I-7231D CPS_DCON Gateway - icpdas

I-7231D CPS_DCON Gateway - icpdas
DeviceNet Slave Device
CAN-2057D
Application 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-2057D User’s Manual (v1.00, July/2010)
1
Contents
1
2
3
Introduction.............................................................................................3
1.1 Overview.........................................................................................3
1.2 Hardware Specifications ...............................................................4
1.3 Features..........................................................................................5
1.4 Application .....................................................................................5
Hardware .................................................................................................6
2.1 Structure.........................................................................................6
2.2 Node ID & Baud Rate Rotary Switch ............................................7
2.3 LED Description.............................................................................8
2.4 PIN Assignment ...........................................................................10
2.5 Wire Connection .......................................................................... 11
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
4 Application ............................................................................................19
Appendix A: Dimension...............................................................................21
CAN-2057D User’s Manual (v1.00, July/2010)
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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-2057D follows DeviceNet specification Volume I/II, Release 2.0.
User can access the digital output status and set the configuration via
DeviceNet EDS file. The CAN-2057D has 16 Digital output channels with Open
Collector output type and can be used to develop powerful and cost effective
digital control system. By owing to the DeviceNet masters of ICP DAS, you can
quickly build a DeviceNet network to approach your requirements.
CAN-2057D User’s Manual (v1.00, July/2010)
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1.2 Hardware Specifications
Digital Output:
z Output Channels: 16 (Sink)
z Output Type: Open Collector.
z Max Load Current: 100 mA per channel.
z Load Voltage: +5 VDC ~ +30 VDC.
z Intra-module Isolation, Field to Logic: 3750 Vrms.
z ESD Protection: 4 kV Contact for each channel.
Others:
z DeviceNet Status: 3 LEDs for PWR / NET / MOD.
z Terminal Resister: 1 LED as terminator resister indicators
z
z
z
z
DO LED: 16 LEDs as digital output indicators.
Power Requirement: +10 ~ +30 VDC, 1.0 W.
Operating Temperature: -25 ~ 75 ℃.
Storage Temperature: -30 ~ 80 ℃.
z
z
Humidity: 10 to 90% RH, Non-condensing.
Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H) Detail.
CAN-2057D User’s Manual (v1.00, July/2010)
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1.3 Features
z
z
DeviceNet general I/O slave devices.
Comply with DeviceNet specification Volume I, Release 2.0 &
Volume II, Release 2.0, Errata 5
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.
z
NET, MOD and PWR DeviceNet status LED indictors
z
z
z
z
z
1.4 Application
CAN-2057D User’s Manual (v1.00, July/2010)
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2 Hardware
2.1 Structure
(Top View)
(Bottom View)
CAN-2057D User’s Manual (v1.00, July/2010)
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2.2 Node ID & Baud Rate Rotary Switch
The rotary switches of node ID configure the node ID of CAN-2057D
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.
The rotary switch for baud rate handles the CAN baud rate of CAN-2057D
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-2057D User’s Manual (v1.00, July/2010)
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2.3 LED Description
PWR LED
The CAN-2057D 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.
CAN-2057D User’s Manual (v1.00, July/2010)
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Terminal Resistor LED
When enable the 120Ω terminator resistor, the LED will turn on.
DO LED
If the DO LED turns on, it means that the corresponding DO
channel sends an ON voltage-level digital signal.
CAN-2057D User’s Manual (v1.00, July/2010)
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2.4 PIN Assignment
CAN-2057D User’s Manual (v1.00, July/2010)
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2.5 Wire Connection
CAN-2057D User’s Manual (v1.00, July/2010)
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3 DeviceNet Profile Area
This section documents the detailed functions for each object class that is
implemented in the CAN-2057D 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-2057D
Production Revision
1.1
DeviceNet Physical Conformance Data
Item
Description
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
CAN-2057D User’s Manual (v1.00, July/2010)
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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
0x200
4
Major. Minor of firmware
version
Get
Struct of
USINT
USINT
1.1
5
Status
Get
WORD
-
6
Serial number
Get
UDINT
1
7
Product name
Get
Short_String
CAN-2057D
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.
CAN-2057D User’s Manual (v1.00, July/2010)
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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
0x64
0x03
Poll Consumed
0x04
0x64
0x03
Bit Strobe Produced
0x04
0x64
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
CAN-2057D User’s Manual (v1.00, July/2010)
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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 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 ID
Instance ID
0x64
OUTPUT
Set DO value
INPUT
Get DO value
Contents of Each Assembly Object Instance
Instance
ID
0x64
Description
Type
Method
Default
Value
Channel 0 ~ 15 DO value
UINT
Get/Set
0x0000
CAN-2057D User’s Manual (v1.00, July/2010)
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Parameter description of Assembly Object Instance
Instance
ID
0x64
Data Range
0x0000 ~ 0xFFFF
Parameter Description
Bit 0 => channel 0 DO value
Bit 1 => channel 1 DO value
…
Bit 15 => channel 15 DO value
Note: x is channel number of module
Instance attribute (Instance ID=0x64)
Attribute ID
Description
Method
DeviceNet
Data Type
Value
0x03
Data
Get/Set
OUTPUT/
INPUT
Dependent on
instance ID
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
CAN-2057D User’s Manual (v1.00, July/2010)
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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-2057D
module.
Application Object1 defines digital output channels configuration.
Class attribute (Instance ID=0)
Attribute ID
Attribute
name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
0x02
Max Instance
UINT
Get
0x05
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance attribute (Instance ID=0x01)
Attribute
ID
Description
Method
Data Type
Default
Value
0x01
DO value
Get/Set
UINT
0x0000
0x02
DO power on value
Get/Set
UINT
0x0000
0x03
DO safe value mask
Get/Set
UINT
0x0000
0x04
DO safe value
Get/Set
UINT
0x0000
0x05
Save all Configuration to
EEPROM
Set
USINT
-
CAN-2057D User’s Manual (v1.00, July/2010)
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Parameter description of Application Object1 attributes
Attribute
ID
0x01
0x02
Data Range
Parameter Description
0x0000 ~ 0xFFFF
Bit 0 => channel 0 DO value
Bit 1 => channel 1 DO value
…
Bit 15 => channel 15 DO value
0x0000 ~ 0xFFFF
Bit 0 => channel 0 DO power on value
Bit 1 => channel 1 DO power on value
…
Bit 15 => channel 15 DO power on value
Bit 0 => channel 0 DO safe value mask
Bit 1 => channel 1 DO safe value mask
…
0x03
Bit 15 => channel 15 DO safe value
mask
0x0000 ~ 0xFFFF
Bit value=1 => apply safe value setting
Bit value=0 => apply DO output value
0x04
0x05
0x0000 ~ 0xFFFF
Bit 0 => channel 0 DO safe value
Bit 1 => channel 1 DO safe value
…
Bit 15 => channel 15 DO safe value
0x01: Use default configuration
0x02: Save all Configuration to
EEPROM
0x01: After restarting the device,
configuration will become factory
setting.
0x02: Save all channels configuration
into EEPROM
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
CAN-2057D User’s Manual (v1.00, July/2010)
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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:
Set DO output value.
(Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x01).
If the node ID of the CAN-2057D is 1, and the master (ID: 0x0A) has
completed “Explicit” connection with the device. By setting the value of
Attribute ID 0x01 to 0x00F0, you can set the DO4, DO5, DO6, and DO7 to turn
ON and others to turn OFF.
IDENTIFIER BITS
RTR
Destination MAC ID
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
1
0
0
0
8-byte Data (byte)
Data
Length
7
(HEX)
0
1
2
3
4
5
6
7
0A
10
64
01
01
00
F0
--
Slave
(CAN-2057D)
Master
IDENTIFIER BITS
RTR
Source MAC ID
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
0
1
1
0
8-byte Data (byte)
Data
Length
2
(HEX)
0
1
2
3
4
5
6
7
0A
90
--
--
--
--
--
--
Slave
(CAN-2057D)
Set the value 0x00F0 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 that the setting is OK. Then the DO4, DO5, DO6, and
DO7 will be turned ON and others are turned OFF.
Master
Via changing the Attribute ID of the Application Object, user can set other
parameters of this device.
CAN-2057D User’s Manual (v1.00, July/2010)
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Example2:
Get DO data (Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x01).
If the node ID of the CAN-2057D 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 ~ 15 of the DO data.
IDENTIFIER BITS
RTR
Destination MAC ID
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
1
0
0
0
8-byte Data (byte)
Data
Length
5
(HEX)
0
1
2
3
4
5
6
7
0A
0E
64
01
01
--
--
--
Slave
(CAN-2057D)
Master
IDENTIFIER BITS
RTR
Source MAC ID
10
9
8
7
6
5
4
3
2
1
0
1
0
0
0
0
0
0
1
0
1
1
0
8-byte Data (byte)
Data
Length
4
(HEX)
0
1
2
3
4
5
6
7
0A
8E
00
0F
--
--
--
--
Slave
(CAN-2057D)
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 DO data
(0x000F) at byte 2 and byte 3. The value 0x000F means that the status of DO3,
DO2, DO1 and DO0 are turned on and others are turned off.
Master
Via changing the Attribute ID of the Application Object1, user can get other
parameters of this device.
The attribute 0x02 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 0x03 and 0x04 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 0x03 to “1”, 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 0x04. When setting the
Attribute ID 0x03 to “0x1” and Attribute ID 0x04 to “0x1”, the channel 0 will turn
ON while the error occurs.
CAN-2057D User’s Manual (v1.00, July/2010)
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Appendix A: Dimension
CAN-2057D User’s Manual (v1.00, July/2010)
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