreshed every cycle.

B&R 2003 Timing 573

Example 4

To allow a timing comparison, examples 3 and 4 use the same hardware configuration except for the CPU.

Example 3 ...... CP476

Example 4 ...... CP474/CP774

CP474/774
32 digital IN, 32 digital OUT: 4 x DM435
6 analog IN, 2 analog OUT: CP Interface [2 x NC161 + 1 x AO352]

Internal Bus Cycle

tint_cycle = (∑ AF modules + 1) * tAF * ndata_words + n data_words_AI * tAF_busy_AI + ndata_words_AO * tAF_busy_AO +
∑ DIOM modules * tdig_IO * ndata_words + tOffset
tint_cycle = 1 * tAF * 8 +6 * tAF_busy_AI +2 * tAF_busy_AO + 4 * tdig_IO * 8 + tOffset
tint_cycle = 1 * 22 * 8 + 6 * 200 + 2 * 1500 + 4 * 14 * 8 + 1200
tint_cycle = 6024 µs

I/O AF Cycle on CP474/774

tIO_AF = (ndata_words + 1) * tScrM_AF
tIO_AF = (2 * 3 + 1) * 650
tIO_AF = 4550 µs

I/O CPU Load

tIO_CPU = ndata_words * tCPx74_AF
tIO_CPU = 8 * 70
tIO_CPU = 560 µs

Fastest Task Class Recommended

7 ms (determined by internal bus cycle)
The 3 ms task class can also be used to process the digital I/O signals. However, that means the analog
data will not be refreshed every cycle.
The timing for examples 4 and 5 are the same except for a small difference in the internal bus cycle time.

574 Chapter 6
Example 5

CP474/774
32 digital IN, 32 digital OUT: 4 x DM435

B&R 2003
Chapter 6
Timing
2 axes, 2 analog OUT: 1 x AF101 [2 x NC161, 1 x AO352]

Internal Bus Cycle

tint_cycle = (∑ AF modules + 1) * tAF * ndata_words + ndata_words_AI * tAF_busy_AI + ndata_words_AO * tAF_busy_AO +
∑ DIOM modules * tdig_IO * ndata_words + tOffset
tint_cycle = 2 * tAF * 8 +6 * tAF_busy_AI +2 * tAF_busy_AO + 4 * tdig_IO * 8 + tOffset
tint_cycle = 2 * 22 * 8 + 6 * 200 + 2 * 1500 + 4 * 14 * 8 + 1200
tint_cycle = 6200 µs

I/O AF Cycle
tIO_AF = (n data_words + 1) * tScrM_AF
tIO_AF = (2 * 3 + 1) * 650
tIO_AF = 4550 µs

I/O CPU Load

tIO_CPU = ndata_words * tCPx74_AF
tIO_CPU = (+1 * 3 + 2 * 2) * 70
tIO_CPU = 560 µs

Fastest Task Class Recommended

7 ms (determined by internal bus cycle)
The 3 ms task class can also be used to process the digital I/O signals. However, that means the analog
data will not be refreshed every cycle.
The timing for examples 4 and 5 are the same except for a small difference in the internal bus cycle time.

B&R 2003 Timing 575

Example 6

CP474/774
32 digital IN, 32 digital OUT: 4 x DM435
2 analog IN, 8 thermocouples: 1 x AF101 [2 x AI351 + 2 x AT664]
4 analog OUT: 1 x AF101 [2 x AO352]

Internal Bus Cycle

tint_cycle = (∑ AF modules + 1) * tAF * ndata_words + n data_words_AI * tAF_busy_AI + ndata_words_AO * tAF_busy_AO +
∑ DIOM modules * tdig_IO * ndata_words + tOffset
tint_cycle = 3 * tAF * 10 +6 * tAF_busy_AI + 4 * tAF_busy_AO + 4 * tdig_IO * 10 + tOffset
tint_cycle = 3 * 22 * 10 + 6 * 200 + 4 * 850 + 4 * 14 * 10 + 1200
tint_cycle = 7020 µs

I/O AF Cycle
tIO_AF = (ndata_words + 1) * tScrM_AF
tIO_AF = (2 * 1 + 2 * 4 + 1) * 650
tIO_AF = 7150 µs

I/O CPU Load

tIO_CPU = ndata_words * tCPx74_AF
tIO_CPU = (4 * 1 + 2 * 2) * 70
tIO_CPU = 700 µs

Fastest Task Class Recommended

8 ms (determine by I/O AF cycle)
The 3 ms task class can also be used to process the digital I/O signals. However, that means the analog
data will not be refreshed every cycle.

576 Chapter 6
Example 7

CP474/774
32 digital IN, 32 digital OUT: 4 x DM435

B&R 2003
Chapter 6
Timing
2 analog IN, 8 thermocouples, 4 analog OUT: 1 x AF101 [1 x AI351 + 1 x AT664 + 1 * AO352]
1 x AF101 [1 x AI351 + 1 x AT664 + 1 * AO352]

Internal Bus Cycle

tint_cycle = (∑ AF modules + 1) * tAF * ndata_words + ndata_words_AI * tAF_busy_AI + ndata_words_AO * tAF_busy_AO +
∑ DIOM modules * tdig_IO * ndata_words + tOffset
tint_cycle = 3 * tAF * 7 +5 * tAF_busy_AI +2 * tAF_busy_AO + 4 * tdig_IO * 7 + tOffset
tint_cycle = 3 * 22 * 7 + 5 * 200 + 2 * 1500 + 4 * 14 * 7 + 1200
tint_cycle = 6054 µs

I/O AF Cycle
tIO_AF = (n data_words + 1) * tScrM_AF
tIO_AF = (1 + 4 + 1) * 650
tIO_AF = 3900 µs

I/O CPU Load

tIO_CPU = ndata_words * tCPx74_AF
tIO_CPU = (1 + 4 + 2) * 70
tIO_CPU = 490 µs

Fastest Task Class Recommended

7 ms (determined by internal bus cycle)
The 3 ms task class can also be used to process the digital I/O signals. However, that means the analog
data will not be refreshed every cycle.

B&R 2003 Timing 577

3 REMOTE I/O NODE TIMING
3.1 TIMES TO BE CONSIDERED

If a remote I/O bus controller is used as controller, the following three times must be considered when
calculating the timing for a remote I/O node:

Module reaction
Bus time Access time
time 1

Module reaction
time 2

• Access Time
• Module Reaction Time
• Bus Time

3.1.1 Access Time

The time required by the remote I/O bus controller to access the B&R 2003 modules.

3.1.2 Module Reaction Time

This time is required by the remote I/O bus controller to update the output states and to collect the input states.

3.1.3 Bus Time

The data transfer time between the remote I/O master and remote I/O bus controller is called the bus time.

578 Chapter 6
3.2 ACCESS TIME

The time required by the remote I/O bus controller to access the B&R 2003 modules. The access time depends
on the requirements of the system.

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Chapter 6
Timing
Description Abbreviation t [µs]
Digital system modules tdig_acc 400

Analog or digital and analog system modules tan_acc 800

3.3 MODULE REACTION TIME

The module reaction time affects how fast the data points can be updated for each individual module.
It must be calculated for each adapter module and for all digital inputs and outputs.
The module reaction time depends on the system requirements.

3.3.1 Hardware Dependant Internal I/O Bus Cycle

Description Abbreviation t [µs]

Adapter module (AF101) tAF 200

Adapter module busy tAF_busy 0 1)

Digital inputs (e.g. DI435, DI645) tDI 95

Digital outputs (e.g. DO435, DO720) tDO 115

Digital mixed module (e.g. DM435)

1)
tAF_busy is not needed because the time is already accounted for in tan_acc.

3.3.2 Module Reaction Time Calculation

The following times must be calculated:

• Reaction time for digital modules (tdig_reaction)

• Reaction time for analog modules (tan_reaction)

B&R 2003 Timing 579

3.3.3 Digital Module Reaction Time

Calculated for all digital inputs and digital outputs.

tdig_reaction = 2 * tIO_cycle

Internal I/O Bus Cycle Time

During this time, all digital inputs/outputs and one data word per adapter module are processed.
The formula used to calculate the internal I/O bus cycle time depends on the hardware configuration.

1) If only digital modules are used

tIO_cycle = ∑ DO/DM modules * tDO +

∑ DI modules * tDI +
tdig_acc

2) If analog modules are also used

tIO_cycle = ∑ AF modules * tAF +

∑ DO/DM modules * tDO +
∑ DI modules * tDI +
tan_acc

3.3.4 Analog Module Reaction Time

Must be calculated for every adapter module. The sum of the data words is made up of all channels, even
those which are not used.
The data words for the digital screw-in modules DI135 and DO135 must also be considered.

tan_reaction = (ndata_words + 1) * tIO_cycle

ndata_words = ∑ data words on AF101

Internal I/O Bus Cycle Time

Calculated using formula for tIO_cycle see "Internal I/O Bus Cycle Time, Item 2" in the "Digital Module Reaction
Time" section.

580 Chapter 6
3.4 HARDWARE GUIDELINES

The following guidelines will help you find the optimal configuration for your B&R 2003 System.

B&R 2003
Chapter 6
• If fast inputs/outputs are required, the respective screw-in modules must be divided up among

Timing
several adapter modules. Therefore, the individual data points are processed more often.
• Install screw-in modules on several adapter modules so that each adapter module is equipped with
the same number of inputs and outputs.

3.5 CALCULATION EXAMPLES FOR MODULE REACTION TIME

Example 1

EX477/777
64 digital IN, 64 digital OUT: 8 x DM435

tdig_reaction = 2 * tIO_cycle
tdig_reaction = 2 * (∑ DO/DM modules * tDO + tdig_acc)
tdig_reaction = 2 * (8 * tDO + tdig_acc)
tdig_reaction = 2 * (8 * 115 + 400)
tdig_reaction = 2640 µs

B&R 2003 Timing 581

Example 2

EX477/777
32 digital IN, 32 digital OUT: 4 x DM435
6 analog IN, 4 analog OUT: 1 x AF101 [4 x AI351]
1 x AF101 [1 x AI354 + 2 x AO352]

AF DO/DM DI Data Words on Data Words on

Module Module Module First AF Second AF

AF101 1

AI351 1

AI351 1

AI351 1

AI351 1

AF101 1

AI354 4 1)

AO352 2

AO352 2

DM435 1

DM435 1

DM435 1

DM435 1

Summe: 2 4 0 4 8

1)
Only two channels are used on the AI354 module. However, all four data words must be used for the calculation.

582 Chapter 6
3.5.1 Calculating Module Reaction Times

Internal I/O Bus Cycle Time

B&R 2003
Chapter 6
tIO_cycle = ∑ AF modules * tAF + ∑ DO/DM modules * tDO + tan_acc

Timing
tIO_cycle = 2 * tAF + 4 * tDO + tan_acc
tIO_cycle = 2 * 200 + 4 * 115 + 800
tIO_cycle = 1660 µs

Digital Module Reaction Time

tdig_reaction = 2 * tIO_cycle
tdig_reaction = 2 * 1660
tdig_reaction = 3320 µs

Analog Module Reaction Time

1. AF101
tan_reaction = (ndata_words + 1) * tIO_cycle
tan_reaction = (4 + 1) * 1660
tan_reaction = 8300 µs

2. AF101
The second adapter module AF101 is equipped with two analog inputs and four analog outputs.
Only two channels are used on the AI354 module. However, all four data words must be used for the
calculation!
tan_reaction = (ndata_words + 1) * tIO_cycle
tan_reaction = (8 + 1) * 1660
tan_reaction = 14940 µs

B&R 2003 Timing 583

4 CAN NODE TIMING
4.1 TIMES TO BE CONSIDERED

If the CAN bus controller is used as controller, the following three times must be considered when calculating
the timing for a CAN node:

Module reaction
Bus time Access time
time 1

Module reaction
time 2

• Access Time
• Module Reaction Time
• Bus Time

4.1.1 Access Time

The time required by the CAN bus controller to access B&R 2003 modules.

4.1.2 Module Reaction Time

This time is required by the CAN bus controller to update the output states and to collect the input states.

4.1.3 Bus Time

The transfer time between CAN client (master) and CAN bus controller is called bus time.

584 Chapter 6
4.2 ACCESS TIME

This time requires the CAN bus controller to access the B&R 2003 modules. The access time depends on the
requirements of the system.

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Chapter 6
Timing
Description Abbreviation t [µs]
Digital system modules tdig_acc 660

Analog or digital and analog system modules tan_acc 1800

4.3 MODULE REACTION TIME

The module reaction time affects how fast the data points can be updated for each individual module.
It must be calculated for each adapter module and for all digital inputs and outputs.
The module reaction time is made up of two areas:

• CAN Object Evaluation

• Hardware Dependent Internal Bus Cycle

4.3.1 CAN Object Evaluation

Description Abbreviation t [µs]

Digital input information (send) tDI_send 400

Analog input information (send) tAI_send 1600

Digital output information (receive) tDO_rec 700

Analog output information (receive) tAO_rec 300

4.3.2 Hardware Dependant Internal Bus Cycle

Description Abbreviation t [µs]

Adapter module (AF101) tAF 840

Adapter module busy tAF_busy 0 1)

Digital inputs (e.g. DI435, DI645) tDI 155

Digital outputs (e.g. DO435, DO720) tDO 190

Digital mixed module (e.g. DM435)

1)
tAF_busy is not needed because the time is already accounted for in tan_acc.

B&R 2003 Timing 585

4.3.3 Module Reaction Time Calculation

The following times must be calculated:

• Reaction time for digital modules (tdig_reaction)

• Reaction time for analog modules (t an_reaction)

4.3.4 Digital Module Reaction Time

Calculated for all digital inputs and digital outputs.

tdig_reaction = t CAN_objects + 2 * tIO_cycle

CAN Object Time

The times tAI_send and tAO_rec for the analog values only have to be included in the calculation if analog modules
are present.

tCAN_objects = tDI_send + tDO_rec + tAI_send + tAO_rec

Internal I/O Bus Cycle Time

During this time, all digital inputs/outputs and one data word per adapter module are processed.
The formula used to calculate the internal I/O bus cycle time depends on the hardware configuration.

1) If only digital modules are used

tIO_cycle = ∑ DO/DM modules * tDO +

∑ DI modules * tDI +
tdig_acc

2) If analog modules are also used

tIO_cycle = ∑ AF modules * tAF +

∑ DO/DM modules * tDO +
∑ DI modules * tDI +
tan_acc

586 Chapter 6
4.3.5 Analog Module Reaction Time

Must be calculated for every adapter module. The sum of the data words is made up of all channels, even those
which are not used.

B&R 2003
Chapter 6
The data words for the digital screw-in modules DI135 and DO135 must also be considered.

Timing
tan_reaction = tCAN_objects + (ndata_words + 1) * tIO_cycle

ndata_words = ∑ data words on AF101

CAN Object Time

tCAN_objects = (n data_words + 1) * (t DI_send + tDO_rec) +

∑ analog input data objects on module rack * tAI_send +
∑ analog output data objects on module rack * tAO_rec

Internal I/O Bus Cycle Time

Calculated using formula for t IO_cycle see "Internal I/O Bus Cycle Time, Item 2" in the "Digital Module Reaction
Time" section.

4.4 HARDWARE GUIDELINES

The following guidelines will help you find the optimal configuration for your B&R 2003 System.

• A group of all single channel screw-in modules (e.g. AI351) on an adapter module. In this way, the
I/O data is packed in a CAN object.
• If fast inputs/outputs are required, the respective screw-in modules must be divided up among several
adapter modules. Therefore, the individual data points are processed more often.
• Install screw-in modules on several adapter modules so that each adapter module is equipped with
the same number of inputs and outputs.

B&R 2003 Timing 587

4.5 INHIBIT TIMES

A minimum delay must be inserted between a CAN object for digital and analog inputs with the same ID, before
sending repeatedly over the network. This minimum delay is called the Inhibit Time.

4.5.1 Digital Inputs

4.5.2 Analog Inputs

The symbol " " marks the position (B and C) where the signal on the analog input exceeds the change value
defined in the operating parameters. However ,the current value cannot be transferred because of the inhibit
time.
After the inhibit time has passed, the current value (B’ and C’) is transferred with a maximum delay of one I/O
cycle.

588 Chapter 6
4.6 DETERMINE THE INHIBIT TIMES

There are three factors when determining the inhibit time:

B&R 2003
Chapter 6
• Required Time

Timing
• Local Acquisition Time
• Maximum Bus Load Desired

4.6.1 Required Time

The reaction times in an application must be guaranteed. If the slowest reaction time allowed is e.g. 25 ms,
then 25 ms is the required inhibit time.
If the minimum required time is longer than the time calculated for the "Local Acquisition Time" or "Maximum
Bus Load Desired", then defining this value as the inhibit time guarantees reaction within the required time.

4.6.2 Local Acquisition Time

The local acquisition time for data without CAN activity on the controller is accepted as the minimum inhibit
time. In order to define this time, the time for CAN object evaluation tDI_send, tAI_send, tDO_rec and tAO_rec must be set
to 0.

Minimum Digital Acquisition Time

tdig_min_reaction = t CAN_objects + 2 * tIO_cycle : tCAN_objects = 0

tdig_min_reaction = 2 * tIO_cycle

The digital inhibit time tdig_Inhibit must be ≥ t dig_min_reaction.

Minimum Analog Acquisition Time

tan_min_reaction = tCAN_objects + (ndata-words + 1) * tIO_cycle : tCAN_objects = 0

tan_min_reaction = (ndata_words + 1) * tIO_cycle

The analog inhibit time t an_Inhibit must be ≥ tan_min_reaction.

Additional Load

CAN activity brings about the additional digital and analog loads shown below. The calculated times must be
rounded up to whole millisecond values.
The times tDO_output_cycle and t AO_output_cycle determine the output cycle used by the CAN client to send the digital
or analog output information to the CAN nodes.

Digital CAN Load

tdig_CAN_objects = t IO_cycle / tdig_Inhibit * tDI_send + t IO_cycle / tDO_output_cycle * tDO_rec

Analog CAN Load

tan_CAN_objects = t IO_cycle / tan_Inhibit * tAI_send + tIO_cycle / tAO_output_cycle * tAO_rec

B&R 2003 Timing 589

4.6.3 Maximum Bus Load Desired

For the calculation of the maximum bus load, the CAN objects for all CAN nodes on the bus must be added
together.
The bus is allowed to have a maximum load of 85 % in the worst case because parallel service and diagnosis
functions still have to be carried out.
A calculation example is shown in the "Bus Time" section. The calculated time is the recommended minimum
inhibit time in the system.

4.6.4 Setting the the Inhibit Time

The inhibit time is set with the commands Write Operating Parameters and Activate Operating Parameters.

Inhibit Time for

Digital Inputs Analog Inputs

Standard settings 5 ms 20 ms

Operating parameter settings 21 27

Value range 0 - 65000 ms 0 - 65000 ms

The commands are explained in chapter 5, "CAN Bus Controller Functions" .

590 Chapter 6
Example

The analog inhibit time is set to 25 ms. The CAN object "Command Request" looks like this:

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Chapter 6
Timing
Byte Description Value
0 Code 0

1 Command code 11

2 Parameter 1 27

3 Parameter 2 0

4 Command data 0

5 Command data 25

6 Command data 0

7 Command data 0

The operating parameters are now in a buffer. In order to activate the parameters, the command Activate
Operating Parameters must be carried out.

Byte Description Value

0 Code 0

1 Command code 12

2 Parameter 1 0

3 Parameter 2 0

4 Command data 0

5 Command data 0

6 Command data 0

7 Command data 0

B&R 2003 Timing 591

4.7 CALCULATION EXAMPLES FOR MODULE REACTION TIME

4.7.1 Example 1

EX470/770, packed operating mode

64 digital IN, 64 digital OUT: 8 x DM435

tdig_reaction = t CAN_objects + 2 * tIO_cycle

tdig_reaction = t DI_send + tDO_rec + 2 * (8 * tDO + tdig_acc)
tdig_reaction = 400 + 700 + 2 * (8 * 190 + 660)
tdig_reaction = 5460 µs

Recommended Inhibit Time: tInhibit = 6 ms

4.7.2 Example 2

EX470/770, packed operating mode

32 digital IN, 32 digital OUT: 4 x DM435

tdig_reaction = t CAN_objects + 2 * tIO_cycle

tdig_reaction = t DI_send + tDO_rec + 2 * (4 * tDO + tdig_acc)
tdig_reaction = 400 + 700 + 2 * (4 * 190 + 660)
tdig_reaction = 3940 µs

Recommended Inhibit Time: tInhibit = 5 ms (default value)

4.7.3 Example 3

EX470/770, packed operating mode

32 digital IN, 32 digital OUT: 4 x DI435 + 4 x DO435

tdig_reaction = t CAN_objects + 2 * tIO_cycle

tdig_reaction = t DI_send + tDO_rec + 2 * (4 * tDO + 4 * tDI + tdig_acc)
tdig_reaction = 400 + 700 + 2 * (4 * 190 + 4 * 155 + 660)
tdig_reaction = 5180 µs

Recommended Inhibit Time: tInhibit = 6 ms

592 Chapter 6
4.7.4 Example 4

EX470/770, packed operating mode

32 digital IN, 32 digital OUT: 4 x DM435

B&R 2003
Chapter 6
Timing
6 analog IN, 4 analog OUT: 1 x AF101 [4 x AI351]
1 x AF101 [1 x AI354 + 2 x AO352]

AF DO/DM DI Data Words Data Words Input Data Output Data

Module Module Module on First AF on Second AF Objects on AF Objects on AF

AF101 1

AI351 1 1

1)
AI351 1 (packed)

AI351 1 (packed) 1)

1)
AI351 1 (packed)

AF101 1

2)
AI354 4 1

AO352 2 1

AO352 2 1

DM435 1

DM435 1

DM435 1

DM435 1

Sum: 2 4 0 4 8 2 2

1)
The I/O data for four single channel screw-in modules is packed in one CAN object.
2)
Only two channels are used on the AI354 module. However, all four data words must be used for the calculation.

B&R 2003 Timing 593

Calculating the Times

The calculation is carried out in two steps:

• Determine the inhibit times

• Calculate the module reaction times according to the inhibit times

Determine the inhibit times

Internal I/O Bus Cycle Time

tIO_cycle = ∑ AF modules * tAF + ∑ DO/DM modules * tDO + tan_acc
tIO_cycle = 2 * tAF + 4 * tDO + t an_acc
tIO_cycle = 2 * 840 + 4 * 190 +1800
tIO_cycle = 4240 µs

Digital Module Reaction Time

tdig_reaction = t CAN_objects + 2 * tIO_cycle
tdig_reaction = t DI_send + t DO_rec + tAI_send + tAO_rec + 2 * tIO_cycle
tdig_reaction = 400 + 700 + 1600 + 300 + 2 * 4240
tdig_reaction = 11480 µs

Recommended Digital Inhibit Time: tdig_Inhibit = 10 ms

Analog Module Reaction Time

1. AF101:
Four analog inputs are on the first AF101 adapter module. The I/O data is packed in a CAN object because
four single channel AI351 modules are used. That means, only one CAN object is transferred instead of four.
This is taken into account in the multiplier for the time tAI_send. tAI_send is the time required to send an analog input
data object to the CAN client.

tan_reaction = t CAN_objects + (ndata_words + 1) * t IO_cycle

tan_reaction = (n data_words + 1) * (t DI_send + tDO_rec) + 2 * tAI_send + 2 * tAO_rec + (ndata_words + 1) * tIO_cycle
tan_reaction = (4 + 1) * (400 + 700) + 2 * 1600 + 2 * 300 + (4 + 1) * 4240
tan_reaction = 30500 µs

Recommended Analog Inhibit Time:tan_Inhibit = 30 ms

594 Chapter 6
2. AF101:
The second adapter module AF101 is equipped with two analog inputs and four analog outputs.
Only two channels are used on the AI354 module. However, all four data words must be used for the
calculation!

B&R 2003
Chapter 6
Timing
tan_reaction = tCAN_objects + (ndata_words + 1) * tIO_cycle
tan_reaction = (ndata_words + 1) * (tDI_send + tDO_rec) + 2 * tAI_send + 2 * tAO_rec + (ndata_words + 1) * tIO_cycle
tan_reaction = (8 + 1) * (400 + 700) + 2 * 1600 + 2 * 300 + (8 + 1) * 4240
tan_reaction = 51860 µs

Calculation with Inhibit Time

Taking the inhibit times into consideration reduces the digital and analog module reaction time.

Internal I/O Bus Cycle Time

The internal I/O bus cycle time does not change: tIO_cycle = 4240 µs

Digital Module Reaction Time

The recommended inhibit time for analog inputs is 30 ms. The output cycle time the CAN client uses to provide
the CAN nodes with new analog output data, is also fixed to 30 ms. Therefore, the analog data is only sent
or received in average every seventh cycle.

Factor = tan_Inhibit / tIO_cycle = 30 ms / 4.24 ms = 7.08 -> 7

tdig_reaction = tCAN_objects + 2 * tIO_cycle

tdig_reaction = tDI_send + tDO_rec + (tAI_send + t AO_rec) / 7 + 2 * t IO_cycle
tdig_reaction = 400 + 700 + (1600 + 300) / 7 + 2 * 4240
tdig_reaction = 9852 µs

Analog Module Reaction Time

The recommended inhibit time for digital inputs is 10 ms. The output cycle time the CAN client uses to provide
the CAN nodes with new digital output data is also fixed to 10 ms. Therefore, the digital data is only sent or
received in average every second cycle.

Factor = tdig_Inhibit / tIO_cycle = 10 ms / 4.24 ms = 2.36 -> 2

1. AF101:
tan_reaction = tCAN_objects + (ndata_words + 1) * tIO_cycle
tan_reaction = (ndata_words + 1) * (tDI_send + tDO_rec) / 2 + 2 * tAI_send + 2 * tAO_rec + (ndata_words + 1) * t IO_cycle
tan_reaction = (4 + 1) * (400 + 700) / 2 + 2 * 1600 + 2 * 300 + (4 + 1) * 4240
tan_reaction = 27750 µs

2. AF101:
tan_reaction = tCAN_objects + (ndata_words + 1) * tIO_cycle
tan_reaction = (ndata_words + 1) * (tDI_send + tDO_rec) / 2 + 2 * tAI_send + 2 * tAO_rec + (ndata_words + 1) * t IO_cycle
tan_reaction = (8 + 1) * (400 + 700) / 2 + 2 * 1600 + 2 * 300 + (8 + 1) * 4240
tan_reaction = 46910 µs

B&R 2003 Timing 595

4.7.5 Example 5

EX470/770, packed operating mode

32 digital IN, 32 digital OUT: 4 x DM435
1 axis, 1 analog OUT: 1 x AF101 [1 x NC161 + 1 x AO352]

Calculating the Times

The calculation is carried out in two steps:

• Determine the inhibit times

• Calculate the module reaction times according to the inhibit times

Determine the inhibit times

Internal I/O Bus Cycle Time

tIO_cycle = ∑ AF modules * tAF + ∑ DO/DM modules * tDO + tan_acc
tIO_cycle = 1 * tAF + 4 * tDO + t an_acc
tIO_cycle = 1 * 840 + 4 * 190 +1800
tIO_cycle = 3400 µs

Digital Module Reaction Time

tdig_reaction = t CAN_objects + 2 * tIO_cycle
tdig_reaction = t DI_send + t DO_rec + tAI_send + tAO_rec + 2 * tIO_cycle
tdig_reaction = 400 + 700 + 1600 + 300 + 2 * 3400
tdig_reaction = 9800 µs

Recommended Digital Inhibit Time: tdig_Inhibit = 10 ms

596 Chapter 6
Analog Module Reaction Time

The NC161 has three data words that have to be taken into consideration when calculating the module
reaction time.

B&R 2003
Chapter 6
Only one channel on the AO352 module is used, but both data words must be included in the calculation!

Timing
One analog input data object and one analog output data object are transferred on the internal bus.

tan_reaction = tCAN_objects + (ndata_words + 1) * tIO_cycle

tan_reaction = (ndata_words + 1) * (tDI_send + tDO_rec) +1 * tAI_send +1 * tAO_rec + (ndata_words + 1) * tIO_cycle
tan_reaction = (5 + 1) * (400 + 700) +1 * 1600 +1 * 300 + (5 + 1) * 3400
tan_reaction = 28900 µs

Recommended Analog Inhibit Time: tan_Inhibit = 25 ms

Calculation with Inhibit Time

Taking the inhibit times into consideration reduces the digital and analog module reaction time.

Internal I/O Bus Cycle Time

The internal I/O bus cycle time does not change: tIO_cycle = 3400 µs

Digital Module Reaction Time

The recommended inhibit time for analog inputs is 25 ms. The output cycle time the CAN client uses to provide
the CAN nodes with new analog output data, is also fixed to 25 ms. Therefore, the analog data is only sent
or received in average every seventh cycle.

Factor = tan_Inhibit / tIO_cycle = 25 ms / 3.4 ms = 7.35 -> 7

tdig_reaction = tCAN_objects + 2 * tIO_cycle

tdig_reaction = tDI_send + tDO_rec + (tAI_send + t AO_rec) / 7 + 2 * t IO_cycle
tdig_reaction = 400 + 700 + (1600 + 300) / 7 + 2 * 3400
tdig_reaction = 8172 µs

Analog Module Reaction Time

The recommended inhibit time for digital inputs is 11 ms. The output cycle time the CAN client uses to provide
the CAN nodes with new digital output data is also fixed to 11 ms. Therefore, the digital data is only sent or
received on average every third cycle.

Factor = tdig_Inhibit / tIO_cycle = 11 ms / 3.4 ms = 3.24 -> 3

tan_reaction = tCAN_objects + (ndata_words + 1) * tIO_cycle

tan_reaction = (ndata_words + 1) * (tDI_send + tDO_rec) / 3 +1 * tAI_send +1 * tAO_rec + (ndata_words + 1) * tIO_cycle
tan_reaction = (5 + 1) * (400 + 700) / 3 +1 * 1600 +1 * 300 + (5 + 1) * 3400
tan_reaction = 24500 µs

B&R 2003 Timing 597

4.8 BUS TIME

The transfer time between CAN client (master) and CAN bus controller is called bus time.

The bus time depends on the following two components:

• Baudrate
• Number of CAN objects

4.8.1 Baudrate

The baudrates listed in the table can be set for the B&R SYSTEM 2003. You have to decide if the settings are
to be taken from the configuration memory or node number switch.

Baudrate Configuration Memory Node Number Switch

1 Mbit/s 1) ●

500 kBit/s ● ●

250 kBit/s ● ●

125 kBit/s ● ●

100 kBit/s ●

50 kBit/s ●

20 kBit/s ● ●

10 kBit/s ●

1)
1 MBit/sec cannot be guaranteed electrically because of isolation properties.

4.8.2 Number of CAN Objects

The CAN objects for all CAN nodes on the bus must be added together when calculating the bus load.

598 Chapter 6
4.8.3 Example

In this example, the calculation for the bus time is made for the worst case. The baudrate is 250 kBaud.

B&R 2003
Chapter 6
Timing
Object Time

A CAN object consists of 8 bytes of data, 34 bits of dynamic overhead and 10 bits of fixed overhead. This
results in a length of 108 bits per CAN object.
Theoretically, bit stuffing results in an increase in object length of up to 24 bits. This combination can only
occur for one object content and one certain object number.
Therefore, the calculation of the object time must be made with a length of 132 bits.

tObject = 132 / 250000 = 528 µs

The data length of 108 to 132 bits, resulting from bit stuffing, brings about a 22 % dynamic reduction in the
bus load depending on the object/data combination. This results in an effective bus load of 63 to 85 %.

CAN Objects

The CAN objects for all CAN nodes on the bus must be added together. In order to make the calculation,
packed operating mode must be set (default setting).

CAN Objects per Node:

Digital IN ................ 1 Object

Digital OUT ............ 1 Object
Analog IN ............... nAI Objects
Analog OUT ........... nAI Objects

Objnodes_x = 1 + 1 + nAI + nAO

Total CAN Objects:

Objtotal = Σ Objnodes_x

B&R 2003 Timing 599

100 % Bus Time

This time is required for data transfer if the bus is 100 % free - optimal condition.

t100% = Objtotal * t Object

Transfer Time

ttrans is the worst case transfer time. For the worst case, it is assumed that the bus is available 85 % of the time
because parallel service and diagnosis functions still have to be carried out.

In order to ensure proper function of the CAN nodes, you have to guarantee that the transfer time trans is shorter
than the idle time for the outputs (default 640 ms).

ttrans = t100% / 0.85

Recommendation: The shortest inhibit time in the system is not allowed to be shorter than the transfer
time ttrans.

600 Chapter 6
 Accessories
Chapter 7
General
CHAPTER 7
GENERAL ACCESSORIES

General Accessories 601

602 Chapter 7
1 GENERAL ACCESSORIES
1.1 OVERVIEW

Model Number Description Page

0AC001.9 Retaining clips, 500 pcs. ---

0AC171.9 Glass fuses 5 x 20 mm, 20 pcs., 3,15 A T / 250 V ---

0AC200.9 Lithium batteries, 5 pcs., 3 V / 950 mAh, tubular cell ---

Accessories
0AC201.9 Lithium batteries, 5 pcs., 3 V / 950 mAh, button cell ---

Chapter 7
General
0AC401.9 Encoder 5 V - 24 V, converter for 5 V encoders (abs. or incr.) 604

0AC410.9 Interface converter TTY - RS232 605

0AC912.9 Bus adapter, CAN, 1 CAN interface 606

0AC913.92 Bus adapter, CAN, 2 CAN interface, including 30 cm cable 607

0AC916.9 Bus termination, RS485, active, for PROFIBUS networks, remote I/O, standard 608
mounting rail installation, supply voltage: 120 / 230 VAC

0G0001.00-090 Cable PC <-> RPS/PW, RS232, online cable ---

0G0010.00-090 Cable I/O bus expansion, 1 m, bus expansion for B&R 2005 / B&R 2010 ---

0G0012.00-090 Cable I/O bus expansion, 2 m, bus expansion for B&R 2005 / B&R 2010 ---

0G1000.00-090 Bus connector, RS485, for PROFIBUS networks, remote I/O 609

0MC111.9 PCMCIA memory card, 2 MB FlashPROM ---

0MC211.9 PCMCIA memory card, 2 MB SRAM ---

7AC911.9 Bus connector, CAN 610

ECINT1-1 RS232/RS485 interface converter, electrically isolated, for coupling RS232 611
interface modules to an RS485 twisted pair network, without lightning
protection

ECINT1-11 RS232/RS485 interface converter, electrically isolated, for coupling RS232 611
interface modules to an RS485 twisted pair network, with lightning protection

General Accessories 603

1.2 AC401 ENCODER 5 V - 24 V

1.2.1 Order Data

Model Number Short Description

0AC401.9 Encoder 5 V - 24 V, converter for 5 V encoders (abs. or incr.)

1.2.2 General Information

The adapter is used as a converter for 5 V encoders. The 5 V differential signals delivered by the encoder
are converted to 24 V signals. Absolute and incremental encoders can be used.

604 Chapter 7
1.3 AC410 INTERFACE CONVERTER

1.3.1 Order Data

Accessories
Chapter 7
General
Model Number Short Description

0AC410.9 Interface Converter TTY - RS232

1.3.2 General Information

The AC410 interface converter is used to convert a TTY signal into an RS232 signal or an RS232 signal into
a TTY signal. To be able to connect simple PANELWARE operator panels (e.g. P120 or P121), the 24 V
supply voltage is converted into a 5 V output voltage. This voltage can be loaded with up to 0.5 A.
The maximum baudrate is 19200 Baud.

General Accessories 605

1.4 AC912 BUS ADAPTER, CAN 1x

1.4.1 Order Data

Model Number Short Description

0AC912.9 Bus Adapter, CAN, 1 CAN interface

1.4.2 General Information

The CAN bus adapters is used to connect a controller to a CAN network. The network connection is made
using the 6 pin terminal block. The connection to the controller is made using the 9 pin D-type socket. The
termination resistor is integrated in the bus adapter. The terminating resistor can be turned on or off.
The cable from the controller to the bus adapter is not in the B&R product line. It must be constructed by
the customer.

606 Chapter 7
1.5 AC913 BUS ADAPTER, CAN 2x

1.5.1 Order Data

Accessories
Chapter 7
General
Model Number Short Description

0AC913.92 Bus Adapter, CAN, 2 CAN interfaces, including 30 cm connection cable

1.5.2 General Information

The CAN bus adapters is used to connect a controller to a CAN network. The network connection is made
using the 9 pin D-type plug (C1) and the 9 pin D-type socket (C2). The 6 pin terminal block has a 30 cm
long cable with a D-type housing attached. This cable is used to make the connection to the controller. The
termination resistor is integrated in the bus adapter. The terminating resistor can be turned on or off.

General Accessories 607

1.6 AC916 BUS TERMINATION, RS485 ACTIVE

1.6.1 Order Data

Model Number Short Description

0AC916.9 Bus Termination, RS485, active, for PROFIBUS networks, remote I/O, standard mounting rail installation, supply
voltage: 120 / 230 VAC

1.6.2 General Information

An active bus termination is available for PROFIBUS networks and remote I/O. The active bus termination
allows the network to be terminated independent of the supply for the communication modules.
The supply voltage for the active bus termination is 120 / 230 VAC.

608 Chapter 7
1.7 RS485 BUS CONNECTOR

1.7.1 Order Data

Accessories
Chapter 7
General
Model Number Short Description

0G1000.00-090 Bus Connector, RS485, for PROFIBUS Networks, remote I/O

1.7.2 General Information

The RS485 bus connector is used to connect a controller to remote I/O, in a PROFIBUS network or in a RS485
network. The termination resistor is integrated in the bus connector. The terminating resistor can be turned
on or off.

General Accessories 609

1.8 AC911 BUS CONNECTOR, CAN

1.8.1 Order Data

Model Number Short Description

7AC911.9 Bus Connector, CAN

1.8.2 Technical Data

Description AC911

Lines Connections for two bus lines

Termination resistance 120 Ω - can be switched on

Stress relief Built-in

1.8.3 General Information

The bus connector enables you to:

• Exchange a CAN node without shutting down the network since the connection itself is not broken.
• Change the termination resistance quickly and easily (e.g. if the last node in a network is removed).

610 Chapter 7
1.9 INT1 INTERFACE CONVERTER

1.9.1 Order Data

Accessories
Chapter 7
General
Model Number Short Description
ECINT1-1 RS232/RS485 Interface Converter, electrically isolated, for coupling RS232 interface modules to an RS485 twisted
pair network, without lightning protection

ECINT1-11 RS232/RS485 Interface Converter, electrically isolated, for coupling RS232 interface modules to an RS485 twisted
pair network, with lightning protection

1.9.2 General Information

The INT1 interface converter is used to convert RS232 interface signals to an RS485 signal level. It is used
if:

• Data transfer is required over distances that are not possible with an RS232 interface. The distance
between two stations can be max. 5000 m when using shielded RS485 cables.
• Electrical isolation of the interface is required.
• A PCC is to be connected to a network using an RS232 interface.

The INT1 interface converter is available with and without lightning protection.

1.9.3 Supply

The INT1 interface converter requires an external 24 VDC supply voltage. Current consumption can be max.
400 mA.

General Accessories 611

612 Chapter 7
 CHAPTER 8
STANDARDS AND CERTIFICATIONS

Standards and
Certifications
Chapter 8

Standards and Certifications 613

614 Chapter 8
1 STANDARDS AND LIMITS FOR B&R INDUSTRIAL PRODUCTS
The product standard IEC 61131-2 is generally valid for B&R industrial products. The following standards
provide a detailed definition of proper functionality in a typical electromagnetically charged environment:

Standard Description
IEC 61000-6-4 Electromagnetic compatibility (EMC) Part 2, Generic standards –
Section 4: Emission standard for industrial environments. (IEC 50081-2 is replaced by IEC 61000-
6-4)

IEC 61000-6-2 Electromagnetic compatibility (EMC) - Part 2, Generic standards -

Immunity for industrial environments- (IEC 50082-2 is replaced by IEC 61000-6-2)

IEC CISPR 22 Information technology equipment. Radio disturbance characteristics. Limits and methods of
measurement

IEC CISPR 24 Information technology equipment. Immunity characteristics. Limits and methods of measurement

IEC 60204-1 Safety of machinery - Electrical equipment of machines - Part 1 : General requirements

Standards and
IEC 60950 Safety of information technology equipment

Certifications
Chapter 8
IEC 61000-3-2 Electromagnetic compatibility (EMC) - Part 3: Limits -
Section 2: Limits for harmonic current emissions (equipment input current <= 16 A per phase)

IEC 61000-3-3 Electromagnetic compatibility (EMC) - Part 3: Limits - Section 3: Limitation of voltage fluctuations
and flicker in low-voltage supply systems for equipment with rated current <= 16 A
IEC 61131-2 Programmable controllers - Part 2: Equipment requirements and tests

IEC 61800-3 Adjustable speed electrical power drive systems - Part 3: EMC product standard including specific
test methods

UL 508 Industrial Control Equipment, (UL = Underwriters Laboratories)

Limits

IEC 61000-4-2 Electrostatic Discharge

IEC 61131-2 B&R Limit Value

Contact discharge to powdered and bare metal parts 4 kV 8 kV

Discharge through the air to plastic parts 8 kV 15 kV

IEC 61000-4-3 Electromagnetic Fields

Housing, completely wired: 80 MHz - 1 GHz, 10 V/m, 80 % amplitude modulation
with 1 kHz

Standards and Certifications 615

 IEC 61000-4-4 Burst (asymmetric fast transient)
IEC 61131-2 B&R Limits
Power supply 2 kV, 1 min 4 kV, 5 min
All other lines 1 kV, 1 min 2 kV, 5 min

IEC 61000-4-5 Surge

Limits CM, Limits DM,
unsymmetrical symmetrical

AC power supply 2 kV (12 Ω) 1 kV (2 Ω)

DC power supply 1 kV (12 Ω) 0.5 kV (2 Ω)

Digital and analog I/O, AC, unshielded AC auxiliary 2 kV (42 Ω) 1 kV (42 Ω)

voltage outputs for sensors, etc.

Digital and analog I/O, DC, unshielded Data lines, 0.5 kV (42 Ω) 0.5 kV (42 Ω)
unshielded DC auxiliary voltage outputs for sensors, etc.

All shielded lines 1 kV (2 Ω) ---

IEC 61000-4-6 Conducted Disturbances (radio frequency)

Network connections Signals >10 150 kHz – 80 MHz, 10 V, (in broadcast range 3 V)
m Functional ground 80 % amplitude modulation with 1 kHz

IEC 60664-1 Pollution Degree

Pollution degree 2: non-conductive pollution

IEC 60068-2-6, Test Fc Vibration Test

Frequency Range [Hz] Continuous Periodic

10 ≤ f < 57 0.0375 mm amplitude 0.075 mm amplitude

57 ≤ f ≤ 150 0.5 g constant acceleration 1 g constant acceleration

f > 150 not defined not defined

IEC 60068-2-27, Test Ea Shock Test

Periodic peaks up to 15 g over 11 ms, half sine wave in all three perpendicular axes.

616 Chapter 8
2 INTERNATIONAL STANDARDS
B&R products and services comply with all applicable standards. They are international standards from
organizations such as ISO, IEC and CENELEC, as well as national standards from organizations such as UL,
CSA, FCC, VDE, ÖVE etc. We devote special attention to the certification of our products for industrial
environments. Therefore, e.g. the requirements of product standard IEC 61131-2 concerning electromagnetic
immunity are exceeded considerably.

Certifications

USA and Canada All important B&R products are tested and listed by Underwriters Laboratories
and are checked quarterly by a UL inspector.
This mark is valid for the USA and Canada and eases certification of your
machines and systems in these areas.

Europe All harmonized IEC standards for the valid guidelines are met.

Standards and
Certifications
Chapter 8
Russian Federation B&R has a GOST certification for all products for export to the Russian
Federation.

Standards and Certifications 617

618 Chapter 8
 APPENDIX A
CAN IDENTIFIER WITH
CAN BUS CONTROLLER
(FIXED ALLOCATIONS)

CAN Bus Controller

CAN Identifier with
Appendix A

CAN Identifier with CAN Bus Controller 619

620 Appendix A
1 DIGITAL INPUTS AND OUTPUTS NODES 1 - 16

Node Number Module Number Digital Inputs Digital Outputs

1 1 286 $011E 414 $019E
1 2 287 $011F 415 $019F
1 3 288 $0120 416 $01A0
1 4 289 $0121 417 $01A1
2 1 290 $0122 418 $01A2
2 2 291 $0123 419 $01A3
2 3 292 $0124 420 $01A4
2 4 293 $0125 421 $01A5
3 1 294 $0126 422 $01A6
3 2 295 $0127 423 $01A7
3 3 296 $0128 424 $01A8
3 4 297 $0129 425 $01A9
4 1 298 $012A 426 $01AA
4 2 299 $012B 427 $01AB
4 3 300 $012C 428 $01AC
4 4 301 $012D 429 $01AD
5 1 302 $012E 430 $01AE
5 2 303 $012F 431 $01AF
5 3 304 $0130 432 $01B0
5 4 305 $0131 433 $01B1
6 1 306 $0132 434 $01B2
6 2 307 $0133 435 $01B3
6 3 308 $0134 436 $01B4
6 4 309 $0135 437 $01B5
7 1 310 $0136 438 $01B6
7 2 311 $0137 439 $01B7
7 3 312 $0138 440 $01B8
7 4 313 $0139 441 $01B9
8 1 314 $013A 442 $01BA
8 2 315 $013B 443 $01BB
8 3 316 $013C 444 $01BC

CAN Bus Controller

CAN Identifier with
8 4 317 $013D 445 $01BD
9 1 318 $013E 446 $01BE

Appendix A
9 2 319 $013F 447 $01BF
9 3 320 $0140 448 $01C0
9 4 321 $0141 449 $01C1
10 1 322 $0142 450 $01C2
10 2 323 $0143 451 $01C3
10 3 324 $0144 452 $01C4
10 4 325 $0145 453 $01C5
11 1 326 $0146 454 $01C6
11 2 327 $0147 455 $01C7
11 3 328 $0148 456 $01C8
11 4 329 $0149 457 $01C9
12 1 330 $014A 458 $01CA
12 2 331 $014B 459 $01CB
12 3 332 $014C 460 $01CC
12 4 333 $014D 461 $01CD
13 1 334 $014E 462 $01CE
13 2 335 $014F 463 $01CF
13 3 336 $0150 464 $01D0
13 4 337 $0151 465 $01D1
14 1 338 $0152 466 $01D2
14 2 339 $0153 467 $01D3
14 3 340 $0154 468 $01D4
14 4 341 $0155 469 $01D5
15 1 342 $0156 470 $01D6
15 2 343 $0157 471 $01D7
15 3 344 $0158 472 $01D8
15 4 345 $0159 473 $01D9
16 1 346 $015A 474 $01DA
16 2 347 $015B 475 $01DB
16 3 348 $015C 476 $01DC
16 4 349 $015D 477 $01DD

CAN Identifier with CAN Bus Controller 621

DIGITAL INPUTS AND OUTPUTS NODES 17 - 32

Node Number Module Number Digital Inputs Digital Outputs

17 1 350 $015E 478 $01DE
17 2 351 $015F 479 $01DF
17 3 352 $0160 480 $01E0
17 4 353 $0161 481 $01E1
18 1 354 $0162 482 $01E2
18 2 355 $0163 483 $01E3
18 3 356 $0164 484 $01E4
18 4 357 $0165 485 $01E5
19 1 358 $0166 486 $01E6
19 2 359 $0167 487 $01E7
19 3 360 $0168 488 $01E8
19 4 361 $0169 489 $01E9
20 1 362 $016A 490 $01EA
20 2 363 $016B 491 $01EB
20 3 364 $016C 492 $01EC
20 4 365 $016D 493 $01ED
21 1 366 $016E 494 $01EE
21 2 367 $016F 495 $01EF
21 3 368 $0170 496 $01F0
21 4 369 $0171 497 $01F1
22 1 370 $0172 498 $01F2
22 2 371 $0173 499 $01F3
22 3 372 $0174 500 $01F4
22 4 373 $0175 501 $01F5
23 1 374 $0176 502 $01F6
23 2 375 $0177 503 $01F7
23 3 376 $0178 504 $01F8
23 4 377 $0179 505 $01F9
24 1 378 $017A 506 $01FA
24 2 379 $017B 507 $01FB
24 3 380 $017C 508 $01FC
24 4 381 $017D 509 $01FD
25 1 382 $017E 510 $01FE
25 2 383 $017F 511 $01FF
25 3 384 $0180 512 $0200
25 4 385 $0181 513 $0201
26 1 386 $0182 514 $0202
26 2 387 $0183 515 $0203
26 3 388 $0184 516 $0204
26 4 389 $0185 517 $0205
27 1 390 $0186 518 $0206
27 2 391 $0187 519 $0207
27 3 392 $0188 520 $0208
27 4 393 $0189 521 $0209
28 1 394 $018A 522 $020A
28 2 395 $018B 523 $020B
28 3 396 $018C 524 $020C
28 4 397 $018D 525 $020D
29 1 398 $018E 526 $020E
29 2 399 $018F 527 $020F
29 3 400 $0190 528 $0210
29 4 401 $0191 529 $0211
30 1 402 $0192 530 $0212
30 2 403 $0193 531 $0213
30 3 404 $0194 532 $0214
30 4 405 $0195 533 $0215
31 1 406 $0196 534 $0216
31 2 407 $0197 535 $0217
31 3 408 $0198 536 $0218
31 4 409 $0199 537 $0219
32 1 410 $019A 538 $021A
32 2 411 $019B 539 $021B
32 3 412 $019C 540 $021C
32 4 413 $019D 541 $021D

622 Appendix A
2 ANALOG INPUTS AND OUTPUTS NODES 1 - 4

Node Number Module Number Slot Number Analog Inputs Analog Outputs
001 001 1 542 $021E 1054 $041E
001 001 2 543 $021F 1055 $041F
001 001 3 544 $0220 1056 $0420
001 001 4 545 $0221 1057 $0421
001 002 1 546 $0222 1058 $0422
001 002 2 547 $0223 1059 $0423
001 002 3 548 $0224 1060 $0424
001 002 4 549 $0225 1061 $0425
001 003 1 550 $0226 1062 $0426
001 003 2 551 $0227 1063 $0427
001 003 3 552 $0228 1064 $0428
001 003 4 553 $0229 1065 $0429
001 004 1 554 $022A 1066 $042A
001 004 2 555 $022B 1067 $042B
001 004 3 556 $022C 1068 $042C
001 004 4 557 $022D 1069 $042D
002 001 1 558 $022E 1070 $042E
002 001 2 559 $022F 1071 $042F
002 001 3 560 $0230 1072 $0430
002 001 4 561 $0231 1073 $0431
002 002 1 562 $0232 1074 $0432
002 002 2 563 $0233 1075 $0433
002 002 3 564 $0234 1076 $0434
002 002 4 565 $0235 1077 $0435
002 003 1 566 $0236 1078 $0436
002 003 2 567 $0237 1079 $0437
002 003 3 568 $0238 1080 $0438
002 003 4 569 $0239 1081 $0439
002 004 1 570 $023A 1082 $043A
002 004 2 571 $023B 1083 $043B
002 004 3 572 $023C 1084 $043C

CAN Bus Controller

CAN Identifier with
002 004 4 573 $023D 1085 $043D
003 001 1 574 $023E 1086 $043E

Appendix A
003 001 2 575 $023F 1087 $043F
003 001 3 576 $0240 1088 $0440
003 001 4 577 $0241 1089 $0441
003 002 1 578 $0242 1090 $0442
003 002 2 579 $0243 1091 $0443
003 002 3 580 $0244 1092 $0444
003 002 4 581 $0245 1093 $0445
003 003 1 582 $0246 1094 $0446
003 003 2 583 $0247 1095 $0447
003 003 3 584 $0248 1096 $0448
003 003 4 585 $0249 1097 $0449
003 004 1 586 $024A 1098 $044A
003 004 2 587 $024B 1099 $044B
003 004 3 588 $024C 1100 $044C
003 004 4 589 $024D 1101 $044D
004 001 1 590 $024E 1102 $044E
004 001 2 591 $024F 1103 $044F
004 001 3 592 $0250 1104 $0450
004 001 4 593 $0251 1105 $0451
004 002 1 594 $0252 1106 $0452
004 002 2 595 $0253 1107 $0453
004 002 3 596 $0254 1108 $0454
004 002 4 597 $0255 1109 $0455
004 003 1 598 $0256 1110 $0456
004 003 2 599 $0257 1111 $0457
004 003 3 600 $0258 1112 $0458
004 003 4 601 $0259 1113 $0459
004 004 1 602 $025A 1114 $045A
004 004 2 603 $025B 1115 $045B
004 004 3 604 $025C 1116 $045C
004 004 4 605 $025D 1117 $045D

CAN Identifier with CAN Bus Controller 623

ANALOG INPUTS AND OUTPUTS NODES 5 - 8

Node Number Module Number Slot Number Analog Inputs Analog Outputs
005 001 1 606 $025E 1118 $045E
005 001 2 607 $025F 1119 $045F
005 001 3 608 $0260 1120 $0460
005 001 4 609 $0261 1121 $0461
005 002 1 610 $0262 1122 $0462
005 002 2 611 $0263 1123 $0463
005 002 3 612 $0264 1124 $0464
005 002 4 613 $0265 1125 $0465
005 003 1 614 $0266 1126 $0466
005 003 2 615 $0267 1127 $0467
005 003 3 616 $0268 1128 $0468
005 003 4 617 $0269 1129 $0469
005 004 1 618 $026A 1130 $046A
005 004 2 619 $026B 1131 $046B
005 004 3 620 $026C 1132 $046C
005 004 4 621 $026D 1133 $046D
006 001 1 622 $026E 1134 $046E
006 001 2 623 $026F 1135 $046F
006 001 3 624 $0270 1136 $0470
006 001 4 625 $0271 1137 $0471
006 002 1 626 $0272 1138 $0472
006 002 2 627 $0273 1139 $0473
006 002 3 628 $0274 1140 $0474
006 002 4 629 $0275 1141 $0475
006 003 1 630 $0276 1142 $0476
006 003 2 631 $0277 1143 $0477
006 003 3 632 $0278 1144 $0478
006 003 4 633 $0279 1145 $0479
006 004 1 634 $027A 1146 $047A
006 004 2 635 $027B 1147 $047B
006 004 3 636 $027C 1148 $047C
006 004 4 637 $027D 1149 $047D
007 001 1 638 $027E 1150 $047E
007 001 2 639 $027F 1151 $047F
007 001 3 640 $0280 1152 $0480
007 001 4 641 $0281 1153 $0481
007 002 1 642 $0282 1154 $0482
007 002 2 643 $0283 1155 $0483
007 002 3 644 $0284 1156 $0484
007 002 4 645 $0285 1157 $0485
007 003 1 646 $0286 1158 $0486
007 003 2 647 $0287 1159 $0487
007 003 3 648 $0288 1160 $0488
007 003 4 649 $0289 1161 $0489
007 004 1 650 $028A 1162 $048A
007 004 2 651 $028B 1163 $048B
007 004 3 652 $028C 1164 $048C
007 004 4 653 $028D 1165 $048D
008 001 1 654 $028E 1166 $048E
008 001 2 655 $028F 1167 $048F
008 001 3 656 $0290 1168 $0490
008 001 4 657 $0291 1169 $0491
008 002 1 658 $0292 1170 $0492
008 002 2 659 $0293 1171 $0493
008 002 3 660 $0294 1172 $0494
008 002 4 661 $0295 1173 $0495
008 003 1 662 $0296 1174 $0496
008 003 2 663 $0297 1175 $0497
008 003 3 664 $0298 1176 $0498
008 003 4 665 $0299 1177 $0499
008 004 1 666 $029A 1178 $049A
008 004 2 667 $029B 1179 $049B
008 004 3 668 $029C 1180 $049C
008 004 4 669 $029D 1181 $049D

624 Appendix A
ANALOG INPUTS AND OUTPUTS NODES 9 - 12

Node Number Module Number Slot Number Analog Inputs Analog Outputs
009 001 1 670 $029E 1182 $049E
009 001 2 671 $029F 1183 $049F
009 001 3 672 $02A0 1184 $04A0
009 001 4 673 $02A1 1185 $04A1
009 002 1 674 $02A2 1186 $04A2
009 002 2 675 $02A3 1187 $04A3
009 002 3 676 $02A4 1188 $04A4
009 002 4 677 $02A5 1189 $04A5
009 003 1 678 $02A6 1190 $04A6
009 003 2 679 $02A7 1191 $04A7
009 003 3 680 $02A8 1192 $04A8
009 003 4 681 $02A9 1193 $04A9
009 004 1 682 $02AA 1194 $04AA
009 004 2 683 $02AB 1195 $04AB
009 004 3 684 $02AC 1196 $04AC
009 004 4 685 $02AD 1197 $04AD
010 001 1 686 $02AE 1198 $04AE
010 001 2 687 $02AF 1199 $04AF
010 001 3 688 $02B0 1200 $04B0
010 001 4 689 $02B1 1201 $04B1
010 002 1 690 $02B2 1202 $04B2
010 002 2 691 $02B3 1203 $04B3
010 002 3 692 $02B4 1204 $04B4
010 002 4 693 $02B5 1205 $04B5
010 003 1 694 $02B6 1206 $04B6
010 003 2 695 $02B7 1207 $04B7
010 003 3 696 $02B8 1208 $04B8
010 003 4 697 $02B9 1209 $04B9
010 004 1 698 $02BA 1210 $04BA
010 004 2 699 $02BB 1211 $04BB
010 004 3 700 $02BC 1212 $04BC

CAN Bus Controller

CAN Identifier with
010 004 4 701 $02BD 1213 $04BD
011 001 1 702 $02BE 1214 $04BE

Appendix A
011 001 2 703 $02BF 1215 $04BF
011 001 3 704 $02C0 1216 $04C0
011 001 4 705 $02C1 1217 $04C1
011 002 1 706 $02C2 1218 $04C2
011 002 2 707 $02C3 1219 $04C3
011 002 3 708 $02C4 1220 $04C4
011 002 4 709 $02C5 1221 $04C5
011 003 1 710 $02C6 1222 $04C6
011 003 2 711 $02C7 1223 $04C7
011 003 3 712 $02C8 1224 $04C8
011 003 4 713 $02C9 1225 $04C9
011 004 1 714 $02CA 1226 $04CA
011 004 2 715 $02CB 1227 $04CB
011 004 3 716 $02CC 1228 $04CC
011 004 4 717 $02CD 1229 $04CD
012 001 1 718 $02CE 1230 $04CE
012 001 2 719 $02CF 1231 $04CF
012 001 3 720 $02D0 1232 $04D0
012 001 4 721 $02D1 1233 $04D1
012 002 1 722 $02D2 1234 $04D2
012 002 2 723 $02D3 1235 $04D3
012 002 3 724 $02D4 1236 $04D4
012 002 4 725 $02D5 1237 $04D5
012 003 1 726 $02D6 1238 $04D6
012 003 2 727 $02D7 1239 $04D7
012 003 3 728 $02D8 1240 $04D8
012 003 4 729 $02D9 1241 $04D9
012 004 1 730 $02DA 1242 $04DA
012 004 2 731 $02DB 1243 $04DB
012 004 3 732 $02DC 1244 $04DC
012 004 4 733 $02DD 1245 $04DD

CAN Identifier with CAN Bus Controller 625

ANALOG INPUTS AND OUTPUTS NODES 13 - 16

Node Number Module Number Slot Number Analog Inputs Analog Outputs
013 001 1 734 $02DE 1246 $04DE
013 001 2 735 $02DF 1247 $04DF
013 001 3 736 $02E0 1248 $04E0
013 001 4 737 $02E1 1249 $04E1
013 002 1 738 $02E2 1250 $04E2
013 002 2 739 $02E3 1251 $04E3
013 002 3 740 $02E4 1252 $04E4
013 002 4 741 $02E5 1253 $04E5
013 003 1 742 $02E6 1254 $04E6
013 003 2 743 $02E7 1255 $04E7
013 003 3 744 $02E8 1256 $04E8
013 003 4 745 $02E9 1257 $04E9
013 004 1 746 $02EA 1258 $04EA
013 004 2 747 $02EB 1259 $04EB
013 004 3 748 $02EC 1260 $04EC
013 004 4 749 $02ED 1261 $04ED
014 001 1 750 $02EE 1262 $04EE
014 001 2 751 $02EF 1263 $04EF
014 001 3 752 $02F0 1264 $04F0
014 001 4 753 $02F1 1265 $04F1
014 002 1 754 $02F2 1266 $04F2
014 002 2 755 $02F3 1267 $04F3
014 002 3 756 $02F4 1268 $04F4
014 002 4 757 $02F5 1269 $04F5
014 003 1 758 $02F6 1270 $04F6
014 003 2 759 $02F7 1271 $04F7
014 003 3 760 $02F8 1272 $04F8
014 003 4 761 $02F9 1273 $04F9
014 004 1 762 $02FA 1274 $04FA
014 004 2 763 $02FB 1275 $04FB
014 004 3 764 $02FC 1276 $04FC
014 004 4 765 $02FD 1277 $04FD
015 001 1 766 $02FE 1278 $04FE
015 001 2 767 $02FF 1279 $04FF
015 001 3 768 $0300 1280 $0500
015 001 4 769 $0301 1281 $0501
015 002 1 770 $0302 1282 $0502
015 002 2 771 $0303 1283 $0503
015 002 3 772 $0304 1284 $0504
015 002 4 773 $0305 1285 $0505
015 003 1 774 $0306 1286 $0506
015 003 2 775 $0307 1287 $0507
015 003 3 776 $0308 1288 $0508
015 003 4 777 $0309 1289 $0509
015 004 1 778 $030A 1290 $050A
015 004 2 779 $030B 1291 $050B
015 004 3 780 $030C 1292 $050C
015 004 4 781 $030D 1293 $050D
016 001 1 782 $030E 1294 $050E
016 001 2 783 $030F 1295 $050F
016 001 3 784 $0310 1296 $0510
016 001 4 785 $0311 1297 $0511
016 002 1 786 $0312 1298 $0512
016 002 2 787 $0313 1299 $0513
016 002 3 788 $0314 1300 $0514
016 002 4 789 $0315 1301 $0515
016 003 1 790 $0316 1302 $0516
016 003 2 791 $0317 1303 $0517
016 003 3 792 $0318 1304 $0518
016 003 4 793 $0319 1305 $0519
016 004 1 794 $031A 1306 $051A
016 004 2 795 $031B 1307 $051B
016 004 3 796 $031C 1308 $051C
016 004 4 797 $031D 1309 $051D

626 Appendix A
ANALOG INPUTS AND OUTPUTS NODES 17 - 20

Node Number Module Number Slot Number Analog Inputs Analog Outputs
017 001 1 798 $031E 1310 $051E
017 001 2 799 $031F 1311 $051F
017 001 3 800 $0320 1312 $0520
017 001 4 801 $0321 1313 $0521
017 002 1 802 $0322 1314 $0522
017 002 2 803 $0323 1315 $0523
017 002 3 804 $0324 1316 $0524
017 002 4 805 $0325 1317 $0525
017 003 1 806 $0326 1318 $0526
017 003 2 807 $0327 1319 $0527
017 003 3 808 $0328 1320 $0528
017 003 4 809 $0329 1321 $0529
017 004 1 810 $032A 1322 $052A
017 004 2 811 $032B 1323 $052B
017 004 3 812 $032C 1324 $052C
017 004 4 813 $032D 1325 $052D
018 001 1 814 $032E 1326 $052E
018 001 2 815 $032F 1327 $052F
018 001 3 816 $0330 1328 $0530
018 001 4 817 $0331 1329 $0531
018 002 1 818 $0332 1330 $0532
018 002 2 819 $0333 1331 $0533
018 002 3 820 $0334 1332 $0534
018 002 4 821 $0335 1333 $0535
018 003 1 822 $0336 1334 $0536
018 003 2 823 $0337 1335 $0537
018 003 3 824 $0338 1336 $0538
018 003 4 825 $0339 1337 $0539
018 004 1 826 $033A 1338 $053A
018 004 2 827 $033B 1339 $053B
018 004 3 828 $033C 1340 $053C

CAN Bus Controller

CAN Identifier with
018 004 4 829 $033D 1341 $053D
019 001 1 830 $033E 1342 $053E

Appendix A
019 001 2 831 $033F 1343 $053F
019 001 3 832 $0340 1344 $0540
019 001 4 833 $0341 1345 $0541
019 002 1 834 $0342 1346 $0542
019 002 2 835 $0343 1347 $0543
019 002 3 836 $0344 1348 $0544
019 002 4 837 $0345 1349 $0545
019 003 1 838 $0346 1350 $0546
019 003 2 839 $0347 1351 $0547
019 003 3 840 $0348 1352 $0548
019 003 4 841 $0349 1353 $0549
019 004 1 842 $034A 1354 $054A
019 004 2 843 $034B 1355 $054B
019 004 3 844 $034C 1356 $054C
019 004 4 845 $034D 1357 $054D
020 001 1 846 $034E 1358 $054E
020 001 2 847 $034F 1359 $054F
020 001 3 848 $0350 1360 $0550
020 001 4 849 $0351 1361 $0551
020 002 1 850 $0352 1362 $0552
020 002 2 851 $0353 1363 $0553
020 002 3 852 $0354 1364 $0554
020 002 4 853 $0355 1365 $0555
020 003 1 854 $0356 1366 $0556
020 003 2 855 $0357 1367 $0557
020 003 3 856 $0358 1368 $0558
020 003 4 857 $0359 1369 $0559
020 004 1 858 $035A 1370 $055A
020 004 2 859 $035B 1371 $055B
020 004 3 860 $035C 1372 $055C
020 004 4 861 $035D 1373 $055D

CAN Identifier with CAN Bus Controller 627

ANALOG INPUTS AND OUTPUTS NODES 21 - 24

Node Number Module Number Slot Number Analog Inputs Analog Outputs
021 001 1 862 $035E 1374 $055E
021 001 2 863 $035F 1375 $055F
021 001 3 864 $0360 1376 $0560
021 001 4 865 $0361 1377 $0561
021 002 1 866 $0362 1378 $0562
021 002 2 867 $0363 1379 $0563
021 002 3 868 $0364 1380 $0564
021 002 4 869 $0365 1381 $0565
021 003 1 870 $0366 1382 $0566
021 003 2 871 $0367 1383 $0567
021 003 3 872 $0368 1384 $0568
021 003 4 873 $0369 1385 $0569
021 004 1 874 $036A 1386 $056A
021 004 2 875 $036B 1387 $056B
021 004 3 876 $036C 1388 $056C
021 004 4 877 $036D 1389 $056D
022 001 1 878 $036E 1390 $056E
022 001 2 879 $036F 1391 $056F
022 001 3 880 $0370 1392 $0570
022 001 4 881 $0371 1393 $0571
022 002 1 882 $0372 1394 $0572
022 002 2 883 $0373 1395 $0573
022 002 3 884 $0374 1396 $0574
022 002 4 885 $0375 1397 $0575
022 003 1 886 $0376 1398 $0576
022 003 2 887 $0377 1399 $0577
022 003 3 888 $0378 1400 $0578
022 003 4 889 $0379 1401 $0579
022 004 1 890 $037A 1402 $057A
022 004 2 891 $037B 1403 $057B
022 004 3 892 $037C 1404 $057C
022 004 4 893 $037D 1405 $057D
023 001 1 894 $037E 1406 $057E
023 001 2 895 $037F 1407 $057F
023 001 3 896 $0380 1408 $0580
023 001 4 897 $0381 1409 $0581
023 002 1 898 $0382 1410 $0582
023 002 2 899 $0383 1411 $0583
023 002 3 900 $0384 1412 $0584
023 002 4 901 $0385 1413 $0585
023 003 1 902 $0386 1414 $0586
023 003 2 903 $0387 1415 $0587
023 003 3 904 $0388 1416 $0588
023 003 4 905 $0389 1417 $0589
023 004 1 906 $038A 1418 $058A
023 004 2 907 $038B 1419 $058B
023 004 3 908 $038C 1420 $058C
023 004 4 909 $038D 1421 $058D
024 001 1 910 $038E 1422 $058E
024 001 2 911 $038F 1423 $058F
024 001 3 912 $0390 1424 $0590
024 001 4 913 $0391 1425 $0591
024 002 1 914 $0392 1426 $0592
024 002 2 915 $0393 1427 $0593
024 002 3 916 $0394 1428 $0594
024 002 4 917 $0395 1429 $0595
024 003 1 918 $0396 1430 $0596
024 003 2 919 $0397 1431 $0597
024 003 3 920 $0398 1432 $0598
024 003 4 921 $0399 1433 $0599
024 004 1 922 $039A 1434 $059A
024 004 2 923 $039B 1435 $059B
024 004 3 924 $039C 1436 $059C
024 004 4 925 $039D 1437 $059D

628 Appendix A
ANALOG INPUTS AND OUTPUTS NODES 25 - 28

Node Number Module Number Slot Number Analog Inputs Analog Outputs
025 001 1 926 $039E 1438 $059E
025 001 2 927 $039F 1439 $059F
025 001 3 928 $03A0 1440 $05A0
025 001 4 929 $03A1 1441 $05A1
025 002 1 930 $03A2 1442 $05A2
025 002 2 931 $03A3 1443 $05A3
025 002 3 932 $03A4 1444 $05A4
025 002 4 933 $03A5 1445 $05A5
025 003 1 934 $03A6 1446 $05A6
025 003 2 935 $03A7 1447 $05A7
025 003 3 936 $03A8 1448 $05A8
025 003 4 937 $03A9 1449 $05A9
025 004 1 938 $03AA 1450 $05AA
025 004 2 939 $03AB 1451 $05AB
025 004 3 940 $03AC 1452 $05AC
025 004 4 941 $03AD 1453 $05AD
026 001 1 942 $03AE 1454 $05AE
026 001 2 943 $03AF 1455 $05AF
026 001 3 944 $03B0 1456 $05B0
026 001 4 945 $03B1 1457 $05B1
026 002 1 946 $03B2 1458 $05B2
026 002 2 947 $03B3 1459 $05B3
026 002 3 948 $03B4 1460 $05B4
026 002 4 949 $03B5 1461 $05B5
026 003 1 950 $03B6 1462 $05B6
026 003 2 951 $03B7 1463 $05B7
026 003 3 952 $03B8 1464 $05B8
026 003 4 953 $03B9 1465 $05B9
026 004 1 954 $03BA 1466 $05BA
026 004 2 955 $03BB 1467 $05BB
026 004 3 956 $03BC 1468 $05BC

CAN Bus Controller

CAN Identifier with
026 004 4 957 $03BD 1469 $05BD
027 001 1 958 $03BE 1470 $05BE

Appendix A
027 001 2 959 $03BF 1471 $05BF
027 001 3 960 $03C0 1472 $05C0
027 001 4 961 $03C1 1473 $05C1
027 002 1 962 $03C2 1474 $05C2
027 002 2 963 $03C3 1475 $05C3
027 002 3 964 $03C4 1476 $05C4
027 002 4 965 $03C5 1477 $05C5
027 003 1 966 $03C6 1478 $05C6
027 003 2 967 $03C7 1479 $05C7
027 003 3 968 $03C8 1480 $05C8
027 003 4 969 $03C9 1481 $05C9
027 004 1 970 $03CA 1482 $05CA
027 004 2 971 $03CB 1483 $05CB
027 004 3 972 $03CC 1484 $05CC
027 004 4 973 $03CD 1485 $05CD
028 001 1 974 $03CE 1486 $05CE
028 001 2 975 $03CF 1487 $05CF
028 001 3 976 $03D0 1488 $05D0
028 001 4 977 $03D1 1489 $05D1
028 002 1 978 $03D2 1490 $05D2
028 002 2 979 $03D3 1491 $05D3
028 002 3 980 $03D4 1492 $05D4
028 002 4 981 $03D5 1493 $05D5
028 003 1 982 $03D6 1494 $05D6
028 003 2 983 $03D7 1495 $05D7
028 003 3 984 $03D8 1496 $05D8
028 003 4 985 $03D9 1497 $05D9
028 004 1 986 $03DA 1498 $05DA
028 004 2 987 $03DB 1499 $05DB
028 004 3 988 $03DC 1500 $05DC
028 004 4 989 $03DD 1501 $05DD

CAN Identifier with CAN Bus Controller 629

ANALOG INPUTS AND OUTPUTS NODES 29 - 32

Node Number Module Number Slot Number Analog Inputs Analog Outputs
029 001 1 990 $03DE 1502 $05DE
029 001 2 991 $03DF 1503 $05DF
029 001 3 992 $03E0 1504 $05E0
029 001 4 993 $03E1 1505 $05E1
029 002 1 994 $03E2 1506 $05E2
029 002 2 995 $03E3 1507 $05E3
029 002 3 996 $03E4 1508 $05E4
029 002 4 997 $03E5 1509 $05E5
029 003 1 998 $03E6 1510 $05E6
029 003 2 999 $03E7 1511 $05E7
029 003 3 1000 $03E8 1512 $05E8
029 003 4 1001 $03E9 1513 $05E9
029 004 1 1002 $03EA 1514 $05EA
029 004 2 1003 $03EB 1515 $05EB
029 004 3 1004 $03EC 1516 $05EC
029 004 4 1005 $03ED 1517 $05ED
030 001 1 1006 $03EE 1518 $05EE
030 001 2 1007 $03EF 1519 $05EF
030 001 3 1008 $03F0 1520 $05F0
030 001 4 1009 $03F1 1521 $05F1
030 002 1 1010 $03F2 1522 $05F2
030 002 2 1011 $03F3 1523 $05F3
030 002 3 1012 $03F4 1524 $05F4
030 002 4 1013 $03F5 1525 $05F5
030 003 1 1014 $03F6 1526 $05F6
030 003 2 1015 $03F7 1527 $05F7
030 003 3 1016 $03F8 1528 $05F8
030 003 4 1017 $03F9 1529 $05F9
030 004 1 1018 $03FA 1530 $05FA
030 004 2 1019 $03FB 1531 $05FB
030 004 3 1020 $03FC 1532 $05FC
030 004 4 1021 $03FD 1533 $05FD
031 001 1 1022 $03FE 1534 $05FE
031 001 2 1023 $03FF 1535 $05FF
031 001 3 1024 $0400 1536 $0600
031 001 4 1025 $0401 1537 $0601
031 002 1 1026 $0402 1538 $0602
031 002 2 1027 $0403 1539 $0603
031 002 3 1028 $0404 1540 $0604
031 002 4 1029 $0405 1541 $0605
031 003 1 1030 $0406 1542 $0606
031 003 2 1031 $0407 1543 $0607
031 003 3 1032 $0408 1544 $0608
031 003 4 1033 $0409 1545 $0609
031 004 1 1034 $040A 1546 $060A
031 004 2 1035 $040B 1547 $060B
031 004 3 1036 $040C 1548 $060C
031 004 4 1037 $040D 1549 $060D
032 001 1 1038 $040E 1550 $060E
032 001 2 1039 $040F 1551 $060F
032 001 3 1040 $0410 1552 $0610
032 001 4 1041 $0411 1553 $0611
032 002 1 1042 $0412 1554 $0612
032 002 2 1043 $0413 1555 $0613
032 002 3 1044 $0414 1556 $0614
032 002 4 1045 $0415 1557 $0615
032 003 1 1046 $0416 1558 $0616
032 003 2 1047 $0417 1559 $0617
032 003 3 1048 $0418 1560 $0618
032 003 4 1049 $0419 1561 $0619
032 004 1 1050 $041A 1562 $061A
032 004 2 1051 $041B 1563 $061B
032 004 3 1052 $041C 1564 $061C
032 004 4 1053 $041D 1565 $061D

630 Appendix A
3 ALARM MESSAGES, COMMAND REQUESTS AND RESPONSES

Node Number Alarm Messages Command Requests Command Responses

1 222 00DE 1566 061E 1630 065E
2 223 00DF 1567 061F 1631 065F
3 224 00E0 1568 0620 1632 0660
4 225 00E1 1569 0621 1633 0661
5 226 00E2 1570 0622 1634 0662
6 227 00E3 1571 0623 1635 0663
7 228 00E4 1572 0624 1636 0664
8 229 00E5 1573 0625 1637 0665
9 230 00E6 1574 0626 1638 0666
10 231 00E7 1575 0627 1639 0667
11 232 00E8 1576 0628 1640 0668
12 233 00E9 1577 0629 1641 0669
13 234 00EA 1578 062A 1642 066A
14 235 00EB 1579 062B 1643 066B
15 236 00EC 1580 062C 1644 066C
16 237 00ED 1581 062D 1645 066D
17 238 00EE 1582 062E 1646 066E
18 239 00EF 1583 062F 1647 066F
19 240 00F0 1584 0630 1648 0670
20 241 00F1 1585 0631 1649 0671
21 242 00F2 1586 0632 1650 0672
22 243 00F3 1587 0633 1651 0673
23 244 00F4 1588 0634 1652 0674
24 245 00F5 1589 0635 1653 0675
25 246 00F6 1590 0636 1654 0676
26 247 00F7 1591 0637 1655 0677
27 248 00F8 1592 0638 1656 0678
28 249 00F9 1593 0639 1657 0679
29 250 00FA 1594 063A 1658 067A
30 251 00FB 1595 063B 1659 067B
31 252 00FC 1596 063C 1660 067C

CAN Bus Controller

CAN Identifier with
32 253 00FD 1597 063D 1661 067D
33 1598 063E 1662 067E

Appendix A
34 1599 063F 1663 067F
35 1600 0640 1664 0680
36 1601 0641 1665 0681
37 1602 0642 1666 0682
38 1603 0643 1667 0683
39 1604 0644 1668 0684
40 1605 0645 1669 0685
41 1606 0646 1670 0686
42 1607 0647 1671 0687
43 1608 0648 1672 0688
44 1609 0649 1673 0689
45 1610 064A 1674 068A
46 1611 064B 1675 068B
47 1612 064C 1676 068C
48 1613 064D 1677 068D
49 1614 064E 1678 068E
50 1615 064F 1679 068F
51 1616 0650 1680 0690
52 1617 0651 1681 0691
53 1618 0652 1682 0692
54 1619 0653 1683 0693
55 1620 0654 1684 0694
56 1621 0655 1685 0695
57 1622 0656 1686 0696
58 1623 0657 1687 0697
59 1624 0658 1688 0698
60 1625 0659 1689 0699
61 1626 065A 1690 069A
62 1627 065B 1691 069B
63 1628 065C 1692 069C

CAN Identifier with CAN Bus Controller 631

632 Appendix A
 APPENDIX B
ERROR MESSAGES
CAN BUS CONTROLLER

CAN Bus Controller

Error Messages
Appendix B

Error Messages CAN Bus Controller 633

634 Appendix B
1 ERROR MESSAGES
The CAN bus controller can give out error messages in various ways:

• Alarm Message - Every bus controller can send alarm messages. It uses its assigned ID for this
purpose (see appendix: "CAN Identifier" for fixed allocations).
An alarm message always occurs without being requested.

• Command Response - As a rule, these error messages are responses to a command request from
a client. A bus controller characterizes a command response as an error message by setting bit 7
of the code to 1.
However, a bus controller can also automatically send error messages which are not requested using
a command response. In this case, the value $FF is entered as the code.

• An error message can also be requested by a client directly from the bus controller using a command
request (see Chapter 5: "CAN Bus Controller Functions" in Section "Commands").

You should carefully plan the evaluation of error messages and take the following into consideration in the
network right from the start:

• For alarm messages, it makes sense if one station evaluates the errors centrally. If an NMT master
is available, it takes over this task.

• When command responses are used to send error messages, error handling should be handled
by the client which sent the command request.

• Broadcasting error messages using command responses (code => $FF) can also be handled
centrally by one station (NMT master).

Error messages consist of 4 bytes - the error code and a supplementary code, which can also contain
information about the cause of the error (node number, module number).

CAN Bus Controller

Error Messages
Appendix B

Error Messages CAN Bus Controller 635

The following table contains the possible error messages for a CAN bus controller:

Error Code Supplementary Description

(hex.) Code (hex.)
2020 4300 Total power for the module exceeds the power supply on the
EX270/EX470/EX770

2032 13m0 Output level incorrect – short circuit (DOUT)

3010 40m0 Voltage monitoring has found an error

5000 c30ms Invalid channel or value

5000 c31ms Measurement range exceeded (pos. direction)

5000 c32ms Measurement range exceeded (neg. direction)

5000 c33ms Open connection or sensor open

5000 c34ms Converter error

5000 c35ms Screw-in module removed

5000 c36ms Screw-in module inactive

5000 c37ms Screw-in module communication error

5000 c38ms Screw-in module type changed

5000 41m0 Error flag for digital input module set

5000 42mc Error flag for digital output module set

F000 5000 Programming configuration memory ended without error (CMDRD)

F000 5100 Faulty or incorrect parameter in command request (CMDWR)

F000 5200 No configuration memory available

F000 5300 Error when writing to configuration memory

F000 5400 Configuration memory is being written to

FFFF 11m0 Idle time has passed (DOUT)

FFFF 12m0 Output set, even though no output is defined

FFFF 21ms Idle time has passed (AOUT)

Abbr. Description
c Channel number for multi-channel modules
0.......... module without extended status
1 - 8..... module with extended status
channel number where error occurred

m Adapter module number

s Screw-in module number

636 Appendix B
1.1 SUPPLEMENTARY CODE c30ms - c38ms

The 16 bit value is has the following structure:

Bit Description

14 - 15 0 - 3.... Channel number -1

12 - 13 3

8 - 11 0 - 8.... Error number

4-7 1 - 4.... Adapter module number

0-3 1 - 4.... Screw-in module number

1 1

15 8 7 0

1.2 SENDING ERROR MESSAGES

Error messages are sent in different ways. Take this into consideration during evaluation.

• Sent as Alarm Message - error and supplementary codes are sent as follows:

Byte 0 Byte 1 Byte 2 Byte 3

Error Code Error Code Supl. Code Supl. Code
Low Byte High Byte Low Byte High Byte

• Sent as Command Response - error and supplementary codes are sent as follows:

Byte 4 Byte 5 Byte 6 Byte 7

Supl. Code Supl. Code Error Code Error Code
High Byte Low Byte High Byte Low Byte

Bit 7 in Byte 0 is set in the command response.

CAN Bus Controller

Error Messages
Appendix B

Error Messages CAN Bus Controller 637

638 Appendix B
 INDEX

Index

Index 639
640 Index
 INDEX
A AI774 ............................................................ 299
CAN Identifier .............................................. 623
Abbreviations ................................................... 507 Dimensions .................................................... 41
Absolute Encoder Operation General Information ..................................... 259
NC161 ........................................ 424, 435, 448 Overview ...................................................... 259
AC010 .............................................................. 451 Analog Output Modules
AC011 .............................................................. 452 Addressing .................................................. 465
AC020 .............................................................. 451 AO352 .......................................................... 306
AC401 Encoder 5 V - 24 V ............................. 604 CAN Identifier .............................................. 623
AC410 Interface Converter ............................. 605 Dimensions .................................................... 41
AC911 Bus Plug, CAN .................................... 610 General Information ..................................... 305
AC912 Bus Adapter, CAN 1x .......................... 606 Overview ...................................................... 305
AC913 Bus Adapter, CAN 2x .......................... 607 AO352 ............................................................. 306
AC916 Bus Termination, RS485 Active ........... 608 AT324 .............................................................. 313
Accessories AT352 .............................................................. 320
AC010 .......................................................... 451 AT664 .............................................................. 326
AC011 .......................................................... 452
AC020 .......................................................... 451
B&R SYSTEM 2003 ..................................... 450 B
General Accessories ................................... 603 B&R Devices .................................................... 510
TB710 ........................................................... 454 B&R SYSTEM 2000
TB712 ........................................................... 455 B&R SYSTEM 2003 ....................................... 30
TB718 ........................................................... 456 General Information ....................................... 27
TB722 ........................................................... 457 BasicCAN ........................................................ 508
TB733 ........................................................... 458 Baudrate
TB736 ........................................................... 459 EX270 ............................................................ 88
TB754 ........................................................... 460 EX470 ............................................................ 94
TB772 ........................................................... 461 EX770 ............................................................ 94
Activate Operating Parameters ...................... 535 Baudrate, CAN Bus Controller ........................ 516
Adapter Module BP701 ................................................................ 82
AF101 ........................................................... 131 BP702 ......................................................... 81, 82
Commands .................................................. 133 BP703 ................................................................ 81
General Information ..................................... 129 BP704 ................................................................ 81
Program Example ....................................... 135 BP705 ................................................................ 81
Addressing, Screw-in Modules ....................... 465 BP706 ................................................................ 81
AF101 .............................................................. 131 BP707 ................................................................ 81
AI261 ............................................................... 260 BP708 ................................................................ 82
AI294 ............................................................... 277 BP709 ................................................................ 82
AI351 ............................................................... 285 BP710 ................................................................ 82
AI354 ............................................................... 293 Branch Lines, CAN Field Bus ............................ 66
AI774 ............................................................... 299 BRCIOxx, Module Name AF101 ..................... 523
Alarm Message ...................................... 635, 637 Burst ................................................................. 616
Index

CAN Identifier .............................................. 631 Bus Cable

Analog Input Modules CAN Field Bus ............................................... 63
Addressing .................................................. 465 Remote I/O Bus ............................................. 60
AI261 ............................................................ 260 Bus Controller
AI294 ............................................................ 277 Dimensions .................................................... 39
AI351 ............................................................ 285 Overview ........................................................ 83
AI354 ............................................................ 293 Tasks .............................................................. 83

Index 641
 Timing tion Memory ................................................. 535
CAN Slave .............................................. 584 Write Operating Parameters ...................... 534
Remote I/O Slave ................................... 578 Write Value to Configuration Word ............. 531
Variable Declaration CAN Field Bus ..................................... 33, 34, 63
Example for CAN Slave ......................... 488 CAN ID Access, Example ............................... 498
Example for Remote I/O Slave ............... 479 CAN Identifier ......................................... 545, 552
Using PG2000 ........................................ 466 Alarm Messages .......................................... 631
Bus Cover ........................................................ 451 Allocated by DBT Master ............................ 552
Analog Inputs .............................................. 623
Analog Outputs ........................................... 623
C Command Requests ................................... 631
Cable Command Response .................................. 631
CAN Field Bus ............................................... 63 Digital Inputs ................................................ 621
Remote I/O Bus ............................................. 60 Digital Outputs ............................................. 621
Cable Shield Grounding ................................... 70 Fixed Allocation ............................................ 545
Cabling CAN V. 2.0A ..................................................... 508
CAN Field Bus ............................................... 66 CAN V. 2.0B ..................................................... 508
Remote I/O Bus ............................................. 59 Certifications .................................................... 617
Cabling Protection for Screw-in Modules ......... 51 Change Mask “Digital Inputs” ........................ 521
Cabling Terminal Blocks ................................... 49 CiA ................................................................... 507
CAL .................................................................. 507 CiA/CAL Network ............................................ 508
CAN Bus Controller Client ................................................................ 508
Dimensions .................................................... 39 CM211 ............................................................. 334
EX270 ............................................................ 84 CM411 ............................................................. 384
EX470 ............................................................ 90 Combination Modules
EX770 ............................................................ 90 CM211 ......................................................... 334
Overview ........................................................ 83 CM411 ......................................................... 384
Tasks .............................................................. 83 Overview ...................................................... 333
Timing .......................................................... 584 Combination Possibilities
Variable Declaration CAN Field Bus ............................................... 34
Example .................................................. 488 Remote I/O Bus ............................................. 34
Using PG2000 ........................................ 466 Command Codes and Parameters ................ 526
CAN Bus Controller Commands Command Requests ....................................... 524
Activate Operating Parameters .................. 535 CAN Identifier .............................................. 631
Command Codes and Parameters ............ 526 Command Response .................... 525, 635, 637
Delete Configuration Memory ..................... 536 CAN Identifier .............................................. 631
Read Input ................................................... 528 Communication Modules
Read Module Code ..................................... 526 IF311 ............................................................ 416
Read Module Status .................................... 526 IF321 ............................................................ 416
Read Number of Modules ........................... 526 IF361 ............................................................ 418
Read Operating Parameters ...................... 532 IF371 ............................................................ 420
Read Operating System Version ................ 536 Overview ...................................................... 415
Read Slave Status ....................................... 526 Comparator
Reading Back Output ................................. 527 DI135 ........................................................... 143
Restart the Slave .......................................... 536 NC161 ........................................ 424, 431, 440
Set Change Mask for a Module .................. 530 Configuration
Set Change Value according to Trigger Type Examples ....................................................... 54
530 Slot Rules ....................................................... 53
Set Node Number ....................................... 537 Configuration Memory
Set Output Mask for a Module ................... 529 Delete ........................................................... 536
Set Trigger Type for Analog Input Channel 530 ME770 .......................................................... 128
Set Trigger Value acc. to Trigger Type ...... 530 Test ............................................................... 536
Test Configuration Memory ......................... 536 Configuration Word ......................................... 465
Transfer Operating Parameters to Configura- Controllable Phase Angle ............................... 202

642 Index
Controller DI439.7 ............................................................ 164
Bus Controller DI439.72 .......................................................... 170
Overview ................................................... 83 DI645 ............................................................... 178
Tasks ......................................................... 83 Digital Input Modules
CPUs CAN Identifier .............................................. 621
General Information .................................. 99 DI135 ........................................................... 140
Overview ................................................. 101 DI435 ........................................................... 159
Dimensions .................................................... 39 DI439.7 ........................................................ 164
Timing DI439.72 ...................................................... 170
CAN Slave .............................................. 584 DI645 ........................................................... 178
CPUs ...................................................... 564 Dimensions .................................................... 39
Remote I/O Slave ................................... 578 General Information ..................................... 138
Variable Declaration Input Filter .................................................... 138
Example for CAN Slave ......................... 488 Overview ...................................................... 139
Example for CPU ................................... 467 Digital Mixed Modules
Example for Remote I/O Slave ............... 479 General Information ..................................... 232
Using PG2000 ........................................ 466 Overview ...................................................... 232
Counter Modules DM435 ......................................................... 233
NC161 .......................................................... 423 DM438 ......................................................... 241
Overview ...................................................... 422 DM465 ......................................................... 249
CP Interface ........................................... 108, 121 Digital Output Modules
CP430 .............................................................. 102 CAN Identifier .............................................. 621
CP470 .............................................................. 102 Dimensions .................................................... 39
CP474 .............................................................. 102 DO135 ......................................................... 185
CP476 .............................................................. 114 DO164 ......................................................... 197
CP770 .............................................................. 102 DO435 ......................................................... 211
CP774 .............................................................. 102 DO720 ......................................................... 219
CPUs DO721 ......................................................... 224
CP430 .......................................................... 102 DO722 ......................................................... 228
CP470 .......................................................... 102 General Information ..................................... 183
CP474 .......................................................... 102 Overview ...................................................... 183
CP476 .......................................................... 114 Protective Circuit .................................. 71, 183
CP770 .......................................................... 102 Dimensions ................................................. 37, 39
CP774 .......................................................... 102 DM435 ............................................................. 233
Dimensions .................................................... 39 DM438 ............................................................. 241
General Information ....................................... 99 DM465 ............................................................. 249
Overview ...................................................... 101 DO135 ............................................................. 185
Timing .......................................................... 564 DO164 ............................................................. 197
Variable Declaration DO435 ............................................................. 211
Example .................................................. 467 DO720 ............................................................. 219
Using PG2000 ........................................ 466 DO721 ............................................................. 224
Cycle Time for Inputs ...................................... 521 DO722 ............................................................. 228
D-Type Sockets and Plugs, Use ....................... 70

D E
Index

Electromagnetic Fields .................................... 615

Daisy Chaining .................................................. 49
Electrostatic Discharge ................................... 615
Data Access, Screw-in Modules ..................... 465
Encoder Modules
Data Word ....................................................... 465
NC161 .......................................................... 423
DBT Master ............................................. 543, 552
Environmental Temperature
DBT .................................................................. 507
Operation ...................................................... 72
Degree of Pollution .......................................... 616
Storage .......................................................... 71
DI135 ............................................................... 140
Error Messages ............................................... 635
DI435 ............................................................... 159

Index 643
Event Counter Operation Identifier ......................................... 545, 552, 621
CM211 ................................................ 349, 371 Allocated by DBT Master ............................ 552
CM411 ................................................ 393, 402 Fixed Allocation ............................................ 545
DI135 .................................................. 142, 154 Idle Time for Inputs ......................................... 521
EX270 ................................................................ 84 Idle Time for Outputs ...................................... 520
EX470 ................................................................ 90 Idle Time Monitoring, CAN Bus Controller ...... 557
EX477 ................................................................ 95 IF311 ................................................................ 416
EX770 ................................................................ 90 IF321 ................................................................ 416
EX777 ................................................................ 95 IF361 ................................................................ 418
Exchanging the Battery, CPU ................ 111, 124 IF371 ................................................................ 420
Expansions Incremental Encoder Operation
CAN Field Bus ............................................... 33 CM211 ................................................ 348, 357
Remote I/O Bus ............................................. 32 CM411 ................................................ 393, 398
Expansions for CP476 DI135 .................................................. 142, 147
ME010 .......................................................... 408 NC161 ........................................ 424, 427, 440
ME020 .......................................................... 411 Inhibit Time for an Alarm Object ..................... 520
Overview ...................................................... 333 Inhibit Time for Inputs ...................................... 522
External Protective Circuit ................................. 71 Inhibit Time ...................................................... 508
Initialization, CAN Bus Controller ..................... 538
Input Behavior ................................................. 521
F Input Delay ...................................................... 138
Fixed Allocation of the CAN Identifier .... 545, 621 Input Filter ........................................................ 138
Full-Bridge Strain Gauge ................................ 262 Installation Dimensions ...................................... 42
FullCAN ............................................................ 508 Installation Guidelines ........................................ 71
Function Blocks ............................................... 511 Installation ................................................... 42, 45
INT1 Interface Converter ................................ 611
Interface Module Inserts ................................. 414
G Interface Modules
IF311 ............................................................ 416
Gate Measurement
IF321 ............................................................ 416
CM211 ................................................ 351, 376
IF361 ............................................................ 418
General Accessories
IF371 ............................................................ 420
AC401 Encoder 5 V - 24 V .......................... 604
Overview ...................................................... 415
AC410 Interface Converter ......................... 605
Interface Modules, Insert ................................ 414
AC911 Bus Plug, CAN ................................ 610
International Standards ................................... 617
AC912 Bus Adapter, CAN 1x ...................... 606
AC913 Bus Adapter, CAN 2x ...................... 607
AC916 Bus Termination, RS485 Active ....... 608 L
INT1 Interface Converter ............................ 611
Overview ...................................................... 603 Life Guarding ................................................... 508
RS485 Bus Plug ........................................... 609 CAN Bus Controller ..................................... 557
Grounding Measures ........................................ 68 Life Time Factor ............................................... 517
Guard Time ...................................................... 517 Limit Values ...................................................... 615
Logical Module Slots ......................................... 53

H
M
High Frequency, Conductive .......................... 616
ME010 ............................................................. 408
ME020 ............................................................. 411
I ME770 ............................................................. 128
Memory Structure, Screw-in Modules ............ 465
I/O Bus Expansion. See Expansions
MODE Switch, CPU ............................... 106, 119
I/O Bus ............................................................... 30
Module Address ................................................ 80
Identifier (ID) ................................................... 507
Identifier Directory .......................................... 523

644 Index
Module Code NMT Master ............................................ 540, 541
Digital I/O Modules ............................. 522, 523 Requirements .............................................. 509
Screw-in Modules ........................................ 523 NMT ................................................................. 507
Module ID ........................................................ 508 Node Number ................................................. 515
Module Name, “BRCIOxx” (AF101) ............... 523 CPU .................................................... 106, 119
Module Overview .............................................. 75 EX270 ............................................................ 88
Module Rack EX470 ............................................................ 94
BP701 ............................................................ 82 EX477 ............................................................ 97
BP702 ..................................................... 81, 82 EX770 ............................................................ 94
BP703 ............................................................ 81 EX777 ............................................................ 97
BP704 ............................................................ 81 Number Switch
BP705 ............................................................ 81 CPU .................................................... 106, 119
BP706 ............................................................ 81 EX270 ............................................................ 88
BP707 ............................................................ 81 EX470 ............................................................ 94
BP708 ............................................................ 82 EX477 ............................................................ 97
BP709 ............................................................ 82 EX770 ............................................................ 94
BP710 ............................................................ 82 EX777 ............................................................ 97
Dimensions .................................................... 38
General Information ....................................... 80
Installation ............................................... 42, 48 O
Module Address ............................................ 80 Operating Parameters, AF101 ....................... 512
Module Slots Baudrate ...................................................... 516
Logical ........................................................... 53 Change Mask “Digital Inputs” .................... 521
Physical .......................................................... 53 Cycle Time for Inputs .................................. 521
Possible .......................................................... 53 Guard Time .................................................. 517
Modules Identifier Directory ...................................... 523
Dimensions .................................................... 39 Idle Time for Inputs ..................................... 521
Groups ........................................................... 39 Idle Time for Outputs .................................. 520
Installation ...................................................... 45 Inhibit Time for an Alarm Object ................. 520
Slot Rules ....................................................... 53 Inhibit Time for Inputs .................................. 522
Monitoring Functions, CAN Bus Controller ..... 557 Input Behavior ............................................. 521
Idle Time Monitoring .................................... 557 Life Time Factor ........................................... 517
Life Guarding ............................................... 557 Module Code
Output Monitoring ....................................... 558 Digital I/O Modules ........................ 522, 523
Voltage Monitoring Screw-in Modules ................................... 523
CAN Bus Controller ................................ 557 Module Name “BRCIOxx” ........................... 523
I/O Modules ............................................ 557 Node Number ............................................. 515
Watchdog .................................................... 558 Output Behavior .......................................... 520
Mounting Rail Output Mask for Digital Outputs ................. 520
Dimensions .................................................... 37 Packing Data ............................................... 517
Installation ...................................................... 68 Parameter Value for ScrM .......................... 522
Priority Groups ............................................ 523
N Synchronization Jump Width ...................... 516
Transfer Modes ............................................ 517
NC161 ............................................................. 423 Transmission Trigger Type for Analog Inputs
Network Class Recognition ............................. 538 522
Index

Network Class Recognition ............................. 538 Trigger Type for Analog Inputs ................... 522
Network Class ................................................. 508 Trigger Value for Analog Inputs .................. 522
Network ........................................................... 508 Version Number .......................................... 515
CAN Field Bus ............................................... 63 Operating Temperature .................................... 72
PROFIBUS ..................................................... 62 Operation using FBKs ..................................... 511
Remote I/O Bus ............................................. 59
RS485 ............................................................ 62

Index 645
Other Modules Remote Address
CM211 ......................................................... 334 EX477 ............................................................ 97
CM411 ......................................................... 384 EX777 ............................................................ 97
Combination Modules ................................. 333 Remote I/O Bus Controller
Expansions for CP476 ................................. 333 Dimensions .................................................... 39
General Information ..................................... 333 EX477 ............................................................ 95
ME010 .......................................................... 408 EX777 ............................................................ 95
ME020 .......................................................... 411 Overview ........................................................ 83
Output Behavior .............................................. 520 Tasks .............................................................. 83
Output Mask for Digital Outputs ..................... 520 Timing .......................................................... 578
Output Monitoring, CAN Bus Controller ......... 558 Variable Declaration
Example .................................................. 479
Using PG2000 ........................................ 466
P Remote I/O Bus ................................... 32, 34, 59
Packing Data ................................................... 517 Restart the Slave ............................................. 536
Parameter Value for ScrM .............................. 522 RS485 Bus Plug .............................................. 609
PCC (Programmable Computer Controller) .... 28 RS485 Network ................................................. 62
PCMCIA Interface RTR .................................................................. 508
ME010 .......................................................... 410
ME020 .......................................................... 413
Period Measurement
S
CM211 ................................................ 349, 376 Screw-in Modules
Phase-Angle Control ....................................... 197 Adapter Module .......................................... 129
Phase-Angle .................................................... 202 Addressing .................................................. 465
Physical Module Slots ....................................... 53 Cabling Protection ........................................ 51
Positioning Modules Configuration Word ..................................... 465
NC161 .......................................................... 423 CP Interface ....................................... 108, 121
Overview ...................................................... 422 Data Word ................................................... 465
Potentiometer Displacement Gauge .............. 279 Dimensions .................................................... 41
Power Output Table .......................................... 56 Memory Structure ....................................... 465
Power Triacs .................................................... 197 Server .............................................................. 508
Priority Groups ................................................ 523 Set Change Mask for a Module ...................... 530
PROFIBUS Network .......................................... 62 Set Change Value according to Trigger Type 530
PROFIBUS-DP ................................................ 418 Set Change Value according to Trigger Type 530
Program Memory .............................................. 31 Set Node Number ........................................... 537
Programmable Computer Controller ............... 28 Set Output Mask for a Module ....................... 529
Programming System Flash .................. 107, 120 Shielding Measures ........................................... 68
Protective Circuit ...................................... 71, 183 Shock Test ....................................................... 616
Protective Measures .......................................... 68 Side Section ...................................................... 45
Pulse Width Modulation, DO135 ..................... 187 Slot Rules for Modules ....................................... 53
Standards ........................................................ 615
Standards ........................................................ 617
R Start Behavior, CAN Bus Controller ................ 538
Read Input ....................................................... 528 Start Behavior, CAN Bus Controller ................ 538
Read Module Code ......................................... 526 Storage .............................................................. 71
Read Module Status ........................................ 526 Stress Relief Attachment ................................. 452
Read Number of Modules .............................. 526 Supply Voltage ................................................. 31
Read Operating Parameters .......................... 532 Surge ............................................................... 616
Read Operating System Version .................... 536 Synchronization Jump Width .......................... 516
Read Slave Status ........................................... 526 SYS2003, System Variable .................... 110, 123
Reading Back Output ..................................... 527 System B&R 2000
Relative Humidity ............................................... 72 General Information ....................................... 27
System B&R 2003 ......................................... 30
System Variable SYS2003 ..................... 110, 123

646 Index
T V
TB710 .............................................................. 454 Variable Declaration
TB712 .............................................................. 455 Using PG2000 ............................................. 466
TB718 .............................................................. 456 with 2003 PCC CPU .................................... 467
TB722 .............................................................. 457 with CAN Slave ............................................ 488
TB733 .............................................................. 458 with Remote I/O Slave ................................. 479
TB736 .............................................................. 459 Version Number .............................................. 515
TB754 .............................................................. 460 Vibration Test ................................................... 616
TB772 .............................................................. 461 Voltage Monitoring
Temperature CAN Bus Controller ..................................... 557
Operation ...................................................... 72 I/O Modules ................................................. 557
Storage .......................................................... 71
Temperature Modules
AT324 ........................................................... 313 W
AT352 ........................................................... 320 Watchdog, CAN Bus Controller ...................... 558
AT664 ........................................................... 326 Write Operating Parameters .......................... 534
General Information ..................................... 312 Write Value to Configuration Word ................. 531
Overview ...................................................... 312
Terminal Blocks ................................................. 31
Cabling .......................................................... 49
TB710 ........................................................... 454
TB712 ........................................................... 455
TB718 ........................................................... 456
TB722 ........................................................... 457
TB733 ........................................................... 458
TB736 ........................................................... 459
TB754 ........................................................... 460
TB772 ........................................................... 461
Termination Resistance
CAN Field Bus ............................................... 67
Remote I/O Bus ............................................. 61
Terms ............................................................... 507
Test Ea ............................................................. 616
Test Fc ............................................................. 616
Threaded Strips ................................................ 45
Timing
2003 PCC .................................................... 564
B&R SYSTEM 2003 ..................................... 563
CAN Nodes ................................................. 584
CM211 ......................................................... 342
CM411 ......................................................... 389
Remote I/O Nodes ...................................... 578
Transfer Modes ............................................... 517
Transfer Operating Parameters to Configuration
Memory ........................................................... 535
Index

Transients, Fast T. ............................................ 616

Transmission Trigger Type for Analog Inputs . 522
Trigger Type for Analog Input Channel .......... 530
Trigger Type for Analog Inputs ....................... 522
Trigger Value for Analog Inputs ...................... 522

Index 647
 MODEL NUMBER INDEX
0 7CP430.60-1 .................................................... 102
7CP470.60-1 .................................................... 102
0AC001.9 ......................................................... 603 7CP474.60-1 .................................................... 102
0AC171.9 ......................................................... 603 7CP476.60-1 .................................................... 115
0AC200.9 ......................................................... 603 7CP770.60-1 .................................................... 102
0AC201.9 ......................................................... 603 7CP774.60-1 .................................................... 102
0AC401.9 ......................................................... 604 7DI135.70 ........................................................ 140
0AC410.9 ......................................................... 605 7DI435.7 .......................................................... 159
0AC912.9 ......................................................... 606 7DI439.7 .......................................................... 164
0AC913.92 ....................................................... 607 7DI439.72 ........................................................ 170
0AC916.9 ......................................................... 608 7DI645.7 .......................................................... 178
0G0001.00-090 ................................................ 603 7DM435.7 ........................................................ 233
0G0010.00-090 ................................................ 603 7DM438.72 ...................................................... 241
0G0012.00-090 ................................................ 603 7DM465.7 ........................................................ 249
0G1000.00-090 ................................................ 609 7DO135.70 ...................................................... 185
0MC111.9 ........................................................ 603 7DO164.70 ...................................................... 197
0MC211.9 ........................................................ 603 7DO435.7 ........................................................ 211
7DO720.7 ........................................................ 219
7DO721.7 ........................................................ 224
7 7DO722.7 ........................................................ 228
7AC010.9 ......................................................... 451 7EX270.50-1 ...................................................... 84
7AC011.9 ......................................................... 452 7EX470.50-1 ...................................................... 90
7AC020.9 ......................................................... 451 7EX477.50-2 ...................................................... 95
7AC911.9 ......................................................... 610 7EX770.50-1 ...................................................... 90
7AF101.7 ......................................................... 131 7EX777.50-1 ...................................................... 95
7AI261.7 .......................................................... 260 7IF311.7 ........................................................... 416
7AI294.7 .......................................................... 277 7IF321.7 ........................................................... 416
7AI351.70 ........................................................ 285 7IF361.70-1 ...................................................... 418
7AI354.70 ........................................................ 293 7IF371.70-1 ...................................................... 420
7AI774.70 ........................................................ 299 7ME010.9 ........................................................ 408
7AO352.70 ...................................................... 306 7ME020.9 ........................................................ 411
7AT324.70 ....................................................... 313 7ME770.5 ........................................................ 128
7AT352.70 ....................................................... 320 7NC161.7 ........................................................ 423
7AT664.70 ....................................................... 326 7TB710.9 ......................................................... 454
7BP701.1 ........................................................... 82 7TB710.91 ....................................................... 454
7BP702.0 ........................................................... 81 7TB710:90-01 .................................................. 454
7BP702.1 ........................................................... 82 7TB710:91-01 .................................................. 454
7BP703.0 ........................................................... 81 7TB712.9 ......................................................... 455
7BP704.0 ........................................................... 81 7TB712.91 ....................................................... 455
7BP705.0 ........................................................... 81 7TB712:90-02 .................................................. 455
7BP706.0 ........................................................... 81 7TB712:91-02 .................................................. 455
7BP707.0 ........................................................... 81 7TB718.9 ......................................................... 456
7BP708.0 ........................................................... 82 7TB718.91 ....................................................... 456
7BP709.0 ........................................................... 82 7TB718:90-02 .................................................. 456
7BP710.0 ........................................................... 82 7TB718:91-02 .................................................. 456
7CM211.7 ........................................................ 334 7TB722.9 ......................................................... 457
7CM411.70-1 ................................................... 384 7TB722.91 ....................................................... 457

648 Index
7TB733.9 ......................................................... 458
7TB733.91 ....................................................... 458
7TB736.9 ......................................................... 459
7TB736.91 ....................................................... 459
7TB754.9 ......................................................... 460
7TB754.91 ....................................................... 460
7TB772.91 ....................................................... 461

E
ECINT1-1 ......................................................... 611
ECINT1-11 ....................................................... 611

Index

Index 649
650 Index
RELEVANT CONVERSIONS
Some of the values in this manual and in other documentation that you may have contain values which are
only given in metric. Use these formulas and charts to help with any conversion problems that you may have.

°F °C °C °F English Units Metric Units

-40 -40 -40 -40 1 inch 25.4 millimeters
-20 -28.89 -35 -31 2.54 centimeters
-10 -23.33 -30 -22 1 foot 30.48 centimeters
-5 -20.56 -25 -13 3.048 decimeters
0 -17.78 -20 -4 0.3048 meter
5 -15.00 -15 5 1 yard 0.9144 meter
10 -12.22 -10 14 0.03937 inch 1 millimeter
15 -9.44 -5 23 0.3937 inch 1 centimeter
20 -6.67 0 32 3.937 inches 1 decimeter
25 -3.89 5 41 39.37 inches 1 meter
30 -1.11 10 50 3.2808 feet
35 1.67 15 59 1.0936 yards
40 4.44 20 68 3280.8 feet 1 kilometer
45 7.22 25 77 1093.6 yards
50 10.00 30 86 0.62137 mile
55 12.78 35 95
60 15.56 40 104
65 18.33 45 113 English Units Metric Units
70 21.11 50 122 1 pound 0.45359 kilogram
75 23.89 55 131 1 ounce 28.350 grams
80 26.67 60 140 1 short ton 907.18 kilograms
85 29.44 65 149 0.90718 metric tons
90 32.22 70 158 1 long ton 1016.0 kilograms
95 35.00 75 167 1.0160 metric tons
100 37.78 80 176
105 40.56 85 185
110 43.33 90 194
115 46.11
120 48.89
Index

125 51.67 5/9 x (°F - 32) = °C

130 54.44 (9/5 x °C) + 32 = °F
135 57.22
140 60.00
145 62.78
150 65.56

Index 651
652 Index