ICP DAS USA | CAN-2088C | User manual | ICP DAS USA CAN-2088C User Manual

ICP DAS USA CAN-2088C User Manual
CANopen Slave Device
CAN-2088C
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 © 2009 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-2088C user’s manual (Revision 1.00, Mar/15/2010) ------
1
Contents
1
2
3
Introduction.............................................................................................3
1.1 Overview.........................................................................................3
1.2 Hardware Specifications ...............................................................4
1.3 Features..........................................................................................5
1.4 Application .....................................................................................6
Hardware .................................................................................................7
2.1 Structure.........................................................................................7
2.2 Node ID & Baud Rate Rotary Switch ............................................8
2.3 LED Description.............................................................................9
2.4 PIN Assignment ...........................................................................10
2.5 Wire Connection .......................................................................... 11
Application ............................................................................................12
3.1 Object Dictionary .........................................................................12
3.2 Store and Restore Object............................................................19
3.3 Application Object .......................................................................20
3.4 Default PDO Mapping ..................................................................23
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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-2088C is a CANopen
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.
Figure 1-1
CAN-2088C
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1.2 Hardware Specifications
PWM Output:
z Output Channels: 8 (Source)
z Scaling Resolution: 16-bit (1 ~ 128 µs for each step).
z Frequency Range: 0.2 Hz ~ 500 kHz (non-continuous, and the min.
unit of the high/low level of the signal is 1 us).
z Duty Cycle: 0.1% ~ 99.9%.
z PWM Mode: Burst Counting, Continuous mode.
z Burst Counter: 1 ~ 65535.
z Trigger Mode: Hardware or software trigger.
z Hardware Trigger Mode: Trigger start & trigger stop.
z Max Load Current: 1 mA.
z Intra-module Isolation, Field to Logic: 2500 Vrms.
z ESD Protection: 4 kV Contact for each channel.
Digital Input:
z Input Channels: 8 (Sink).
z Input Type: One common for all digital input.
z On Voltage Level: +5.5 ~ +30 V.
z Off Voltage Level: <+3.5 V.
z Counter Frequency: 500 kHz Max.
z Max. Counts: 32-bit (0 ~ 4294967295)
z
z
z
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:
z LED: 1 as power indicator, 1 as terminator resistor, 2 as CANopen
status, 8 as PWM and 8 as DI indicator.
z Power Requirement: +10 ~ +30 VDC, 3.5 W.
z Operating Temperature: -25 ~ +75 ℃.
z 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.
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1.3 Features
z
z
z
z
z
z
z
z
z
Standard CANopen general I/O slave devices.
Provide EDS file for 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.
Support acceleration and deceleration with 0.1 pulse per ms.
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.
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1.4 Application
z
z
z
z
Controlling the position/speed of motors
Dimming the brightness of lamps
Controlling the speed of fans
High speed counter
Figure 1-2
Application Structure
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2 Hardware
2.1 Structure
(Top View)
(Bottom View)
Figure 2-1 CAN-2088C layout of LED, connect, and switch
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2.2 Node ID & Baud Rate Rotary Switch
The rotary switches for node ID configure the node ID of CAN-2000C
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.
Figure 2-2
Node ID rotary switch
The rotary switch for baud rate handles the CAN baud rate of CAN-2000C
module. The relationship between the rotary switch value and the practical
baud rate is presented in the following table.
Figure 2-3
Baud rate rotary switch
Rotary Switch Value
Baud rate (k BPS)
0
10
1
20
2
50
3
125
4
250
5
500
6
800
7
1000
Table 2-1
Baud rate and rotary switch
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2.3 LED Description
Power LED
The CAN-2088C needs 10 to 30 VDC power supplies. 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.
Run LED
The Run LED indicates the CANopen operation state. The
description of LED state is show below. About the detail, please refer
to the section 2.3.1 of the CAN-2000C user manual.
LED Signal
State
Description
No Light
Non-operation
Power Supply not ready
Single Flash
Stopped
The device is in Stopped state
Blinking
Pre-operation
Device is in pre-operational state
Continuing Light
Operation
Device is in operational state
Table 2-2
Run LED state description
Error LED
The Error LED indicates the CANopen error state. The
description of LED state is show below. About the detail please refer
to the section 2.3.2 of the CAN-2000C user manual.
LED Signal
State
Description
No Light
No error
Device is in working condition.
Single Flash
Error Warning
At least one error of the CAN
controller has occurred.
Double Flash
Guarding fail.
Guard event happened.
Continuing Light
Bus Off
The CAN controller is bus off.
Table 2-3
Err LED state description
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
Figure 2-4
CAN-2088C pin assignment
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2.5 Wire Connection
Figure 2-5
CAN-2088C Wire connection
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3 Application
3.1 Object Dictionary
General Communication Entries
Idx
Sidx
Description
Type
Attr
Default
1000h
0h device type
UNSIGNED 32
RO
00200191h
1001h
0h error register
UNSIGNED 8
RO
0h
1003h
0h largest sub-index supported for UNSIGNED 8
RO
0h
UNSIGNED 32
RO
---
...
...
---
5h actual error (the oldest one)
UNSIGNED 32
RO
---
1005h
0h COB-ID of Sync message
UNSIGNED 32
RW
80h
1008h
0h manufacturer device name
VISIBLE_STRING
RO
CAN-2088
1009h
0h manufacturer hardware version
VISIBLE_STRING
RO
02
100Ah
0h manufacturer software version
VISIBLE_STRING
RO 1.00-20090831
100Ch
0h guard time
UNSIGNED 16
RW
0h
100Dh
0h life time factor
UNSIGNED 8
RW
0h
1010h
0h largest sub-index supported for UNSIGNED 8
RO
1h
“predefine error field”
1h actual error (the newest one)
...
...
“store parameters”
1010h
1h save all hardware parameter
UNSIGNED 32
RW
---
1011h
0h largest sub-index supported for UNSIGNED 8
RO
1h
“restore default parameters”
1011h
1h restore all default parameters
UNSIGNED 32
RW
---
1014h
0h COB-ID of EMCY
UNSIGNED 32
RW
80h+x
1017h
0h producer heartbeat time
UNSIGNED 16
RW
0
1018h
0h largest sub-index supported for UNSIGNED 8
RO
4
“identity object”
1h vender ID
UNSIGNED 32
RO
---
2h product code
UNSIGNED 32
RO
---
3h revision number
UNSIGNED 32
RO
---
4h serial number
UNSIGNED 32
RO
---
Table 3-1
General object dictionary
Note: x is Node-ID of the module
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SDO Communication Entries
Idx
Sidx
Description
Type
Attr
Default
1200h
0h
largest sub-index supported for
“server SDO parameter”
UNSIGNED 8
RO
2
1h
COB-ID form client to server UNSIGNED 32
(RxSDO)
RO 600h+x
2h
COB-ID form server to client UNSIGNED 32
(TxSDO)
RO 580h+x
Table 3-2
SDO communication object dictionary
Note: x is Node-ID of the module
Type Code
Idx
Sidx
2004h
0h
1h
Description
Type
Attr
Default
Number of entries
UNSIGNED 8
RO
8
PWM mode for channel 0
UNSIGNED 8
RW
1
---
---
---
UNSIGNED 8
RW
1
---
---
8h
PWM mode for channel 7
Type Code
Parameter Description
0
Burst Counting Mode
1 (default)
Continue Mode
Table 3-3
CAN-2088C type object dictionary
Counter Input Function
Idx
Sidx
Description
3000h
0h
Number of entries
UNSIGNED 8
RO
8
1h
High speed counter with ch0
UNSIGNED 32
RO
0
---
---
---
--3002h
---
Attr Default
8h
High speed counter with ch7
UNSIGNED 32
RO
0
0h
Number of entries
UNSIGNED 8
RO
8
1h
Clear counter with ch0
UNSIGNED 8
WO
0
---
---
---
UNSIGNED 8
WO
0
--8h
Object
Type
--Clear counter with ch7
Range
Parameter Description
3000h
UNSIGNED 32
Read counter of DI channel.
3002h
0x01: clear counter
Clear the counter of DI channel.
Table 3-4
Counter application object dictionary
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PWM Output Function
Idx
Sidx
Description
3100h
0h
Number of entries
UNSIGNED 8
RO
8
1h
Start to output pulse with ch0
UNSIGNED 8
RW
0
---
---
---
--3101h
3102h
3103h
3104h
3105h
3106h
3110h
3111h
---
Type
Attr Default
8h
Start to output pulse with ch7
UNSIGNED 8
RW
0
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set burst counting with ch0
UNSIGNED 16 RW
0
---
---
8h
Set burst counting with ch7
UNSIGNED 16 RW
0
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set output frequency with ch0
UNSIGNED 32 RW
2
---
---
8h
Set output frequency with ch7
UNSIGNED 32 RW
2
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set pulse duty with ch0
UNSIGNED 16 RW
---
---
8h
Set pulse duty with ch7
UNSIGNED 16 RW
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set hardware trig with ch0
UNSIGNED 8
RW
0
---
---
---
---
---
8h
Set DI to hardware trig with ch7
UNSIGNED 8
RW
0
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set sync channel with ch0
UNSIGNED 8
RW
0
---
---
---
---
---
8h
Set sync channel with ch7
UNSIGNED 8
RW
0
0h
Number of entries
UNSIGNED 8
RO
1
1h
Start sync pulse with the
channel of enabled sync setting
UNSIGNED 8
RW
0
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set deceleration with ch0
UNSIGNED 16 RW
0
---
---
8h
Set deceleration with ch7
UNSIGNED 16 RW
0
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set acceleration with ch0
UNSIGNED 16 RW
0
---
---
---
---
---
---
---
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---
---
---
---
---
---
500
--500
---
--14
3112h
Object
8h
Set acceleration with ch7
UNSIGNED 16 RW
0
0h
Number of entries
UNSIGNED 8
RO
8
1h
Set channel group with ch0
UNSIGNED 8
RW
0
---
---
---
---
---
8h
Set channel group with ch7
UNSIGNED 8
RW
0
Range
Parameter Description
3100h
0x00: stop output
0x01: start output
0x80: stop with
deceleration
0x81: start with
acceleration
Start or stop to output pulse. If the deceleration
or acceleration is 0, the 0x80 is equal to 0x00
and 0x81 is equal to 0x01.
3101h
1 ~ 65535
The object is only for Burst counting mode.
3102h
2 ~ 5000000
(0.2 Hz ~ 500 kHz)
The frequency range is non-continuous.
3103h
1 ~ 999
(1‰ ~ 999‰)
The object is high duty mille.
low duty mille = (1000 – high duty) ‰
3104h
0: disable
1: start trig
2: stop trig
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.
3105h
0: disable sync
1: enable sync
Set the PO channel with sync output.
3106h
0: stop sync output
1: start sync output
If PO ch0, ch2, and ch5 are enabled sync
output. These tree channels will output at the
same time when 3106h object is set to 1.
3110h
0 ~ 65535
0.1 Hz/ms
(deceleration)
When user set object 0x3100 with 0x80 and if
the object 0x3110 is not equal to 0, the
frequency of output pulse will decreased with
deceleration until 0.
3111h
0 ~ 65535
0.1 Hz/ms
(acceleration)
When user set object 0x3100 with 0x81 and if
the object 0x3111 is not equal to 0, the
frequency of output pulse will increased with
acceleration until the setting of object 0x3102.
3112h
0: none group
1: group channel
Per group has two PO channels, and only one
channel can output pulse at the same time.
The group setting is that, ch0-ch1, ch2-ch3,
and so on. So no matter ch0 or ch1 is set to 1
(not for sync output
CAN-2088C user’s manual (Revision 1.00, Mar/15/2010) ------
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in group 1, the object of another channel will
also be set to 1.
and hardware trig)
Table 3-5
PWM application object dictionary
Digital Input Function
Idx
Sidx
6000h
0h
Number of entries
UNSIGNED 8
RO
1
1h
DI value of ch0 ~ ch7
UNSIGNED 8
RO
0
Table 3-6
Description
Type
Attr Default
DI application object dictionary
RxPDO Communication Entry
Idx
Sidx
1400h
0h
1401h
1402h
1403h
1404h
Description
Type
Attr
Default
Number of entries
UNSIGNED 8
RO
2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
200h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
0h
Number of entries
UNSIGNED 8
RO
2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
300h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
0h
Number of entries
UNSIGNED 8
RO
2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
400h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
0h
Number of entries
UNSIGNED 8
RO
2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
500h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
0h
Number of entries
UNSIGNED 8
RO
2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
8000 0000h
2h
Transmission type
UNSIGNED 8
RW
---
…
…
…
…
…
…
1409h
0h
Number of entries
UNSIGNED 8
RO
2
1h
COB-ID used by RxPDO
UNSIGNED 32
RW
8000 0000h
2h
Transmission type
UNSIGNED 8
RW
---
Table 3-7
RxPDO communication object dictionary
Note: x is Node-ID of the module
RxPDO Mapping Communication Entry
Idx
Sidx
1600h
0h
Description
Number of entries
Type
Attr
Default
UNSIGNED 8
RW
8
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1h
PWM channel 0
..
…
UNSIGNED 32
RW
3100 0108h
…
…
…
8h
PWM channel 7
UNSIGNED 32
RW
3100 0808h
1601h
0h
Number of entries
UNSIGNED 8
RW
0
1602h
0h
Number of entries
UNSIGNED 8
RW
0
1603h
0h
Number of entries
UNSIGNED 8
RW
0
1604h
0h
Number of entries
UNSIGNED 8
RW
8
1h
Clear counter channel 0
UNSIGNED 32
RW
3002 0108h
…
…
…
..
…
8h
Clear counter channel 7
UNSIGNED 32
RW
3002 0808h
1605h
0h
Number of entries
UNSIGNED 8
RW
0
…
…
…
…
…
…
1609h
0h
Number of entries
UNSIGNED 8
RW
0
Type
Attr
Default
Table 3-8
RxPDO mapping object dictionary
TxPDO Communication Entry
Idx
Sidx
1800h
0h
Number of entries
UNSIGNED 8
RO
5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
180h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
4h
reversed
5h
Event timer
UNSIGNED 16
0h
Number of entries
UNSIGNED 8
RO
5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
280h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
4h
reversed
5h
Event timer
UNSIGNED 16
0h
Number of entries
UNSIGNED 8
RO
5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
380h+x
2h
Transmission type
UNSIGNED 8
RW
FFh
3h
Inhibit time
UNSIGNED 16
4h
reversed
5h
Event timer
UNSIGNED 16
0h
Number of entries
UNSIGNED 8
RO
5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
480h+x
1801h
1802h
1803h
Description
0
---
---
--0
0
---
---
--0
0
---
---
--0
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1804h
2h
Transmission type
UNSIGNED 8
3h
Inhibit time
UNSIGNED 16
4h
reversed
5h
Event timer
UNSIGNED 16
0h
Number of entries
UNSIGNED 8
RO
5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
8000 0000h
2h
Transmission type
UNSIGNED 8
RW
---
3h
Inhibit time
UNSIGNED 16
4h
reversed
5h
Event timer
…
…
1809h
0h
RW
0
---
---
--0
0
---
---
--0
UNSIGNED 16
…
FFh
…
…
…
Number of entries
UNSIGNED 8
RO
5
1h
COB-ID used by TxPDO
UNSIGNED 32
RW
8000 0000h
2h
Transmission type
UNSIGNED 8
RW
---
3h
Inhibit time
UNSIGNED 16
4h
reversed
5h
Event timer
0
---
---
--0
UNSIGNED 16
Table 3-9
TxPDO communication object dictionary
Note: x is Node-ID of the module
TxPDO Mapping Communication Entry
Idx
Sidx
1A00h
0h
1A01h
1A02h
1A03h
1A04h
1A05h
Description
Type
Attr
Default
Number of entries
UNSIGNED 8
RO
1
1h
DI channel 0 ~ 7
UNSIGNED 32
RW
6000 0108h
0h
Number of entries
UNSIGNED 8
RO
2
1h
DI counter channel 0
UNSIGNED 32
RW
3000 0108h
2h
DI counter channel 1
UNSIGNED 32
RW
3000 0208h
0h
Number of entries
UNSIGNED 8
RO
0
1h
DI counter channel 2
UNSIGNED 32
RW
3000 0308h
2h
DI counter channel 3
UNSIGNED 32
RW
3000 0408h
0h
Number of entries
UNSIGNED 8
RO
0
1h
DI counter channel 4
UNSIGNED 32
RW
3000 0508h
2h
DI counter channel 5
UNSIGNED 32
RW
3000 0608h
0h
Number of entries
UNSIGNED 8
RO
0
1h
DI counter channel 6
UNSIGNED 32
RW
3000 0708h
2h
DI counter channel 7
UNSIGNED 32
RW
3000 0808h
0h
Number of entries
UNSIGNED 8
RO
0
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…
…
1A09h
0h
…
Number of entries
Table 3-10
3.2
…
…
…
UNSIGNED 8
RO
0
RxPDO mapping object dictionary
Store and Restore Object
User can write the value 0x65766173 to object index 0x1010 subindex 1
to save application setting, or write the value 0x64616F6C to object index
0x1011 subindex 1 and reboot the module to load the factory default. The
following table lists the relative objects which will be stored or restored after
writing these two commands. The factory default for these object is also be
shown.
Index
Sub
Index
Description
Factory
Default
2004 h
1~8
PWM mode for channel 1 ~ channel 8
1
3101 h
1~8
Start to output pulse with channel 0 ~ channel 7
0
3102 h
1~8
Set burst counting with channel 0 ~ channel 7
0
3103 h
1~8
Set output frequency with channel 0 ~ channel 7
2
3104 h
1~8
Set pulse duty with channel 0 ~ channel 7
500
3105 h
1~8
Set hardware trig with channel 0 ~ channel 7
0
3110 h
1~8
Set sync channel with channel 0 ~ channel 7
0
3111 h
1~8
Set deceleration with channel 0 ~ channel 7
0
3112 h
1~8
Set acceleration with channel 0 ~ channel 7
0
Table 3-11
Store and Restore the object list
CAN-2088C user’s manual (Revision 1.00, Mar/15/2010) ------
19
3.3 Application Object
User can read the object index 0x3000 subindex 1 ~ 8 to get the counter
of 1 ~ 8 channel, and the range of counter value is 0 ~ 4294967295. If user
wants to clear the counter, user can write 1 to the object index 0x3002
subindex 1 ~ 8 and the counter value of the channel will be clear to 0.
Because the 4 default TxPDO objects of CANopen communication isn’t
enough to map counter object. The counter channel 6 and 7 will be mapping in
the 5th TxPDO object, 0x1A04. So when user wants to use the counter channel
6 and 7 with PDO protocol, user must to set the new PDO COBID in index
0x1804 subindex 1 for this object. For example, if the node id of CAN-2088C is
1, like below:
11-bit COB-ID (bit)
Func Code
RTR
Node ID
10
9
8
7
6
5
4
3
2
1
0
1
1
0
0
0
0
0
0
0
0
1
0
8-byte Data (byte)
Data
Length
8
0
1
2
3
4
5
6
7
23
04
18
01
33
03
00
00
SDO server
(CAN-2088C)
SDO client
11-bit COB-ID (bit)
Func Code
RTR
Node ID
10
9
8
7
6
5
4
3
2
1
0
1
0
1
1
0
0
0
0
0
0
1
0
8-byte Data (byte)
Data
Length
4
0
1
2
3
4
5
6
7
60
04
18
01
--
--
--
--
SDO server
(CAN-2000C)
Write object index 0x1804 and subindex 1 to 0x333 means set the new COBID
0x333 to 5th TxPDO. To do this, the counter channel 6 and 7 will be mapping in
the new PDO COBID 0x333. So user can use 0x333 COBID to remote the
counter channel 6 and 7 data.
SDO client
The “Clear Counter” object had mapping in 5th RxPDO, 0x1604. So when
user wants to use the clear counter object with PDO protocol, user must to set
the new PDO COBID in index 0x1404 subindex 1 for this object. For example,
if the node id of CAN-2088C is 1, like below:
CAN-2088C user’s manual (Revision 1.00, Mar/15/2010) ------
20
11-bit COB-ID (bit)
Func Code
RTR
Node ID
10
9
8
7
6
5
4
3
2
1
0
1
1
0
0
0
0
0
0
0
0
1
0
8-byte Data (byte)
Data
Length
8
0
1
2
3
4
5
6
7
23
04
14
01
22
02
00
00
SDO server
(CAN-2088C)
SDO client
11-bit COB-ID (bit)
Func Code
RTR
Node ID
10
9
8
7
6
5
4
3
2
1
0
1
0
1
1
0
0
0
0
0
0
1
0
8-byte Data (byte)
Data
Length
4
0
1
2
3
4
5
6
7
60
04
14
01
--
--
--
--
SDO server
(CAN-2000C)
Write object index 0x1404 and subindex 1 to 0x222 means set the new COBID
0x222 to 5th RxPDO. To do this, the clear counter function will be mapping in the
new PDO COBID 0x222. So user can write 1 for byte 0 ~ 7 to the counter
channel 0 ~ 7 to clear counter data.
SDO client
The object index 0x3100 can control the module to start or stop the pulse
output of each channel. Each sub-index is corresponding to each channel.
Users can use object index 0x2004 to decide the PWM method of each slot. If
users select Burst Counting mode, the object index 0x3101 must be set to
decide how many pulse users want to output. Users can set 1 ~ 65535 to the
object 0x3101 and use object 0x3100 to start or stop the pulse output. Every
time when set the object 0x3100 to 1, the channel will output the specific
pulses with one burst cyclic. For example, user set channel 0 to Burst Counting
mode and set object index 0x3101 with sub-index 1 to 100. When user set the
object 0x3100 with sub-index 1 to 1, the channel 0 will output 100 pulses. Or if
users select Continue Counting mode, the object 0x3101 will useless. When
users set the object 0x3100 to 1, the channel will start to output the pulse
cyclically until the object is set to 0. Or when user set the object 0x3100 to
0x81, the channel will start output with acceleration and set to 0x80 will stop
with deceleration. If you want to change the frequency of pulse, you can set
the value 2 ~ 5000000 with the base 0.1Hz (that is 0.2 Hz ~ 500 kHz) to object
0x3102.
Object index 0x3103 is pulse duty per mille (‰). If set the object to value
300, it means that the high duty is 300‰ and the low duty is 700‰ in one pulse
width. The object 0x3104 can set the DI pin of the PWM module as hardware
trigger channel. When set the value of object 0x3104 with sub-index 2 to 1, it
CAN-2088C user’s manual (Revision 1.00, Mar/15/2010) ------
21
means the DI channel 2 will loss the DI functions and become a hardware
trigger pin. In this case, if the value of DI channel 2 is changed, the channel 2
will start to output until the signal is clear.
Object 0x3105 and 0x3106 can control all of the channels of the PWM
module to output synchronous. If user wish channel 0 ~ 3 of the PWM module
output the pulse synchronously. Set the object 0x3105 with sub-index 1 ~ 4 to
1, and set the others to 0. Then, set the object 0x3106 with sub-index 1 to 1.
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). Take a note that the
sub-index of the object 0x3106 only has one.
Object 0x3110 is deceleration object and 0x3111 is acceleration object.
For example, if user set object 0x3111 to 100, object 0x3102 to 10000, and
then set object 0x3100 to 0x81 (not set to 0x01). The channel will start output
pulse from 0 Hz to 1000 Hz with acceleration of 10 Hz per million second.
When user set object 0x3110 to 100 and set 0x3100 to 0x80 (not set to 0). The
channel will start output pulse from 1000 Hz to 0 Hz with deceleration of 10 Hz
per million second. If the value of object 0x3110 is 0, the command, 0x80, is
equal to 0x00 for object 0x3100, and if the value of object 0x3111 is 0, the
command, 0x81, is equal to 0x01 for object 0x3100.
Object 0x3112 can group the PWM channel. Per group has two channels,
and only one of these two channels can output at the same time. The group
setting is below, ch0-ch1, ch2-ch3, ch4-ch5, and ch6-ch7. So if set the object
0x3112 with sub-index 1 to 1, the object 0x3112 with sub-index 2 will be set to
1 automatically. Or If set the object 0x3112 with sub-index 2 to 1, the object
0x3112 with sub-index 1 will be set to 1 automatically, too.
CAN-2088C user’s manual (Revision 1.00, Mar/15/2010) ------
22
3.4 Default PDO Mapping
RxPDO mapping list:
ID
Len
D0
D1
D2
D3
D4
D5
D6
D7
200h + x
8
PO 0
PO 1
PO 2
PO 3
PO 4
PO 5
PO 6
PO 7
D5
D6
D7
Table 3-12 Default RxPDO list
Note: Clear counter function is not default mapping.
TxPDO mapping list:
ID
Len
D0
D1
D2
D3
D4
180h + x
1
DI 0 ~ 7
280h + x
8
DI Counter 0
DI Counter 1
380h + x
8
DI Counter 2
DI Counter 3
480h + x
8
DI Counter 4
DI Counter 5
Table 3-13 Default TxPDO list
Note: DI Counter 6 and 7 are not default mapping.
Note: x is Node-ID of the module
CAN-2088C user’s manual (Revision 1.00, Mar/15/2010) ------
23
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