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DeviceNet Slave Device
CAN-2054D
User’s Manual
Warranty
Without contrived damage, all products manufactured by ICP DAS are warranted in one year from the date of delivery to customers.
Warning
ICP DAS revises the manual at any time without notice. However, no responsibility is taken by ICP DAS unless infringement act imperils to patents of the third parties.
Copyright
Copyright © 2010 is reserved by ICP DAS.
Trademark
The brand name ICP DAS as a trademark is registered, and can be used by other authorized companies.
CAN-2054D User’s Manual (v1.00, July/2010) 1
Contents
1.2 Hardware Specifications ...............................................................4
2.2 Node ID & Baud Rate Rotary Switch ............................................7
2.3 LED Description .............................................................................8
2.4 PIN Assignment ...........................................................................10
2.5 Wire Connection .......................................................................... 11
3 DeviceNet Profile Area .........................................................................12
3.1 DeviceNet Statement of Compliance..........................................12
3.2 Identity Object (Class ID: 0x01) ..................................................13
3.3 Connection Object (Class ID:0x05) ............................................14
3.4 Assembly Object (Class ID: 0x04) ..............................................15
3.5 Application Object1 (Class ID: 0x64)..........................................17
CAN-2054D User’s Manual (v1.00, July/2010) 2
1 Introduction
1.1 Overview
DeviceNet is one kind of the network protocols based on the CAN bus and mainly used for the embedded network of the machine control, such as industrial machine control , aircraft engines monitoring, factory automation, medical equipments control, remote data acquisition, environmental monitoring, and packaging machines control, etc.
The CAN-2054D follows DeviceNet specification Volume I/II, Release 2.0.
User can access the digital I/O status and set the configuration via DeviceNet
EDS file. This module has 8-channel isolated sink/source input and 8-channel isolated sink output. It can be applied to various applications, such as PNP,
NPN, TTL, relay contact and so forth. By owing to the DeviceNet masters of
ICP DAS, you can quickly build a DeviceNet network to approach your requirements.
CAN-2054D User’s Manual (v1.00, July/2010) 3
1.2 Hardware Specifications
Digital Output: z Output Channels: 8 (Sink) z DO Load Voltage: +5 ~ +30 V
DC z Output Max Load Current: 700 mA per channel. z Output Type: Open Collector. z Intra-module Isolation: 3750 Vrms z ESD Protection: 4 kV Contact for each channel
Digital Input: z Input Channels: 8 (Sink/Source). z DI On Level: +3.5 ~ +30 V
DC
. z DI Off Level: +1V
DC
Max. z Input Impedance: 3 kΩ, 0.3 W. z Intra-module Isolation: 3750 Vrms z ESD Protection: 4 kV Contact for each channel
Others: z DeviceNet Status: 3 LEDs for PWR / NET / MOD. z Terminator Resister: 1 LED as terminator resister indicators z DI LED: 8 LEDs as digital input indicators. z DO LED: 8 LEDs as digital output indicators. z Power Supply: Unregulated +10 ~ +30 V
DC
. z Power Consumption: 1.5 W. z Operating z Storage Temperature: -30 ~ 80 ℃. z Humidity: 10 to 90% RH, Non-condensing. z
Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H) Detail
.
CAN-2054D User’s Manual (v1.00, July/2010) 4
1.3 Features
z DeviceNet general I/O slave devices. z Comply with DeviceNet specification Volume I, Release 2.0 &
Volume II, Release 2.0, Errata 5 z Group 2 Only Server (non UCMM-capable) z Support Predefined Master/Slave Connection Set z Connection
1 connection for Explicit Messaging
1 connection for Polled I/O
1 connection for Bit-Strobe I/O connection z Support DeviceNet heartbeat and shutdown messages z Provide EDS file for standard DeviceNet master interface. z NET, MOD and PWR Led indictors
1.4 Application
CAN-2054D User’s Manual (v1.00, July/2010) 5
2 Hardware
2.1 Structure
(Top View) (Bottom View)
CAN-2054D User’s Manual (v1.00, July/2010) 6
2.2 Node ID & Baud Rate Rotary Switch
The rotary switches of node ID configure the node ID of CAN-2054D module. These two switches are for the tens digit and the units digit of the node ID. The node ID value of this demo picture is 32.
Node ID rotary switch
The rotary switch for baud rate handles the CAN baud rate of CAN-2054D module. The relationship between the rotary switch value and the practical baud rate is presented in the following table.
Baud rate rotary switch
Rotary Switch Value Baud rate (kbps)
0 125
1 250
2 500
CAN-2054D User’s Manual (v1.00, July/2010) 7
2.3 LED Description
PWR LED
The CAN-2054D needs the power of 10 ~ 30 V
DC
. Under a normal connection, a good power supply and a correct voltage selection, as the unit is turned on, the LED will light up in red.
NET LED
The NET LED indicates the current status of the DeviceNet communication link. condition status
Init Off Off line indicates
Device is not online
Off Connection timeout
Flashing On line
I/O connection timeout
Device is on line, but not communicating
Init solid Link failed
Solid
(Critical) Device has detected an error that has rendered it incapable of communicating on the link; for example, detected a duplicate node address or network configuration error
On line, communicating Device is online and communicating
MOD LED
This LED provides the devices status. It indicates whether or not the device is operating properly. condition status
Off Normal indicates
Device has unrecoverable fault.
Device has recoverable fault to recover. If users want to fix the problem, reconfiguring device’s
MAC ID or resetting device may work.
CAN-2054D User’s Manual (v1.00, July/2010) 8
Terminal Resistor LED
When enable the 120Ω terminator resistor, the LED will be turned on.
DO LED
If the DO LED is turned on, it means that the corresponding DO channel is active.
DI LED
If the DI LED is turned on, it means that the channel of DI is receiving an ON-Voltage-Level digital signal.
CAN-2054D User’s Manual (v1.00, July/2010) 9
2.4 PIN Assignment
CAN-2054D User’s Manual (v1.00, July/2010) 10
2.5 Wire Connection
CAN-2054D User’s Manual (v1.00, July/2010) 11
3 DeviceNet Profile Area
This section describes the detailed functions for each object class that is implemented in the CAN-2054D DeviceNet network.
3.1 DeviceNet Statement of Compliance
General Device Data
Device Information Description
Specification
Vendor Name
Device Profile Name
Production Revision
Volume II, Release 2.0
ICP DAS
CAN-2054D
1.1
DeviceNet Physical Conformance Data
Item Description
LED Support
MAC ID Setting
Yes
Switch (0 ~ 63)
Default MAC ID 1
Communication Baud Rate Setting Switch (125, 250, 500 kbps)
Default Baud Rate 125 kbps
Set
CAN-2054D User’s Manual (v1.00, July/2010) 12
3.2 Identity Object (Class ID: 0x01)
This object provides the identification of and general information about the device.
Class Attribute (Instance ID=0)
Attribute ID Attribute name Data Type Method Value
0x01 Revision UINT Get 0001
0x02 Max Get 1
Class Service
Service Code Service name
0x0E Get_Attribute_Single
Support
Yes
Instance Attribute (Instance ID=1)
Attribute
Description
ID
Method
DeviceNet Data
Type
Value
4 Major. Minor of firmware version USINT
USINT
1.1
Instance Service
Service Code Service name
0x0E Get_Attribute_Single
0x10 Set_Attribute_Single
Note: Use the Instance Service 0x05 will reboot the device.
Support
Yes
Yes
CAN-2054D User’s Manual (v1.00, July/2010) 13
3.3 Connection Object (Class ID:0x05)
This section presents the externally visible characteristics of the
Connection Objects associated with the Predefined Master/Slave Connection
Set within slave devices.
The default IO connection path is as follow.
Connection Path Class ID Instance ID Attribute ID
Poll Produced
Poll Consumed
0x04
0x04
Bit Strobe Produced 0x04
Bit Strobe Consumed 0x04
0x64
0x65
0x64
0x65
0x03
0x03
0x03
0x03
Connection
Instance ID
1
2
3
Description
References the Explicit Messaging Connection into the Server
References the Poll I/O Connection
References the Bit–Strobe I/O Connection
CAN-2054D User’s Manual (v1.00, July/2010) 14
3.4 Assembly Object (Class ID: 0x04)
The Assembly Object binds attributes of multiple objects, which allows data to or from each object to be sent or received over a single connection.
Assembly objects can be used to bind input data or output data. The terms of ”input” and ”output” are defined from the network’s point of view. An input will produce data on the network and an output will consume data from the network.
Class attribute (Instance ID=0)
Attribute
Attribute ID name
Data Type Method Value
0x01 Revision UINT Get 1
UINT Get 0x02
Class service
Service Code Service name
0x0E Get_Attribute_Single
Instance ID
Instance ID
0x64
0x65
OUTPUT
Set DO value
Support
Yes
Get DI value
INPUT
Get DO value
Contents of Each Assembly Object Instance
Instance
Description
ID
0x64
0x65
Channel 0 ~ 7 DI value
Channel 0 ~ 7 DO value
Type
USINT
USINT
Method
Default
Value
Get 0x00
Get/Set 0x00
CAN-2054D User’s Manual (v1.00, July/2010) 15
Parameter description of Assembly Object Instance
Instance
ID
Data Range Parameter Description
0x64 0x00 ~ 0xFF
Bit 0 => channel 0 DI value
Bit 1 => channel 1 DI value
…
Bit 7 => channel 7 DI value
0x65 0x00 ~ 0xFF
Bit 0 => channel 0 DO value
Bit 1 => channel 1 DO value
…
Bit 7 => channel 7 DO value
Note: x is channel number of module
Instance attribute (Instance ID=0x64~0x65)
Attribute ID Description Method
Instance service
Service Code Service name
0x0E Get_Attribute_Single
0x10 Set_Attribute_Single
DeviceNet
Data Type
OUTPUT/
INPUT
Value
Dependent on instance ID
Support
Yes
Yes
CAN-2054D User’s Manual (v1.00, July/2010) 16
3.5 Application Object1 (Class ID: 0x64)
Application objects are the interfaces between an application and the
DeviceNet Layer. The attributes of application Objects contain the data for the application, which are accessed and exchanged via DeviceNet. DeviceNet accesses application data by invoking read and write functions. These functions need to be provided by an Application Object. DeviceNet provides
Get_Attribute_Single and Set_ Attribute_Single to read and write CAN-2054D module.
Application Object1 defines pulse output channels and digital input channels configuration.
Class attribute (Instance ID=0)
Attribute
Attribute ID name
Data Type Method Value
0x01 Revision UINT Get 1
UINT Get 0x06
Class service
Service Code Service name
0x0E Get_Attribute_Single
Support
Yes
Instance attribute (Instance ID=0x01)
Attribute
ID
Description
0x03 DO power on value
0x04 DO safe value mask
0x05 DO safe value
0x06
Save all Configuration to
EEPROM
Method
Get
Get/Set
Get/Set
Get/Set
Get/Set
Data Type
USINT
USINT
USINT
UDINT
USINT
Default
Value
0x00
0x00
0x00
0x00
0x00
Set USINT -
CAN-2054D User’s Manual (v1.00, July/2010) 17
Parameter description of Application Object1 attributes
Attribute
ID
Data Range Parameter Description
0x01 0x00 ~ 0xFF
Bit 0 => channel 0 DI value
Bit 1 => channel 1 DI value
…
Bit 7 => channel 7 DI value
0x02
0x03
0x04
0x05
0x06
0x00 ~ 0xFF
0x00 ~ 0xFF
0x00 ~ 0xFF
0x00 ~ 0xFF
0x01: Use default configuration
0x02: Save all Configuration to
EEPROM
Bit 0 => channel 0 DO value
Bit 1 => channel 1 DO value
…
Bit 7 => channel 7 DO value
Bit 0 => channel 0 DO power on value
Bit 1 => channel 1 DO power on value
…
Bit 7 => channel 7 DO power on value
Bit 0 => channel 0 DO safe value mask
Bit 1 => channel 1 DO safe value mask
…
Bit 7 => channel 7 DO safe value mask
Bit value=1 => apply safe value setting
Bit value=0 => apply DO output value
Bit 0 => channel 0 DO safe value
Bit 1 => channel 1 DO safe value
…
Bit 7 => channel 7 DO safe value
0x01: After restarting the device, configuration will become factory setting.
0x02: Save all channels configuration into EEPROM
Instance service
Service Code Service name
0x0E Get_Attribute_Single
0x10 Set_Attribute_Single
Support
Yes
Yes
CAN-2054D User’s Manual (v1.00, July/2010) 18
4 Application
Application Object1 (Class ID:0x64) lists all the parameters of the module.
Each Instance ID is corresponding to the different cahnnels. By using “Set/Get
Attribute Single” service, user can read/write the parameters of each channel.
Example1:
Set DO output value.
(Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x02).
If the node ID of the CAN-2054D is 1, and the master (ID: 0x0A) has completed “Explicit” connection with the device. By setting the value of
Attribute ID 0x02 to 0xF0, you can set the DO4, DO5, DO6, and DO7 to turn
ON and others to turn OFF.
IDENTIFIER BITS 8-byte Data (byte)
Data
Destination MAC ID RTR (HEX)
Length
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
6 0A 10 64 01 02 FF --1 0 0 0 0 0 0 1 1 0 0 0
Master
IDENTIFIER BITS
10 9 8 7 6 5 4 3 2 1 0
1 0 0 0 0 0 0 1 0 1 1 0
Data
Length
Slave
(CAN-2054D)
8-byte Data (byte)
(HEX)
0 1 2 3 4 5 6 7
2 0A 90 --- -- -- ---
Slave
Master
(CAN-2054D)
Set the value 0xFF to the Application Object1 with Instance ID 0x01 and Attribute
ID 0x02. After sending the “Set Attribute Single”, the slave device will response
0x90 to mean that the setting is OK. Then the DO4, DO5, DO6, and DO7 will be turned ON and others are turned OFF.
Via changing the Attribute ID of the Application Object, user can set other parameters of this device.
CAN-2054D User’s Manual (v1.00, July/2010) 19
Example2:
Get DI data (Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x01).
If the node ID of the CAN-2054D is 1, and the master (id: 0x0A) has completed
“Explicit” connection with the device. By getting the value of the object with attribute ID 0x01, you can get the channel 0 ~ 7 of the DI data.
IDENTIFIER BITS 8-byte Data (byte)
Data
Destination MAC ID RTR (HEX)
Length
10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7
5 0A 0E 64 01 01 -- --1 0 0 0 0 0 0 1 1 0 0 0
Master
IDENTIFIER BITS
10 9 8 7 6 5 4 3 2 1 0
1 0 0 0 0 0 0 1 0 1 1 0
Data
Length
Slave
(CAN-2054D)
8-byte Data (byte)
(HEX)
0 1 2 3 4 5 6 7
3 0A 8E 0F -- -- -- ---
Slave
Master
(CAN-2054D)
Get the value of Application Object1 with Instance ID 0x01 and Attribute ID 0x01.
After sending the “Get Attribute Single”, the slave device response the DI data
(0x0F) at byte 2. The value 0x0F means that the status of DI3, DI2, DI1 and DI0 are turned on and others are turned off.
By changing the Instance ID and Attribute ID of the Application Object, you can get other parameters of this device.
The Attribute 0x03 of Application Object1 can control the DO power on value of each channel. After setting this attribute, the DO channels will output
DO power on value when booting up.
Attribute 0x04 and 0x05 of Application Object1 are used for safe value configuration when “Explicit Message Timeout” error occurs. When setting the channel selection value of the Attribute ID 0x04 to “0x1”, the safe value of
Channel 0 will be active. If the value is set to 0x4, it means that the safe value of the channel 2 is active. Afterwards, you can configure the output safe value of this channel by setting the value of Attribute ID 0x05. When setting the
Attribute ID 0x04 to “0x1” and Attribute ID 0x05 to “0x1”, the channel 0 will turn
ON while the error occurs.
CAN-2054D User’s Manual (v1.00, July/2010) 20
Appendix A: Dimension
CAN-2054D User’s Manual (v1.00, July/2010) 21
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