I-7231D CPS_DCON Gateway

I-7231D CPS_DCON Gateway
DeviceNet Slave Device
CAN-2088D
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 © 2015 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-2088D User’s Manual (v1.10, April/2015)
1
Contents
1
2
Introduction ............................................................................................. 3
1.1 Overview ......................................................................................... 3
1.2 Hardware Specifications ............................................................... 4
1.3 Features .......................................................................................... 5
Hardware ................................................................................................. 6
2.1 Structure ......................................................................................... 6
2.2 The 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).......................................... 18
3.6 Application Object2 (Class ID: 0x65).......................................... 21
4 Application ............................................................................................ 22
Appendix A: Dimension............................................................................... 25
CAN-2088D User’s Manual (v1.10, April/2015)
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1 Introduction
1.1 Overview
PWM (Pulse width modulation) is a powerful technique for controlling
analog circuits. It uses digital outputs to generate a waveform with variant duty
cycle and frequency to control analog circuits. CAN-2088D is a DeviceNet
slave module and it has 8 PWM output channels and 8 digital inputs. It can be
used to develop powerful and cost effective analog control system.
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1.2 Hardware Specifications
PWM Output:
 Output Channels: 8 (Source)
 Scaling Resolution: 16-bit (1 ~ 128 µs for each step).
 Frequency Range: 0.2 Hz ~ 500 kHz (non-continuous, and the min.
unit of the high/low level of the signal is 1 us).
 Duty Cycle: 0.1% ~ 99.9%.
 PWM Mode: Burst Counting, Continuous mode.
 Burst Counter: 1 ~ 65535.





Trigger Mode: Hardware or software trigger.
Hardware Trigger Mode: Trigger start & trigger stop.
Max Load Current: 1 mA.
Intra-module Isolation, Field to Logic: 2500 Vrms.
ESD Protection: 4 kV Contact for each channel.
Digital Input:
 Input Channels: 8 (Sink).
 Input Type: One common for all digital input.
 On Voltage Level: +5.5 ~ +30 V.
 Off Voltage Level: <+3.5 V.





Counter Frequency: 500 kHz Max.
Max. Counts: 32-bit (0 ~ 4294967295)
Input Impedance: 2.2 kΩ, 0.5 W
Intra-module Isolation, Field to Logic: 2500 Vrms
ESD Protection: 4 kV Contact for each channel
Others:
 LED: 1 as power indicator, 1 as terminator resistor, 2 as DeviceNet
status, 8 as PWM and 8 as DI indicator.
 Power Requirement: +10 ~ +30 VDC, 3.5 W.
 Operating Temperature: -25 ~ 75 ℃.
 Storage Temperature: -30 ~ 80 ℃.


Humidity: 10 to 90% RH, Non-condensing.
Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H) Detail.
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1.3 Features














DeviceNet general I/O slave devices.
Comply with DeviceNet specification Volume I, Release 2.0 &
Volume II, Release 2.0
Group 2 Only Server (non UCMM-capable)
Support Predefined Master/Slave Connection Set
Connection supported:
1 connection for Explicit Messaging
1 connection for Polled I/O
1 connection for Bit-Strobe I/O connection
Support DeviceNet heartbeat and shutdown messages
Provide EDS file for standard DeviceNet master interface.
Automatic generation of PWM outputs by hardware, without software
intervention.
0.2 Hz ~ 500 kHz (non-continuous) PWM output frequency with
0.1%~99.9% duty cycle configuration.
Software and hardware trigger mode for PWM output.
Support individual or synchronous PWM output in software trigger
mode.
Each digital input channel provides high-speed counter functionality.
DI channel can be configured as simple digital input channel or
hardware trigger source of the PWM output.
NET, MOD and PWR DeviceNet status Led indictors
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2 Hardware
2.1 Structure
(Top View)
(Bottom View)
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2.2 The Node ID & Baud rate Rotary Switch
The rotary switches for node ID configure the node ID of CAN-2088D
module. These two switches are for the tens digit and the units digit of 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-2088D
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
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2.3 LED Description
PWR LED
The CAN-2088D needs the power of 10 ~ 30 VDC. 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
indicates
Init Off
Off line
Device is not online
Off
Connection timeout
I/O connection timeout
Flashing
On line
Device is on line, but not
communicating
Init solid
Link failed
(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
Solid
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
indicates
Off
Normal
Solid
Critical fault
Device has unrecoverable fault.
Flashing
Non_critical fault
Device has recoverable fault to
recover. If users want to fix the
problem, reconfiguring device’s
MAC ID or resetting device may
work.
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Terminal Resistor LED
When enable the 120Ω terminal resistor, the LED will turn on.
PWM LED
If the PWM LED turns on, it means that the channel of PWM is
sending pulse.
DI LED
If the DI LED turns on, it means that the channel of DI is receiving
an ON-Voltage-Level digital signal.
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2.4 PIN Assignment
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2.5 Wire Connection
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3 DeviceNet Profile Area
This section documents the detailed functions for each object class that is
implemented in the CAN-2088D DeviceNet network.
3.1 DeviceNet Statement of Compliance
General Device Data
Device Information
Version Description
Specification
of
Description
DeviceNet Volume I, Release 2.0 &
Volume II, Release 2.0
Vendor Name
ICP DAS
Device Profile Name
CAN-2088D
Production Revision
1.1
DeviceNet Physical Conformance Data
Item
Description
DeviceNet status LED Support
Yes
MAC ID Setting
Switch (0 ~ 63)
Default MAC ID
1
Communication Baud Rate Setting
Switch (125, 250, 500 kbps)
Default Baud Rate
125 kbps
Predefined Master/Slave Connection Group 2 Only Server
Set
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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 Instance
UINT
Get
1
Class Service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance Attribute (Instance ID=1)
Attribute
ID
Description
Method
DeviceNet Data
Type
Value
1
Vendor
Get
UINT
803
2
Product type
Get
UINT
0x00
3
Product code
Get
UINT
0x600
4
Major. Minor of firmware
Get
Struct of
1.1
version
USINT
USINT
5
Status
Get
WORD
-
6
Serial number
Get
UDINT
1
7
Product name
Get
Short_String
CAN-2088D
10
Heartbeat Interval
Get/Set
USINT
0(default)
Instance Service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
0x05
Reset
Yes
Note: Use the Instance Service 0x05 will reboot the device.
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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
0x04
0x66
0x03
Poll Consumed
0x04
0x64
0x03
Bit Strobe Produced
0x04
0x66
0x03
Bit Strobe Consumed
0x04
0x64
0x03
Connection
Instance ID
Description
1
References the Explicit Messaging Connection into the Server
2
References the Poll I/O Connection
3
References the Bit–Strobe I/O Connection
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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
0x02
Max Instance
UINT
Get
0x0A
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance ID
Instance ID
OUTPUT
INPUT
0x64
Clear channel 0 ~ 7 DI counter
Get 0 ~ 7 DI counter clear
Flag
0x65
Set channel 0 ~ 7 Config. to default
Get 0 ~ 7 Config. to default
Flag
0x66
Get channel 0 ~ 7 DI value
0x67
Get channel 0 ~ 7 DI counter
0x68
Set channel 0 ~ 7 sync mode
Get channel 0 ~ 7 sync mode
0x69
Set channel 0 ~ 7 hardware trig Get channel 0 ~ 7 hardware
mode
trig mode
0x6A
Set channel 0 ~ 7 output type
0x6B
Set channel 0 ~ 7 PWM period
0x6C
Set channel 0 ~ 7 PWM duty
Get channel 0 ~ 7 PWM duty
0x6D
Set channel 0 ~ 7 PWM burst count
Get channel 0 ~ 7 PWM burst
count
0x6E
Set channel 0 ~ 7 PWM start/stop
Get channel 0 ~ 7 PWM
start/stop
Get channel 0 ~ 7 output type
Get channel 0 ~ 7 PWM
period
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Contents of Each Assembly Object Instance
Instance
ID
Default
Value
Type
Method
USINT
…
USINT
Get/Set
0x64
Clear channel 0 DI counter
…
Clear channel 7 DI counter
0x00
…
0x00
USINT
…
USINT
Get/Set
0x65
Channel 0 Configuration to default
…
Channel 7 Configuration to default
0x00
…
0x00
Get channel 0 DI value
USINT
Get
0x00
…
Get channel 7 DI value
…
USINT
UDINT
…
UDINT
Get
0x67
Get channel 0 DI counter
…
Get channel 7 DI counter
0x00000000
…
0x00000000
USINT
…
USINT
Get/Set
0x68
Channel 0 sync mode
…
Channel 7 sync mode
0x00
…
0x00
Channel 0 hardware trig mode
…
USINT
…
Get/Set
0x00
…
Channel 7 hardware trig mode
USINT
USINT
…
USINT
Get/Set
0x6A
Channel 0 output type
…
Channel 7 output type
0x01
…
0x01
UDINT
…
UDINT
Get/Set
0x6B
Channel 0 PWM period
…
Channel 7 PWM period
0x00000002
…
0x00000002
UINT
…
UINT
Get/Set
0x6C
Channel 0 PWM duty
…
Channel 7 PWM duty
0x01F4
…
0x01F4
Channel 0 PWM burst count
UINT
Get/Set
0x00
…
Channel 7 PWM burst count
…
UINT
Channel 0 PWM start/stop
…
Channel 0 PWM start/stop
USINT
…
USINT
0x66
0x69
0x6D
0x6E
Description
CAN-2088D User’s Manual (v1.10, April/2015)
…
0x00
0x00
…
0x00
Get/Set
0x00
…
0x00
16
Parameter description of Assembly Object Instance
Instance
ID
Data Range
Parameter Description
0x64
0x01: Clear
Clear channelx DI counter
0x65
0x01: Set to default
Set channelx configuration to default value
0x66
0x00 or 0x01
Channelx digital input value
0x67
0x00000000 ~ 0xFFFFFFFF
Channelx high speed digital input counter
value
0x68
0x00: disable sync
0x01: enable sync
Channelx with sync output.
0x69
0x00: disable
Channelx trigger status. The DI ch0 is the
trig of PO ch0, and DI ch1 is the trig of PO
ch1, and so on. When DI value is changed,
the PO will be triggered.
0x01: start trig
0x02: stop trig
0x6A
0x00: Burst Counting mode
0x01: Continue mode
Channelx output mode
0x6B
0x00000002 ~ 0x004C4B40
(0.2 Hz ~ 500 kHz)
Channelx frequency range. The frequency
range is non-continuous.
0x00000001 => 0.1 Hz
0x6C
0x0001 ~ 0x03E7
(1‰ ~ 999‰)
Channelx high duty mille.
0x0001 => 1‰
low duty mille = (1000 – high duty) ‰
0x6D
0x0001 ~ 0xFFFF
Channelx Burst counting value, only for
burst counting mode.
0x6E
0x00: stop output
0x01: start output
Channelx start or stop to output pulse.
Note: x is channel number of module
Instance attribute (Instance ID=0x64~0x6E)
Attribute ID
Description
Method
0x03
Data
Get/Set
DeviceNet
Data Type
Value
OUTPUT/
Dependent on
INPUT
instance ID
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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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-2088D
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
0x02
Max Instance
UINT
Get
0x08
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance ID
Instance ID
Description
0x01
PO&DI channel 0 configuration
0x02
PO&DI channel 1 configuration
0x03
PO&DI channel 2 configuration
0x04
PO&DI channel 3 configuration
0x05
PO&DI channel 4 configuration
0x06
PO&DI channel 5 configuration
0x07
PO&DI channel 6 configuration
0x08
PO&DI channel 7 configuration
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Instance attribute (Instance ID=0x01~0x08)
Attribute
ID
Description
Method
Data Type
Default
Value
0x01
Clear DI counter
Get/Set
USINT
0x00
0x02
Set configuration to default
Get/Set
USINT
0x00
0x03
DI value
Get
USINT
0x00
0x04
DI counter
Get
UDINT
0x00000000
0x05
Sync mode
Get/Set
USINT
0x00
0x06
Hardware trigger mode
Get/Set
USINT
0x00
0x07
Output type
Get/Set
USINT
0x01
0x08
PWM period
Get/Set
UDINT
0x00000002
0x09
PWM duty
Get/Set
UINT
0x01F4
0x0A
PWM burst count
Get/Set
UINT
0x0000
0x0B
PWM start/stop
Get/Set
USINT
0x00
Parameter description of Application Object1 attributes
Attribute
ID
Data Range
Parameter Description
0x01
0x01: Clear
Clear channelx DI counter
0x02
0x01: Set to default
Set channelx configuration to default
value
0x03
0x00 or 0x01
Channelx DI value
0x04
0x00000000 ~ 0xFFFFFFFF
Channelx high
counter value
0x05
0x00: disable sync
0x01: enable sync
Channelx with sync output.
0x00: disable
0x01: start trigger
0x02: stop trigger
Channelx trigger status. The DI ch0 is
the trig of PO ch0, and DI ch1 is the trig
of PO ch1, and so on. When DI value is
changed, the PO will be triggered.
0x00: Burst Counting mode
Channelx output mode
0x06
0x07
speed
digital
input
0x01: Continue Counting mode
0x08
0x00000002 ~ 0x004C4B40
(0.2 Hz ~ 500 kHz)
Channelx
frequency
range.
The
frequency range is non-continuous.
0x00000001 => 0.1 Hz
0x09
0x0001 ~ 0x03E7
(1‰ ~ 999‰)
Channelx high duty mille.
0x0001 => 1‰
low duty mille = (1000 – high duty) ‰
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0x0A
0x0B
0x0001 ~ 0xFFFF
Channelx Burst counting value, only for
burst counting mode.
0x00: stop output
0x01: start output
Channelx start or stop to output pulse.
Note: x is channel number of module, dependent on instance ID setting
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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3.6 Application Object2 (Class ID: 0x65)
Application Object2 defines some configuration that used for all pulse
output channels and digital input channels.
Class attribute (Instance ID=0)
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
0x02
Max Instance
UINT
Get
0x01
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance attribute (Instance ID=1)
Attribute
ID
Description
Method
Data Type
Default
Value
0x01
DI value
Get/Set
USINT
0x00
0x02
Sync channel start/stop
Get/Set
USINT
0x00000000
0x03
Save all Configuration to
EEPROM
Set
USINT
-
Parameter description of Application Object2 attributes
Attribute
ID
Data Range
Parameter Description
0x01
DI value
DI value: per bit to per channel data
DI channel 0, 5 on => DI vaue: 0x21
0x02
0x00: stop sync channels
0x01: start sync channels
Set sync channels start or stop to output
pulse
0x01: Use default
configuration
0x02: Save all
0x01: After restarting the device,
configuration will become factory setting.
0x02: Save all channels configuration into
Configuration to EEPROM
EEPROM
0x03
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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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:
Clear channel0 DI counter.
(Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x01).
If the node ID of the CAN-2088D is 1, and the master (ID: 0x0A) has
completed “Explicit” connection with the device. By setting the value of
attribute ID 0x01 to be 0x01, the channel 0 of the DI counter becomes 0.
IDENTIFIER BITS
8-byte Data (byte)
Destination MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
1
0
0
0
Data
(HEX)
Length
6
0
1
2
3
4
5
6
7
0A
10
64
01
01
01
--
--
Slave
(CAN-2088D)
Master
IDENTIFIER BITS
8-byte Data (byte)
Source MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
0
1
1
0
Data
(HEX)
Length
2
0
1
2
3
4
5
6
7
0A
90
--
--
--
--
--
--
Slave
(CAN-2088D)
Set the value 0x01 to the Application Object1 with Instance ID 0x01 and Attribute
ID 0x01. After sending the “Set Attribute Single”, the slave device will response
0x90 to mean setting OK. Then channel 0 of the DI counter will be set to zero.
Master
By changing the Instance ID and Attribute ID of the Application Object, you can
set other parameters of this device.
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Example2:
Get DI data of channel 0 (Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x03).
If the node ID of the CAN-2088D is 1, and the master (ID: 0x0A) has
completed “Explicit” connection with the device. By getting the value of the
object with attribute ID 0x03, you can get the DI data of channel 0.
IDENTIFIER BITS
8-byte Data (byte)
Destination MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
1
0
0
0
Data
(HEX)
Length
5
0
1
2
3
4
5
6
7
0A
0E
64
01
03
--
--
--
Slave
Master
(CAN-2088D)
IDENTIFIER BITS
8-byte Data (byte)
Source MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
0
1
1
0
Data
(HEX)
Length
3
0
1
2
3
4
5
6
7
0A
8E
00
--
--
--
--
--
Slave
(CAN-2088D)
Get the value of Application Object1 with Instance ID 0x01 and Attribute ID 0x03.
After sending the “Get Attribute Single”, the slave device will response the DI
data of channel 0 on byte 2.
Master
By changing the Instance ID and Attribute ID of the Application Object, you can
get other parameters of this device.
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The attribute 0x0B of Application Object1 can control the module to start
or stop the pulse output of each channel. Each Instance ID is mapped to each
channel. Attribute 0x07 can decide the PWM method of each channel. If you
select the Burst Counting mode, the attribute 0x0A must be set to decide how
many pulse you want to output. You can set 1 ~ 65535 to the attribute 0x0A
and use attribute 0x0B to start or stop the pulse output. When set the attribute
0x0B to 1, the channel will output the specific pulses with one burst cyclic and
the value of attribute 0x0B becomes to 0. For example, set the channel 0
(Instance ID: 0x01) to the Burst Counting mode and set the attribute 0x0A to
100. When user set the attribute 0x0B to 1, this channel will output 100 pulses,
and then stop to send. If you select the Continue Counting mode, the attribute
0x0A will be useless. When users set the attribute 0x0B to 1 on Continue
Counting mode, the channel will start to output the pulse cyclically until the
attribute is set to 0. If you want to change the frequency of the pulses, you can
set the value 2 ~ 5000000 to the attribute 0x08. The unit is 0.1 Hz, therefore,
the pulse with 0.2 Hz ~ 500 kHz can be applied.
The attribute 0x09 is the pulse duty. If set the attribute to value 300, it
means that the pulse width of the high duty is 300‰ and the one of low duty is
700‰. The attribute 0x06 can set the DI channel to be the hardware trigger of
the PWM output channel. When set the value 1 to the object of the instance ID
0x01 with attribute 0x06, it means that the DI channel 0 will loss the DI
functions and become a hardware trigger of PWM output channel 0. In this
case, if the value of DI channel 0 is changed, the channel 0 of PWM output will
start to output pulse.
The attribute 0x05 of Application Object1 and the attribute 0x02 of
Application Object2 can control the channel of the PWM module to output
synchronous. If user wish channel 0 ~ 3 of the PWM module output the pulse
synchronously, set the value 1 to the Application Object1 Instance 0x01 ~ 0x04
with attribute 0x05. Then, set the value 1 to the Application Object2 with
Instance 0x01 and attribute 0x02. These 4 channels (channel 0 ~ 3) will start to
output pulse at the same time (their first low-to-high edge will be triggered at
the same time, but the period may be different because of different pulse
width).
CAN-2088D User’s Manual (v1.10, April/2015)
24
Appendix A: Dimension
CAN-2088D User’s Manual (v1.10, April/2015)
25
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