DeviceNet Slave Device CAN
DeviceNet Slave Device
CAN-2053D
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 © 2015 is reserved by ICP DAS.
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The brand name ICP DAS as a trademark is registered, and can be used
by other authorized companies.
CAN-2053D User’s Manual (v1.10, April/2015)
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Contents
1
2
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
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
4 Application ............................................................................................ 19
Appendix A: Dimension............................................................................... 20
CAN-2053D User’s Manual (v1.10, April/2015)
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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-2053D follows DeviceNet specification Volume I/II, Release 2.0.
User can access the digital output status and set the configuration via
DeviceNet EDS file. CAN-2053D has 16-channel isolated sink/source input
and it can be used 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-2053D User’s Manual (v1.10, April/2015)
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1.2 Hardware Specifications
Digital Input:
 Input Channels: 16 (Sink/Source)
 Input Type: 4 commons for all inputs.
 On Voltage Level: +3.5 ~ +30 VDC.
 Off Voltage Level: +1 VDC max.
 Input Impedance: 3 kΩ, 0.3 W
 Intra-module Isolation, Field to Logic: 3750 Vrms.
 ESD Protection: 4 kV Contact for each channel.
Others:
 DeviceNet Status: 3 LEDs for PWR / NET / MOD.
 Terminal Resister: 1 LED as terminator resister indicators
 DI LED: 16 LEDs as digital input indicators.
 Power Requirement: +10 ~ +30 VDC, 1.5 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, 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.
NET, MOD and PWR DeviceNet status led indictors
1.4 Application
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2 Hardware
2.1 Structure
(Top View)
(Bottom View)
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2.2 Node ID & Baud Rate Rotary Switch
The rotary switches of node ID configure the node ID of the CAN-2053D
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 the
CAN-2053D 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-2053D 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 120Ωterminator resistor, the LED will turn on.
DI LED
If the DI LED turns on, it means that the corresponding DI
channel receives 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-2053D 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-2053D
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
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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
0x100
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-2053D
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
0x64
0x03
Poll Consumed
0x64
0x01
0x02
Bit Strobe Produced
0x04
0x64
0x03
Bit Strobe Consumed
0x64
0x01
0x02
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
0x01
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance ID
Instance ID
0x64
OUTPUT
-
INPUT
Get DI value
Contents of Each Assembly Object Instance
Instance
ID
0x64
Description
Channel 0 ~ 15 DI value
Type
Method
Default
Value
UINT
Get
0x0000
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Parameter description of Assembly Object Instance
Instance
ID
0x64
Data Range
0x0000 ~ 0xFFFF
Parameter Description
Bit 0 => channel 0 DI value
Bit 1 => channel 1 DI value
…
Bit 15 => channel 15 DI value
Instance attribute (Instance ID=0x64)
Attribute ID
Description
Method
DeviceNet
Data Type
Value
0x03
Data
Get
INPUT
Dependent on
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-2053D
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
0x02
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
DI value
Get
UINT
0x0000
0x02
Save all Configuration to
EEPROM
Set
USINT
-
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Parameter description of Application Object1 attributes
Attribute
ID
0x01
0x02
Data Range
Parameter Description
Bit 0 => channel 0 DI value
Bit 1 => channel 1 DI value
…
Bit 15 => channel 15 DI value
0x0000 ~ 0xFFFF
0x01: Use default configuration
0x02: Save all Configuration to
EEPROM
0x01: After restarting the device, all
configurations 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
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4 Application
Application Object1 (Class ID:0x64) lists all the parameters of the module. By
using “Set/Get Attribute Single” service, you can read/write all the parameters.
Example1:
Get DI data (Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x01).
If the node ID of the CAN-2053D is 1, the master (ID: 0x0A) has completed
“Explicit” connection with the device. By owing to get the Attribute ID 0x01, you
can get the DI data of the channel 0 ~ channel 15.
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
01
--
--
--
Slave
(CAN-2053D)
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
4
0
1
2
3
4
5
6
7
0A
8E
0F
00
--
--
--
--
Slave
(CAN-2053D)
Get Application Object1 with Instance ID 0x01 and Attribute ID 0x01.
After sending the “Get Attribute Single”, the slave device will respond the DI data
(0x000F) at byte 2 and byte 3. The data 0x000F means that the DI channels of
DI3, DI2, DI1 and DI0 are turn on and others are turn off.
Master
Through changing the Attribute ID of the Application Object1, you can get
other parameters of this device.
CAN-2053D User’s Manual (v1.10, April/2015)
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Appendix A: Dimension
CAN-2053D User’s Manual (v1.10, April/2015)
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