ICP DAS USA CAN-2017D User manual

ICP DAS USA CAN-2017D User manual
DeviceNet Slave Device
CAN-2017D
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.
Trademark
The brand name ICP DAS as a trademark is registered, and can be used by other
authorized companies.
CAN-2017D user’s manual (Revision 1.1, Apr/2015)
1
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
3
2.5 Wire Connection .............................................................................. 10
2.6 Internal I/O Structure ....................................................................... 11
DeviceNet Profile Area .............................................................................. 12
4
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) .................................................. 20
Application ............................................................................................... 21
Appendix A: Dimension .................................................................................... 24
Appendix B: Type Code Definition ..................................................................... 25
CAN-2017D user’s manual (Revision 1.1, Apr/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 embedded network system, such as industrial machine control ,
vehicle control system, factory automation, medical equipments control, remote
data acquisition, environmental monitoring, and packaging machines control, etc.
The CAN-2017D follows DeviceNet specification Volume I/II, Release 2.0. Users
can obtain the analog input data and configure the module via standard DeviceNet
protocol. To build a connection between DeviceNet master and the CAN-2017D is no
more a tough project. The DeviceNet EDS file would help user to achieve this
purpose quickly and easily. The CAN-2017D module has 8 analog input channels for
measuring voltage and current values. It can be fit to various applications. By using
the DeviceNet masters of ICP DAS, users can simply build a DeviceNet network for
their requirements.
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1.2 Hardware Specifications
Analog Input:
 Input Channels: 8
 Input Type: ±10V, ±5V, ±1V, ±500mV, ±150mV, -20mA ~ +20mA (External
125Ω Resistor is Required)
 Resolution: 16-bit
 Accuracy: ±0.1% FSR
 Sampling Rate: 10 Samples/ sec (Total)
 Zero Drift: ±10μV/ °C



Span Drift: ±25 ppm/ °C
Common Mode Rejection: 86 dB
Normal Mode Rejection: 100 dB





Input Impedance: >2 MΩ
Over-voltage Protection: 240 Vrms
Individual Channel Configuration: Yes
Intra-module Isolation, Field to Logic: 3000 VDC
ESD Protection: ±4 kV Contact for each terminal.
Others:
 Power LED: PWR (red)










DeviceNet Status LED: NET/MOD, green/orange
8 LEDs as Upper Limit Alarm Indicators
8 LEDs as Lower Limit Alarm Indicators
Power Supply: Unregulated +10 ~ +30 VDC.
Power Consumption: 2 W.
Operating Temperature: -25 ~ +75 °C.
Storage Temperature: -30 ~ +80 °C.
Humidity: 10 to 90% RH, Non-condensing.
Dimensions: 33 mm x 99 mm x 78 mm (W x L x H) .
Switch for 120 Ω terminator resistor
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1.3 Features

DeviceNet general I/O slave device

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

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 LED indictors

Baud Rate: 125k, 250k, 500k, selected by rotary switch.
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 for node ID configure the MAC ID of the CAN-2017D module.
These two switches are for the tens digit and the units digit of MAC ID. The node ID
value of this demo picture is 32.
Node ID rotary switch
The rotary switch for baud rate configuration handles the CAN baud rate of the
CAN-2017D 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 (k BPS)
0
125
1
250
2
500
Baud rate and rotary switch
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2.3 LED Description
Power LED
The CAN-2017D needs a 10 ~ 30 VDC power supply. Under a normal connection,
a good power supply and a correct voltage selection, as the unit is turned on, the LED
will be lighted up in red.
NET LED
The NET LED indicates the current status of the DeviceNet communication link.
.Conditio
n
Status
Indicates
Init Off
Offline
Device is not online
Off
Connection timeout
I/O connection timeout
Flashing
Online
Device is online, 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
Online,
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.
Terminal Resistor LED
When the switch of the 120Ω terminator resistor is turned on, the terminal
resistor LED will be lightening.
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Upper/Lower Limit Alarm LED
When the alarm trigger enable (Class ID: 0x64, Attribute ID: 0x04), trigger type
(Class ID: 0x64, Attribute ID: 0x05) and upper/lower limit (Class ID: 0x64, Attribute ID:
0x06/0x07) had been setting and the analog voltage/current input has been over the
upper limit or below lower limit, the upper/lower limit alarm LED will be turn on.
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2.4 PIN Assignment
CAN-2017D 20-pin Connector
CAN-2017D CAN bus side Connector
2.5 Wire Connection
Note: When connecting to a current source, an external 125Ω resistor is required.
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2.6 Internal I/O Structure
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3 DeviceNet Profile Area
This section describes the detail functions for each object class that is
implemented in the CAN-2017D DeviceNet net work.
3.1 DeviceNet Statement of Compliance
General Device Data
Device Information
Description
Version Description of DeviceNet
Volume I, Release 2.0 &
Specification
Volume II, Release 2.0
Vendor Name
ICP DAS
Device Profile Name
CAN-2017D
Production Revision
1.1
DeviceNet Physical Conformance Data
Item
Description
MAC ID Setting
Switch ( 0 ~ 63 )
Communication Baud Rate Setting
Switch ( 125k, 250k, 500k )
Default Baud Rate
125kbps
Predefined Master/Slave Connection Set
Group 2 Only Server
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3.2 Identity Object (Class ID: 0x01)
This Object provides the identification 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
Attribute Name
Support
0x0E
Get_Attribute_Single
Yes
Instance Attribute (Instance ID=1)
Attribute ID
Description
Method
Data Type
Value
0x01
Revision
Get
UINT
803
0x02
Product type
Get
UINT
0x00
0x03
Product code
Get
UINT
0x301
0x04
Major. Minor of
firmware version
Get
Struct of
USINT
1.1
USINT
0x05
Status
Get
WORD
-
0x06
Serial number
Get
UDINT
1
0x07
Product name
Get
Short_String
CAN-2017D
0x0A
Heartbeat Interval
Get/Set
USINT
0(default)
Instance Service
Service Code
Attribute 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 following description is the default IO connection path.
Connection Path
Class ID
Instance ID
Attribute ID
Poll Produced
0x04
0x64
0x03
Poll Consumed
0x65
0x01
0x01
Bit Strobe Produced
0x04
0x64
0x03
Bit Strobe Consumed
0x65
0x01
0x01
Connection
Instance ID
0x01
References the Explicit Messaging Connection into the Server.
0x02
References the Poll I/O Connection.
0x03
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 sending/
receiving the data from/to each object 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
0001
0x02
Max Instance
UINT
Get
0x08
Class Service
Service Code
Attribute Name
Support
0x0E
Get_Attribute_Single
Yes
Instance ID
Instance ID
0x64
0x65
0x66
OUTPUT
INPUT
Get Channel 0~7 AI value
Set Channel 0~7 AI type code
Get Channel 0~7 AI type code
Set Channel 0~7 AI Trigger
Get Channel 0~7 AI Trigger
Enable
Enable
0x67
Set Channel 0~7 AI Trigger
Get Channel 0~7 AI Trigger Type
Type Code
Code
0x68
Set Channel 0~7 AI Trigger
Get Channel 0~7 AI Trigger
upper limit
upper limit
0x69
Set Channel 0~7 AI Trigger
Get Channel 0~7 AI Trigger
lower limit
lower limit
0x6A
Get Channel 0~7 AI Trigger
status
0x6B
Set Channel 0~7 AI Offset
Get Channel 0~7 AI Offset
Note: About the definition of the type codes, please refer to appendix B for details.
Contents of Each Assembly Object Instance
Instance ID
0x64
0x65
Description
Channel 0~7 AI
Values
Channel 0~7 AI
Type Codes
Type
short
Method
Get
Default Value
0x0000
unsigned char
Get/Set
0x08
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0x66
0x67
0x68
0x69
0x6A
0x6B
Channel 0~7 AI
Trigger Enable
Channel 0~7 AI
Trigger Type
Channel 0~7 AI
Upper Limit
Channel 0~7 AI
Lower Limit
Channel 0~7 Al
Trigger Status
Channel 0~7 AI
Offset
unsigned char
Get/Set
0x00
unsigned char
Get/Set
0x00
short
Get/Set
0x7FFF
short
Get/Set
0x8000
unsigned char
Get
0x00
short
Get/Set
0x0000
Parameter description of Assembly Object Instance
Instance
ID
0x64
0x65
0x66
0x67
Data Range
Parameter Description
Refer to appendix B for the
corresponding input values.
Refer to appendix B for the Type
Codes definition.
0x00: disable trigger alarm.
0x01: enable trigger alarm.
Trigger Type:
Channel 0~7 AI Values.
Bit no.
Status
7 ~ 2
Reserved
1
lower
level
trigger
Channel 0~7 AI Type Codes.
Channel 0~7 AI Trigger Enable.
0
upper
level
trigger
0x68
0x0000~0xFFFF
Refer to the Appendix B for the range
of the value.
0x69
0x0000~0xFFFF
Refer to the Appendix B for the range
of the value.
0x6A
Trigger Status:
Bit no.
Status
0x6B
7 ~ 2
Reserved
1
lower
level
trigger
0
upper
level
trigger
0x0000~0xFFFF
Refer to the Appendix B for the range
of the value.
Channel 0~7 AI Trigger Type.
Please refer to the table in the
left hand for configuration of
the trigger type.
Channel 0~7 AI Upper Limit
value.
0x0000 ~ 0x7FFF => 0 ~ +32767
0xFFFF ~ 0x8000 => -1 ~ -32768
Channel 0~7 AI Lower Limit
value.
0x0000 ~ 0x7FFF => 0 ~ +32767
0xFFFF ~ 0x8000 => -1 ~ -32768
Channel 0~7 AI Trigger Status.
Please refer to the table in the
left hand for configuration of
the trigger type.
Channel 0~7 AI offset value.
0x0000 ~ 0x7FFF => 0 ~ +32767
0xFFFF ~ 0x8000 => -1 ~ -32768
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Instance Attribute (Instance ID=0x64~0x6A)
Attribute ID
Description
Method
DeviceNet Data
Type
Value
0x03
Data
Get/Set
OUTPUT/INPUT
Dependent on
instance ID.
Instance Service
Service Code
Attribute 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 the DeviceNet protocol. A
DeviceNet device accesses application data by invoking read and write functions.
These functions need to be provided by an Application Object. The DeviceNet
protocol provides Get_Attribute_Single and Set_Attribute_Single to read and write
the single AI channel configuration of the CAN-2017D module.
Class Attribute (Instance ID=0)
Attribute ID
Attribute Name
Data Type
Method
Value
0x01
Revision
UINT
Get
0001
0x02
Max Instance
UINT
Get
0x08
Class Service
Service Code
Attribute Name
Support
0x0E
Get_Attribute_Single
Yes
Instance ID
Instance ID
Description
0x01
For accessing channel 0 AI configuration
0x02
For accessing channel 1 AI configuration
0x03
For accessing channel 2 AI configuration
0x04
For accessing channel 3 AI configuration
0x05
For accessing channel 4 AI configuration
0x06
For accessing channel 5 AI configuration
0x07
For accessing channel 6 AI configuration
0x08
For accessing channel 7 AI configuration
Instance Attribute (Instance ID=0x01~0x08)
Attribute ID
0x01
0x02
0x03
Description
Channel 0~7 AI
Values
Channel 0~7 AI
Type Codes
Channel 0~7 AI
Trigger Enable
Type
short
Method
Get
Default Value
0x0000
unsigned char
Get/Set
0x08
unsigned char
Get/Set
0x00
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0x04
Channel 0~7 AI
Trigger Type
Channel 0~7 AI
Upper Limit
Channel 0~7 AI
Lower Limit
Channel 0~7 AI
Trigger Status
Channel 0~7 AI
Offset
0x05
0x06
0x07
0x08
unsigned char
Get/Set
0x00
short
Get/Set
0x7FFF
short
Get/Set
0x8000
unsigned char
Get
0x00
short
Get/Set
0x0000
Parameter description of Application Object1 Attributes
Attribute
ID
0x01
0x02
0x03
0x04
Data Range
Parameter Description
Refer to appendix B for the
corresponding input values.
Refer to appendix B for the Type
Codes definition.
0x00: disable trigger alarm.
0x01: enable trigger alarm.
Trigger Type:
Channel 0~7 AI Values.
Bit no.
Status
7~2
Reserved
1
lower
level
trigger
0
upper
level
trigger
0x05
0x0000~0xFFFF
Refer to the Appendix B for the range
of the value.
0x06
0x0000~0xFFFF
Refer to the Appendix B for the range
of the value.
0x07
Trigger Status:
Bit no.
Status
0x08
7~2
Reserved
1
lower
level
trigger
0
upper
level
trigger
0x0000~0xFFFF
Refer to the Appendix B for the range
of the value.
Channel 0~7 AI Type Codes.
Channel 0~7 AI Trigger Enable.
Channel 0~7 AI Trigger Type.
Please refer to the table in the left
hand for configuration of the
trigger type.
Channel 0~7 AI Upper Limit value.
0x0000 ~ 0x7FFF => 0 ~ +32767
0xFFFF ~ 0x8000 => -1 ~ -32768
Channel 0~7 AI Lower Limit value.
0x0000 ~ 0x7FFF => 0 ~ +32767
0xFFFF ~ 0x8000 => -1 ~ -32768
Channel 0~7 AI Trigger Status.
Please refer to the table in the left
hand for configuration of the
trigger type.
Channel 0~7 AI offset value.
0x0000 ~ 0x7FFF => 0 ~ +32767
0xFFFF ~ 0x8000 => -1 ~ -32768
Instance Service
Service Code
Attribute 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 parameters for saving configurations into EEPROM
or loading factory default setting.
Class Attribute (Instance ID=0)
Attribute ID
Attribute Name
Data Type
Method
Value
0x01
Revision
UINT
Get
0001
0x02
Max Instance
UINT
Get
0x01
Class Service
Service Code
Attribute Name
Support
0x0E
Get_Attribute_Single
Yes
Instance Attribute (Instance ID=0x01)
Attribute ID
Description
Type
Method
0x01
Save all configurations into
EEPROM or using factory default
configuration setting
USINT
Set
Default
Value
-
Parameter description of Application Object2 Attributes
Attribute ID
0x01
Data Range
Parameter Description
0x01: Use default
configuration.
0x02: Save all configurations
to EEPROM.
0x01: After restarting the device, all
configurations will become default
setting.
0x02: Save all channels configuration
into EEPROM
Instance Service
Service Code
Attribute Name
Support
0x10
Set_Attribute_Single
Yes
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4 Application
Application Object (Class ID:0x64, 0x65) lists all the parameters of the module. Each
Instance ID is corresponding to the different channel. By using “Set/Get_Attribute_
Single” service, users can read/write the parameters of each channel.
Example1:
Get AI value of channel 0.
(ClassID:0x64, Instance ID: 0x01, Attribute ID: 0x01)
If the node ID of the CAN-2017D is 0x01, and the master (ID: 0x0A) has completed
“Explicit” connection with the device. By getting the value of the object with
attribute ID 0x01, users can get the channel 0 of the AI data.
IDENTIFIER BITS
Destination MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
1
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
00
00
00
Slave
(CAN-2017D)
Master
IDENTIFIER BITS
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
8-byte Data (byte)
Data
Length
4
(HEX)
0
1
2
3
4
5
6
7
0A
8E
FF
7F
--
--
--
--
Slave
(CAN-2017D)
Get the value of Application Object1 with Instance ID 0x01 and Attribute ID 0x01.
After sending the “Get_Attribute_Single”, the slave device responds the AI data. The
value 0x7FFF means that the channel 0’s input data is 0x7FFF. About the meaning of
the AI value, refer to the appendix B for the AI data and type code definition.
Master
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Example2:
Upper Level Alarm Trigger for Channel 0.
If the node ID of the CAN-2017D is 0x01, and the master (ID: 0x0A) has completed
“Explicit” connection with the device. When channel 0 AI value over the upper limit,
the user can watch the upper alarm limit LED indication turn on via setting the
parameter of the object with attribute ID 0x03,0x04,0x05.
1. Set Trigger Enable
(Class ID: 0x64, Instance ID: 0x01, Attribute ID: 0x03)
IDENTIFIER BITS
Destination MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
1
0
0
0
0
0
1
1
0
0
0
8-byte Data (byte)
Data
Length
6
(HEX)
0
1
2
3
4
5
6
7
0A
10
64
01
03
01
00
00
Slave
(CAN-2017D)
Master
IDENTIFIER BITS
Source MAC ID
RTR
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
2
(HEX)
0
1
2
3
4
5
6
7
0A
90
--
--
--
--
--
--
Slave
(CAN-2017D)
Master
Set the value 0x01 to the Application Object1 with Instance ID 0x01 and Attribute ID
0x03. After sending the “Set_Attribute_Single”, the slave device will response 0x09 to
means that the setting is OK. Then the Alarm Trigger will become to “Enable” mode.
Setting the value 0x00 to this attribute will disable the Alarm Trigger.
2. Trigger Type Setting
(Class ID: 0x64, Instance ID: 0x01, Attribute ID: 0x04)
IDENTIFIER BITS
Destination MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
1
0
0
0
0
0
1
1
0
0
0
8-byte Data (byte)
Data
Length
6
(HEX)
0
1
2
3
4
5
6
7
0A
10
64
01
04
01
00
00
Slave
(CAN-2017D)
Master
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IDENTIFIER BITS
Source MAC ID
RTR
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
2
(HEX)
0
1
2
3
4
5
6
7
0A
90
--
--
--
--
--
--
Slave
(CAN-2017D)
Set the value 0x01 to the Application Object1 with Instance ID 0x01 and Attribute ID
0x04. After sending the “Set_Attribute_Single”, the slave device will response 0x09 to
means that the setting is OK. Then the Trigger Type will become to “Upper Level
Trigger” mode. Setting the value 0x01 to this attribute will enter the “Lower Level
Trigger”. Setting the value 0x03 to this attribute will both of them. Setting the value 0x0
Master
to this attribute will be no trigger.
Bit no.
7 ~ 2
1
Status
Reserved
lower level trigger
0
upper level trigger
3. Upper Limit value Setting
(Class ID: 0x64, Instance ID: 0x01, Attribute ID: 0x05)
IDENTIFIER BITS
Destination MAC ID
RTR
10
9
8
7
6
5
4
3
2
1
0
1
1
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
05
FF
3F
00
Slave
(CAN-2017D)
Master
IDENTIFIER BITS
Source MAC ID
RTR
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
2
(HEX)
0
1
2
3
4
5
6
7
0A
90
--
--
--
--
--
--
Slave
(CAN-2017D)
Set the value 0x3FFF to the Application Object1 with Instance ID 0x01 and Attribute ID
Master
0x05. After sending the “Set_Attribute_Single”, the slave device will response 0x09 to
means that the setting is OK. When channel 0 Al value over the 0x3FFF, the upper
alarm LED will be turn on. The Attribute 0x05 of Application Object1 can use to set
upper alarm limit. The value 0x0000 ~ 0x7FFF means the AI value plus 0 ~ 32767. The
value 0xFFFF ~ 0x8000 means the AI data plus -1 ~ -32768.
CAN-2017D user’s manual (Revision 1.1, Apr/2015)
23
Appendix A: Dimension
CAN-2017D dimension:
Unit: mm
CAN-2017D user’s manual (Revision 1.1, Apr/2015)
24
Appendix B: Type Code Definition
Type Code Definition for CAN-2017D
Type
Code
Input Range
08h
-10 to +10V
09h
-5 to +5V
0Ah
-1 to +1V
0Bh
-500 to +500 mV
0Ch
-150 to +150 mV
0Dh
-20 to +20 mA
(with 125Ω resistor)
Data Format
Min
Value
Max Value
Engineer Unit
-10V
+10V
2's Complement HEX
8000h
7FFFh
Engineer Unit
-5V
+5V
2's Complement HEX
8000h
7FFFh
Engineer Unit
-1V
+1V
2's Complement HEX
8000h
7FFFh
Engineer Unit
-500mV
+500mV
2's Complement HEX
8000h
7FFFh
Engineer Unit
-150mV
+150mV
2's Complement HEX
8000h
7FFFh
Engineer Unit
-20mA
+20mA
2's Complement HEX
8000h
7FFFh
CAN-2017D user’s manual (Revision 1.1, Apr/2015)
25
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