ICP DAS USA CAN-8124 User Manual

ICP DAS USA CAN-8124 User Manual
CAN-8124/CAN-8224/CAN-8424 User Manual
CAN-8124/CAN-8224/CAN-8424
DeviceNet Slave Device
User Manual
Warranty
All products manufactured by ICP DAS are warranted
against defective materials for a period of one year from the
date of delivery to the original purchaser.
Warning
ICP DAS assumes no liability for damages consequent to
the use of this product. ICP DAS reserves the right to change
this manual at any time without notice. The information
furnished by ICP DAS is believed to be accurate and reliable.
However, no responsibility is assumed by ICP DAS for its use,
or for any infringements of patents or other rights of third parties
resulting from its use.
Copyright
Copyright 2004 by ICP DAS Co., LTD. All rights reserved
worldwide.
Trademark
The names used for identification only may be registered
trademarks of their respective companies.
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Table of Content
Chapter 1 Introduction........................................................................................ 4
1.1 Overview ..................................................................................................................... 4
1.2 Hardware Features ..................................................................................................... 6
1.3 CAN-8124/CAN-8224/CAN-8424 DeviceNet Features .............................................. 7
1.4 Utility Feature ............................................................................................................. 7
Chapter 2 Hardware Specification..................................................................... 8
2.1 CAN-8124/CAN-8224 Hardware Structure ................................................................ 8
2.2 CAN-8424 Hardware Structure .................................................................................. 9
2.3 Wire Connection....................................................................................................... 10
2.4 PWR LED................................................................................................................... 14
2.5 DeviceNet LED.......................................................................................................... 15
2.5.1 MOD LED ..................................................................................................................... 15
2.5.2 NET LED ....................................................................................................................... 16
2.6 NA and DR Rotary Switch ........................................................................................ 17
2.7 Module Support ........................................................................................................ 19
2.8 Application Flowchart .............................................................................................. 20
Chapter 3 DeviceNet System ........................................................................... 21
3.1 DeviceNet Introduction ............................................................................................ 21
3.2 Predefined Master Slave Connection Set............................................................... 25
3.2.1 Explicit Messages .......................................................................................................... 26
3.2.2 I/O Bit Strobe Messages ................................................................................................ 27
3.2.3 I/O Poll Messages .......................................................................................................... 28
3.2.4 I/O Change of State/Cyclic Messages............................................................................ 29
3.3 EDS File..................................................................................................................... 30
Chapter 4 DeviceNet Profile Area .................................................................... 32
4.1 DeviceNet Statement of Compliance ...................................................................... 32
4.2 Identity Object (Class ID: 0x01)............................................................................... 33
4.3 DeviceNet Object (Class ID:0x03) ........................................................................... 35
4.4 Assembly Object (Class ID: 0x04)........................................................................... 37
4.5 Application Object (Class ID:0x64)....................................................................... 38
4.6 Connection Object (Class ID:0x05)......................................................................... 42
4.6.1 Explicit connection ........................................................................................................ 43
4.6.2 Poll I/O connection ........................................................................................................ 44
4.6.3 Bit–Strobe I/O Connection............................................................................................. 45
4.6.4 Change of State or Cyclic I/O Connection (Acknowledge)........................................... 46
4.6.5 Change of State or Cyclic I/O Connection (Unacknowledge)....................................... 47
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Chapter 5 Configuration & Getting Start......................................................... 48
5.1 CAN-8124/CAN-8224 Configuration Flowchart ...................................................... 48
5.2 CAN-8424 Configuration Flowchart ........................................................................ 49
5.3 CAN Slave Utility Overview ..................................................................................... 50
5.4 Configuration with the CAN Slave Utility ............................................................... 51
5.5 CAN-8124/CAN-8224 Configuration (Off-line mode).............................................. 57
5.6 CAN-8424 Configuration (On-line mode)................................................................ 65
Chapter 6 Components of Assembly Objects ................................................ 76
6.1 Components in the Assembly object...................................................................... 76
6.2 CAN-8424 Assembly Example ................................................................................. 78
6.3 CAN-8124/CAN-8224 Assembly Example ............................................................... 97
Chapter 7 DeviceNet Communication Set .................................................... 106
7.1 DeviceNet Communication Set Introduction........................................................ 106
7.2 Examples of the DeviceNet communication set .................................................. 110
7.2.1 Requests the use of the Predefined Master/Slave Connection Set................................110
7.2.2 How to apply the Poll IO connection............................................................................111
7.2.3 The Bit-Strobe IO connection example ........................................................................113
7.2.4 Change of State/Cyclic IO with Acknowledge connections .........................................115
7.2.5 Change of State/Cyclic IO without Acknowledge connections ....................................119
7.2.6 Reset Service................................................................................................................ 121
7.2.7 Device Heartbeat.......................................................................................................... 124
7.2.8 Fragmentation example................................................................................................ 126
Chapter 8 Interpreting Analog Module Data ................................................. 130
8.1 Analog Input Module Data transfer ....................................................................... 130
8.2 Analog Output Module Data transfer .................................................................... 131
Chapter 9 Troubleshooting ............................................................................ 132
9.1 Problem: Unable to Communicate with the Device............................................. 132
9.2 Problem: All of the LEDs are off............................................................................ 133
9.3 Problem: MOD LED is Flashing............................................................................. 134
9.4 Problem: NET LED is Solid when power-up......................................................... 134
9.5 Problem: How can I start to use the ICP DAS DeviceNet products? ................. 135
9.6 Problem: Why can I not to communicate any IO message with the device? .... 135
9.7 Problem: How to get IO data from CAN-8x24? .................................................... 136
Appendix A: Analog I/O Transformation Table ............................................. 139
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Chapter 1 Introduction
1.1 Overview
The CAN-8x24 series are the DeviceNet remote I/O units produced by ICP DAS
for data acquisition and the control system that provides a wide range of capabilities,
most specifically for real-time applications. A DeviceNet master operating via a
DeviceNet protocol remotely controls the CAN-8124/ CAN-8224/CAN-8424 series
products. In others words, the CAN-8124/ CAN-8224/CAN-8424 series can be a
DeviceNet slave devices in the CAN on the DeviceNet network. Furthermore, the
CAN-8124/CAN-8224/CAN-8424’s main control units are small and middle size
compact devices, but they offer many good features to the users.
The CAN-8124/CAN-8224/CAN-8424’s main control units are based on the
modular design which offers many good features to users and provides more
flexibility in data acquisition and a control system for the DeviceNet network. In order
to expand the I/O channel to make it more flexible, CAN-8124/CAN-8224/CAN-8424
support 1, 2 and 4 expansion slots respectively for user to expand their I/O channel
numbers in various DeviceNet applications. Users can configure the i-87K or i-8000
IO series modules to fit their customized applications. The symbol ‘x’ in the CAN-8x24
represents how many expansion slots there are in the main control unit. Each
expansion slot can have one i-87K or i-8000 series I/O module plugged into it. For
example, a CAN-8124 has one expansion slot, and a CAN-8424 has 4 expansion
slots. All of these main control units follow the DeviceNet specification Volume I,
Release 2.0& Volume II, Release 2.0. In addition, ICP DAS also provides the CAN
Slave Utility to create the EDS file dynamically and to configure DeviceNet slave
devices. Therefore, users can easily apply the CAN-8124/CAN-8224/CAN-8424
embedded controller into the DeviceNet network. The general application architecture
is demonstrated in figure 1-1:
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Figure 1-1 DeviceNet application
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1.2 Hardware Features
z
z
z
z
z
z
z
z
z
z
z
z
z
z
CPU:80186, 80MHz
Philip SJA1000 CAN controller
Philip 82C250 CAN transceiver
SRAM:512K bytes
Flash Memory:512K bytes
EEPROM:2K bytes
NVRAM: 32 bytes
Real Time Clock
Built-in Watchdog Timer
16-bit Timer
PWR LED, NET LED, MOD LED
Support 1/2/4 expansion I/O slots
2500 Vrms isolation on CAN side
120Ω terminal resister selected by jumper
z
CAN bus interface: ISO/IS 11898-2, 5-pin screw terminal with on-board
optical isolators protection.
Power consumption:20W
Power requirement: +10VDC to +30VDC (unregulated)
Operating Temperature:-25°C to +75°C
Storage Temperature:-30°C to +85°C
Humidity:5%~95%
z
z
z
z
z
COM1 (CAN-8424 only)
z RS-232: TXD,RXD,RTS,CTS,GND
z Communication speed: 115200 bps.
z Configure tool connection
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1.3 CAN-8124/CAN-8224/CAN-8424 DeviceNet Features
z
z
z
z
z
z
z
z
z
z
z
z
z
z
Complies with DeviceNet specification Volume I, Release 2.0& Volume II,
Release 2.0
Group 2 Only Slave; (non UCMM-capable)
Supports Predefined Master/slave Connection Set
Supports Explicit message connection
Supports Fragmented Explicit Message
I/O operating modes: Polling, Bit-Strobe, Change of State/Cyclic
Supports Fragmented IO (maximum 128 bytes output and/or 128 bytes input
data)
Dynamic Assembly Objects Mapping;
Supports Device Heartbeat message
Supports Device Shutdown message
EDS file dynamically
Support all standard DeviceNet data rate: 125K, 250K and 500K bps
Data rate and Node Address (MAC ID) configured via rotary switch
NET, MOD and Power Led directors
1.4 Utility Feature
z
z
z
z
z
Support i-8k/i-87K modules
Show i-8k/i-87K modules configuration
Show Application and assembly objects configuration
Support IO connection path setting
Support EDS file creating
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Chapter 2 Hardware Specification
2.1 CAN-8124/CAN-8224 Hardware Structure
Power LED
DeviceNet
Status LED
Node ID and Baud
rate rotary switch
CAN Bus Connector
1 I/O Expansion Slot
2 I/O Expansion Slots
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2.2 CAN-8424 Hardware Structure
DeviceNet
Status LED
Power LED
Power Pin
RS-232 Port
(connect to PC)
CAN Bus Connector
4 I/O Expansion Slots
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2.3 Wire Connection
In order to minimize the reflection effects on the CAN bus line, the CAN bus line
has to be terminated at both ends by two terminal resistances as in the following
figure. According to the ISO 11898-2 spec, each terminal resistance is set to 120Ω (or
between 108Ω~132Ω). The length related resistance should have 70 mΩ/m. The user
should check the resistances of their CAN bus, before they install a new CAN network
as in figure 2-1.
Figure 2-1 wire connections
Moreover, to minimize the voltage drop over long distances, the terminal
resistance should be higher than the value defined by ISO 11898-2. Table 2-1 may be
used as a reference.
Table 2-1 The relation between bus cable and length
Bus Cable Parameters
Terminal
Resistance
(Ω)
Bus Length
(meter)
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
0~40
70
0.25(23AWG)~
0.34mm2(22AWG)
124 (0.1%)
40~300
< 60
0.34(22AWG)~
0.6mm2(20AWG)
127 (0.1%)
< 40
0.5~0.6mm2
(20AWG)
150~300
< 20
0.75~0.8.mm2
(18AWG)
150~300
300~600
600~1K
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In the CAN-8124/CAN-8224/CAN-8424, the 120Ω terminal resistance is
supplied. The JP2 for the CAN-8124/CAN-8224 is for terminal resistance. The
JP2 position is shown in the following figure.
.
JP1 on CAN-8424 is used for adjusting terminal resistance, and its
position is shown in the following figure.
The following connection status is presented for if the terminal resister is
enable or disable.
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The CAN bus baud rate has the high relationship with the bus length.
Table 2-2 indicates the corresponding bus length for every kind of baud rate.
Table 2-2 Baud rate and bus lengths for the DeviceNet
Baud rate (bit/s)
Max. Bus length (m)
500 K
100
250 K
250
125 K
500
Note: When the bus length is greater than 1000m, bridge or repeater devices may be
needed.
The pin assignments for these CAN-8124/ CAN-8224 and CAN-8424 CAN
bus connectors are shown in figure 2-2, figure 2-3, table 2-3 and table 2-4.
V-
Pin 1
CAN_L
Pin 2
SHIELD
Pin 3
CAN_H
Pin 4
V+
Pin 5
Figure 2-2 The connector pin assignments for the CAN-8124/CAN-8224
Table 2-3 Connector pins of CAN-8124/CAN-8224
Pin No.
Signal
1
V-
2
CAN_L
CAN_L bus line (dominant low)
3
SHIELD
Optional CAN Shield
4
CAN_H
CAN_H bus line (dominant high)
5
V+
Description
Ground (0V)
CAN external positive power supply
(CAN-8124/CAN-8224 power)
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Figure 2-3 The connector pin assignments for the CAN-8424
Table 2-4 Connector pins of CAN-8424
Pin No.
Signal
Description
1
N/A
2
CAN_H
CAN_H bus line (dominant high)
3
SHIELD
Optional CAN Shield
4
CAN_L
CAN_L bus line (dominant low)
5
N/A
No use
No use
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2.4 PWR LED
After connecting the CAN-8124/CAN-8224/CAN-8424 with electronic
power (the range of input voltage is 10~30VDC), the PWR LED will be turned
on. If the Power LED is off after giving the proper voltage, please check the
power and load of power supply first. If the situation is not improved, please
communicate your problem with your distributor in order to find the solution.
The corresponding conditions are given in table 2-5.
Table 2-5 PWR led conditions
condition
status
indicates
Off
No power
No power supply
Solid red
Normal
Device is working
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2.5 DeviceNet LED
CAN-8124/CAN-8224/CAN-8424 supplies 2 DeviceNet LED indicators.
They are NET LED (Yellow), MOD LED (Green). The Indicators assist
maintenance personnel in quickly identifying a problem unit. The LED test is to
be performed when the device is powered–up. When the DeviceNet
communication events occur, these indicators will be triggered to glitter with
different conditions.
2.5.1 MOD LED
This LED provides the devices status. It indicates whether or not the
device is operating properly. Table 2-6 shows the conditions for all MOD
statuses.
Table 2-6 The MOD led conditions
condition
status
indicates
Off
Normal
Solid
Critical fault
Device has unrecoverable fault;
Flashing
Non_critical fault
Device has recoverable fault; to
recover:
Reconfigure device
Reset device
Perform error recovery
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2.5.2 NET LED
The NET LED indicates the current status of the DeviceNet communication link.
Table 2-7 shows the conditions for all NET statuses.
Table 2-7 NET led conditions
condition
status
indicates
Off
Off line
Device is not online
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
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2.6 NA and DR Rotary Switch
The CAN-8124/CAN-8224/CAN-8424 provide NA(node address) and
DR(data rate) rotary switches to set the node ID and baud rate of the device.
Refer to the figure 2-4.
Figure 2-4 NA and DR rotary switches
The node address (MAC ID) and data rate (baud rate) to be used by the device
for communication on the network are set via the upper rotary switches. The
MSD means the most significant digit of the node address, and LSD represent
the low significant digit of the node ID in the decimal format. The node address
of the CAN-8124/CAN-8224/CAN-8424 is useless when the value exceeds 64
(decimal format) because the max node value in the DeviceNet is 63. For
example, the node address in CAN-8124/CAN-8224/CAN-8424 is 32, if the
MSD rotary switch is turned to 3 and the LSD rotary switch is turned to 2 as in
figure 2-5.
Figure 2-5 NA rotary switches
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The lower rotary switch handles the CAN-8124/CAN-8224/CAN-8424 data
rate (baud rate). The relationship between the rotary switch value and the
practical baud rate is displayed in the following table.
Table 2-7
Rotary Switch Value
Baud rate (K BPS)
0
125
1
250
2
500
For example, the setting data rate is 125 Kbps as in figure 2-6.
Figure 2-6 NA rotary switches
Note: If the “DR” rotary switch for the CAN-8x24 is set to ‘9’, the CAN-8x24 will
get into its initial mode. The DeviceNet firmware built in the CAN-8x24 will not
be executed. Before users employ the utility tool to configure the CAN-8424,
the initial mode is needed. And, because the CAN-8124/CAN-8224 has no
RS-232 COM Port, it is necessary to run the utility tool in the off-line mode if
users want to get the EDS file of users’ CAN-8124/CAN-8224.
Furthermore, when the CAN-8124/CAN-8224/CAN-8424 is started up, the
DeviceNet firmware will check these rotary switches. Any illegal value on these
rotary switches will cause the CAN-8124/CAN-8224/CAN-8424 to fail when
booting-up.
Note: If users set the illegal values of the rotary switch, the MOD led would
flash when powering up. In this condition, users must configure the legal
values for the switches and reset the device, and then the device will work
normally.
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2.7 Module Support
CAN-8124/CAN-8224/CAN-8424 supports many kinds of DI, DO, AI and
AO modules for the i-8000/i-87K series modules. When users want to use
these modules on the DeviceNet network, they only need to plug these
modules into the CAN-8124/CAN-8224/CAN-8424 I/O expansion slots. Then,
the DeviceNet firmware built in the CAN-8124/CAN-8224/CAN-8424 will
search through them automatically organizing them into their corresponding
DeviceNet entries. For more information, please refer to the
“CAN-8124/CAN-8224/CAN-8424 Support Module Table”.
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2.8 Application Flowchart
The procedure listed in figure 2-7 displayed how to use the
CAN-8124/CAN-8224/ CAN-8424. Users can refer to the procedure to apply
the CAN-8124/CAN-8224/CAN-8424 devices to the DeviceNet application.
Figure 2-7 CAN-8124/CAN-8224/CAN-8424 application flow-chart
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Chapter 3 DeviceNet System
3.1 DeviceNet Introduction
The CAN (Controller Area Network) is a serial communication protocol,
which efficiently supports distributed real-time control with a very high level of
security. It is especially suited for networking "intelligent" devices as well as
sensors and actuators within a system or sub-system. In CAN networks, there
is no addressing of subscribers or stations in the conventional sense, but
instead, prioritized messages are transmitted.
DeviceNet is one of the kinds of network protocols based on the CAN bus
which are mainly used for machine control in embedded networks, such as in
textile machinery, printing machines, injection molding machinery, or
packaging machines. DeviceNet is a low level network that provides
connections between simple industrial devices (sensors, actuators) and higher
level devices (controllers). It allows direct peer to peer data exchange between
nodes in an organized and, if necessary, deterministic manner. The network
management functions specified in DeviceNet simplifies project design,
implementation and diagnosis by providing standard mechanisms for network
start-up and error management. DeviceNet defines a connection-based
scheme to facilitate all application communications. A DeviceNet connection
provides a communication path between multiple endpoints. The endpoints of
a connection are applications that need to share data. Figure 3.1 shows the
DeviceNet layer in the control and information layers.
Figure 3.1 DeviceNet layer
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DeviceNet Communication Protocol is based on the concept of
connections. One must establish a connection with a device in order to
exclude information with that device. To establish a connection, each gateway
implements a Predefined Master/Slave Connection Set through the DeviceNet
network. After establishing the explicit connections, the connection is then
used to move information from one node to the other. Once IO connections
have been established, I/O data may be moved among devices in the network.
The 11-bit CAN identifier is used to identify the connection. DeviceNet defines
four separate groups of 11-bit CAN identifiers: Group 1, Group 2, Group 3, and
Group 4 described in Table 3.1. With respect to Connection Based Messages,
the Connection ID is placed within the CAN Identifier Field. With this in mind,
the below figure also describes the components for a DeviceNet Connection ID.
Because of the arbitration scheme defined by CAN, Group 1 messages have a
higher priority than group 2 messages and group 2 messages have higher
priority than group 3 messages and so on. This prioritization must be taken into
consideration when establishing connections.
Table 3.1 DeviceNet’s Use of the CAN Identifier Field
IDENTIFIER BITS
10
0
9
8
7
6
Group 1
5
4
3
2
1
0
Source MAC ID
IDENTITY USAGE
Group 1 Messages
Message ID
1 0
MAC ID
Group 3
RANGE
000 –
3ff
Group 2
Group 2 Messages
Message ID
1 1
HEX
Source MAC ID
400 –
5ff
Message Group 3
600-7bf
Group 4 Messages
7c0–7ef
Message ID
1 1 1 1 1
Group 4 Message ID
CAN-8124/CAN-8224/CAN-8424 provides the Predefined Master/Slave
Connection Set for users to establish connections. The Predefined
Master/Slave Connection Set is a set of Connections that facilitate
communications typically seen in a Master/Slave relationship. Many of the
steps involved in the creation and configuration of an application-to-application
connection have been removed within the Predefined Master/Slave
Connection Set definition. This, in turn, presents the means by which a
communication environment can be established using less network and device
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resources. The CAN Identifier Fields associated with the Predefined
Master/Slave Connection Set are shown in Table 3.2. The table defines the
Identifiers that are to be used with all connection based messages involved in
the Predefined Master/Slave Connection Set and, as such, it also illustrates
the produced_connection_id and consumed_connection_id attributes
associated with Predefined Master/Slave Connection Objects.
Note: The Master is the device that gathers and distributes I/O data for the
process controller. Slaves are the devices from which the Master
gathers I/O data and to which the Master distributes I/O data.
Table 3.2 DeviceNet Identifiers
IDENTIFIER BITS
10
0
9
8
7
6
Group 1
5
4
3
2
1
IDENTITY USAGE
0
Source MAC ID
Group 1 Messages
Message ID
HEX
RANGE
000 –
3ff
0 1 1 0 0
Source MAC ID
Slave’s Multicast Poll Response
0 1 1 0 1
Source MAC ID
Slave’s I/O Change of State or Cyclic Message
0 1 1 1 0
Source MAC ID
Slave’s I/O Bit–Strobe Response Message
0 1 1 1 1
Source MAC ID
Slave’s I/O Poll Response or Change of
State/Cyclic Acknowledge Message
1 0
MAC ID
Group 2
Group 2 Messages
Message ID
400 –
5ff
1 0
Source MAC ID
0 0 0
Master’s I/O Bit–Strobe Command Message
1 0
Multicast MAC ID
0 0 1
Master’s I/O Multicast Poll Command Message
1 0
Destination MAC ID
0 1 0
Master’s Change of State or Cyclic Acknowledge
Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response
Messages/ Device Heartbeat Message/ Device
Shutdown Message
1 0
Destination MAC ID
1 0 0
Master’s Explicit Request Messages
1 0
Destination MAC ID
1 0 1
Master’s I/O Poll Command/Change of State/Cyclic
Message
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages (reserved)
1 0
Destination MAC ID
1 1 1
Duplicate MAC ID Check Messages
A device within a DeviceNet network is represented by the below object
model. The object model provides a template for organizing and implementing
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the Attributes (data), Services (methods or procedures) and behaviors of the
components within a DeviceNet product. Figure 3.2 depicts the object model
for CAN-8124/CAN-8224 (Group 2 server Only). The next section would
explain these objects. More detailed information about Predefined
Master/Slave Connection Set is described in the next section.
Figure 3.2 Object models of CAN-8124/CAN-8224/CAN-8424
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3.2 Predefined Master Slave Connection Set
The CAN-8124/CAN-8224/CAN-8424 is a “Predefined Master Slave
Connection Set” device. Users must understand these connection sets to know
how to operate the device. The following section explains what the “Predefined
Master Slave Connection Set” is.
When using the Predefined Master Slave Connection Set, DeviceNet
allows devices with fewer resources to take part in DeviceNet network
communication. For this reason a set of identifiers has been reserved within
Message Group 2 to simplify the movement of I/O and configuration data
typically seen in Master/Slave relationships. The steps which are necessary to
create and configure a connection between devices have been removed within
the Predefined Set. The Predefined Master Slave Connection Set allows for
the establishing of a DeviceNet communication environment using less
network and Device resources. The Predefined Set contains one Explicit
Messaging Connection and allows for several different I/O connections which
include a Bit Strobe Command/Response, Poll Command/Response, Change
of State and Cyclic connections. The following types of messages are
processed by a DeviceNet Slave
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3.2.1 Explicit Messages
Explicit Request Messages are used to perform operations such as
reading and writing attributes. Explicit response Messages indicate the results
to attempt to service an Explicit Request massage. Within a Slave Explicit
Request and Response Messages are received/transmitted by a single
Connection Object. The architecture is as figure 3.3.
Figure 3.3 the architecture of Explicit message
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3.2.2 I/O Bit Strobe Messages
The Bit-Strobe Command is an I/O message that is transmitted by the
Master. A Bit-Strobe Command has multicast capabilities. Multiple Slaves can
receive and react to the same Bit Strobe Command. The Bit-Strobe response
is an I/O message that a Slave transmits back to the Master when the
Bit-Strobe Command has been received. Within a Slave the two messages are
received/ transmitted by a single Connection Object. The architecture is as in
figure 3.4.
Figure 3.4 the architecture of IO bit strobe message
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3.2.3 I/O Poll Messages
The Poll Command is a command that is transmitted by the Master. A Poll
Command is directed towards a single, specific Slave (point-to-point
connection). A Master must transmit a separate Poll command message for
each one of its Slaves that is to be polled. The Poll-Response is an I/O
message that the Slave transmits back to the Master when the Poll Command
is received. Within a Slave the two messages are received or transmitted by a
single Connection Object as in figure 3-5.
Figure 3-5 the architecture of poll IO message
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3.2.4 I/O Change of State/Cyclic Messages
The Change of State Message is transmitted by either the Master or the
Slave. A Change of Sate/Cyclic is directed towards a single specific node
(point-to-point). An Acknowledge Message may be returned in response to this
message. Within either the Master or the Slave the producing Change of State
Message and consuming Acknowledge Messages are received or transmitted
by one Connection Object. The consuming Change of State and producing
Acknowledge Message are received or transmitted by a second Connection
Object. The architecture for these messages can be seen in figure 3-6 and
figure 3-7.
Figure 3-6 the architecture of the IO COS message
Figure 3-7 the architecture of the IO Cyclic message
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3.3 EDS File
An Electronic Data Sheet is an external disk that contains information
about configurable attributes for a device, including the object addresses of
each parameter. The following figure shows the configuration of a device
through the configuration tool that supports an EDS. The application objects in
the device represent the destination addresses for the configuration data.
These addresses are encoded in the EDS. ICP DAS provides users with the
CAN Slave utility software they need to create suitable EDS files. The EDS file
system architecture is presented in Figure 3-8.
Figure 3-8 the architecture of EDS file
EDS provides information about the device’s configuration data according to
the following:
‧ context
‧ content
‧ format
The information in an EDS file allows configuration tools to provide
informative screens that guide a user through the steps necessary to configure
a device. ICP DAS provides CAN utilities, so that users can setup their own
EDS file. You can use the EDS file in the DeviceNet Master to access
DeviceNet Slave devices. The CAN utility is a very powerful tool for the
DeviceNet network. Users can get more DeviceNet Slave information. The
CAN utility can scan i-8K/i-87K IO modules connected to the CAN-8124/
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CAN-8224. However, users can only use off-line mode to create EDS files of
CAN-8124/CAN-8224 with the specific IO modules. It also provides a graph
interface for users to be able to make up their own EDS file system. For more
detailed information on this topic, please refer to the next section.
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Chapter 4 DeviceNet Profile Area
This chapter is for users who want to get and understand more detailed
information relating to the CAN-8124/CAN-8224/CAN-8424 device when using
the DeviceNet protocol. This section documents the detailed functions for each
object class that is implemented in the DeviceNet network.
4.1 DeviceNet Statement of Compliance
General Device Data
Conforms to DeviceNet Specification
Volume i-Release 1.1
Vendor Name
ICP DAS
Device Profile Name
ICPDAS-CAN-8x24
Production Revision
2.0.1
DeviceNet Physical Conformance Data
Network Power Consumption(Max)
Open-Hardwired
Isolated Physical Layer
Yes
LEDs Supported
Yes
MAC ID Setting
Switch
Default MAC ID
Switch
Communication Rate Setting
Switch
Predefined Master/Slave Connection Group 2 Only Server
Set
Fragmented
implemented
Explicit
Message yes
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4.2 Identity Object (Class ID: 0x01)
This object provides the identification of and general information about the
device.
Class Attribute
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
Attribute Description Method DeviceNet
ID
Data Type
Value
1
Vendor
UINT
Get
UINT
803
2
Product
type UINT
Get
UINT
0x00
3
Product
code
Get
UINT
2(CAN-8124/CAN-8224)/3(CAN-8424)
4
Revision
vision
Major
Revision
Minor
Revision
Get
Struct of
USINT
USINT
2.01
5
Status
Get
WORD
0
6
Serial
number
Get
UDINT
2(CAN-8124/CAN-8224)/3(CAN-8424)
7
Product
name
Get
Short_String
ICPDAS-CAN-8x24
USINT
0(default)
10
Heartbeat Get/Set
Interval
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Instance Service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
0x05
Reset
Yes
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4.3 DeviceNet Object (Class ID:0x03)
The DeviceNet Object is used to provide the configuration and status of a
physical attachment to DeviceNet.
Class attribute
Attribute ID
Attribute
name
0x01
Data Type
revision
Method
UINT
Value
Get
2
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance attribute
Attribute ID
Description
Method
DeviceNet
Data Type
Value
1
MAC ID
Get
USINT
Range 0-63
2
Baud Rate
Get
USINT
Range 0-2
3
BOI
Get/Set
BOOL
0
4
Bus-off counter
Get/Set
USINT
0
5
Allocation
information
Get/Set
STRUCT
6
MAC ID Switch
Changed
Get
BOOL
0=No Change
1=Change
since last
Reset or
Power-up
7
Baud Rate
Switch Changed
Get
BOOL
0= No Change
1= Change
since last
Reset or
Power-up
8
MAC ID Switch
Value
Get
USINT
Range 0-99
9
Baud Rate
Switch Value
Get
USINT
Range 0-9
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Instance Service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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4.4 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
Attribute ID
Attribute
name
Data Type
Method
Value
0x01
Revision
UINT
Get
2
0x02
Max Instance
UINT
Get
By slot
number
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance attribute
Attribute ID
Description
0x03
Data
Method
DeviceNet
Data Type
Value
Get/Set
Defined by
users
By IO modules
plugged in the
device
Note: In CAN-8x24, the start-up number of assembly instance is 0x64.
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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4.5 Application Object
(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 i-7K/i-87K IO
modules.
Class attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
3
0x02
Max Instance
UINT
Get
By slot number
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
Instance attribute
Attribute ID
Description
Method
Data Type
Default
Value
0x01
Module name
Get
WORD
0
0x02
Module Type
Get
CHAR
0
0x03
Configuration
Get
Depend on the
number of channels
0
0x04
Total Channels
Get
CHAR
0
0x05
Total Length
Get
CHAR
0
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
0
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
0
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel num
Get
CHAR
0
0x0C
AO channel num
Get
CHAR
0
0x0D
DI channel num
Get
CHAR
0
0x0E
AI channel num
Get
CHAR
0
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Attribute ID
Description
Method
Data Type
Default
Value
0x0F
Output Safe Value
Flag
Get/Set
CHAR
0
0x10
Output Safe Value
Get/Set
Defined by module
channel num
0
0x11
87K DI Counter
Channel
Get/Set
Defined by module
channel num
0
0x12
Clear 87K DI
Counter Channel
Value
Set
Defined by module
channel num
0
0x13
87K DI Counter
Value
Get
UINT
0
0x14
DO data
Set
Defined by module
channel num
0
0x15
AO data
Set
Defined by module
channel num
0
0x16
DI data
Get
Defined by module
channel num
0
0x17
AI data
Get
Defined by module
channel num
0
0x18
Clear Counter
module
Set
CHAR
0
0x19
87K Counter
module’s Input
Mode
Get/Set
CHAR
0
Application instance attribute interpreter:
Attribute name
Brief Description of Attribute
Module Name
The number corresponds to the modules name. For example:
The plugged-in module is i-8055. The corresponding module
name in DeviceNet is 8055.
Module Type
This attribute contains the module type of the plugged-in
modules.
0- DO module
1- DI module
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Attribute name
Brief Description of Attribute
2- AO module
3- AI module
4- DO & DI module
5- DIO8 module
6- Counter & DO module
7- Counter
Configuration
This attribute includes the module configuration. In DI/DO
module, the value is 0x40. Please refer to the module manual
for more information relating to analog module configuration.
Every channel in analog modules corresponds to the relating
byte of the attribute.
Total Channels
The total channel attribute indicates the total channel number
for the module.
Total Length
This attribute includes the total length of this module. In
analog modules, the unit of length is 2 bytes. And 1 bit is
corresponding to a channel in the digital modules.
DO Length
The attribute indicates the DO length of the module.
AO Length
The attribute indicates the AO length of the module.
DI Length
The attribute indicates the DI length of the module.
AI Length
The attribute indicates the AI length of the module.
DO channel
num
The attribute indicates the DO channel number of the
module.
AO channel
num
The attribute indicates the AO channel number of the
module.
DI channel num The attribute indicates the DI channel number of the module.
AI channel num The attribute indicates the AI channel number of the module.
Output safe
value flag
The attribute indicates enable or disable the output safe
value. 0: Disable; Others: Enable
Output safe
value
The attribute indicates the output safe value of the module
that you want to set.
87K DI Counter The attribute indicates which 87K DI counter channel is used
Channel
Clear 87K DI The attribute indicates which 87K DI counter channel’s value
Counter
that you want to clear.
Channel Value
87K DI Counter The attribute indicates which 87K DI counter channel’s value
Value
that you want to get.
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Attribute name
Brief Description of Attribute
DO data
The attribute indicates the DO data of the module.
AO data
The attribute indicates the AO data of the module.
DI data
The attribute indicates the DI data of the module.
AI data
The attribute indicates the AI data of the module.
Clear Counter Clear counter value of counter N. N: channel of counter
module
module.
87K Counter
The attribute indicates the 87K counter module’s input mode
module’s Input
that you want to set or get.
Mode
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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4.6 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.
Note: In CAN-8424, the default IO connection path is its Assembly Object.
Please use the CAN Slave Utility to set the IO connection path. For
CAN-8124/CAN-8224, it is needed to set the connection path via the
CAN bus via DeviceNet explicit message.
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
4
References the Slave’s Change of State or Cyclic I/O Connection
Class attribute
Attribute ID
Attribute name
Data Type
Method
Value
0x01
Revision
UINT
Get
1
Class service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
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4.6.1 Explicit connection
Instance (0x01) attribute
Attribute
ID
Description
DeviceNet
Data Type
Method
Default
Value
0x01
state
USINT
Get
3
0x02
instance_type
USINT
Get
0
0x03
transportClass_trigger
BYTE
Get
0x83
0x04
produced_connection_id
UINT
Get
Table 3.2
0x05
consumed_connection_id
UINT
Get
Table 3.2
0x06
initial_comm_characteristics
BYTE
Get
0x21
0x07
produced_connection_size
UINT
Get
0x20
0x08
consumed_connection_size
UINT
Get
0x20
0x09
expected_packet_rate
UINT
Get
0x09c4
0x0C
watchdog_timeout_action
USINT
Get
1
0x0D
produced_connection_path_ length
UINT
Get
0
0x0E
produced_connection_path
EPATH
Get
Empty
0x0F
consumed_connection_path_length
UINT
Get
0
0x10
consumed_connection_path
EPATH
Get
Empty
0x11
production_inhibit_time
UINT
Get
0
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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4.6.2 Poll I/O connection
Instance (0x02) attribute
Attribute
ID
Description
0x01
state
USINT
Get
0x01
0x02
instance_type
USINT
Get
0x01
0x03
transportClass_trigger
BYTE
Get
0x83
0x04
produced_connection_id
UINT
Get
Table 3.2
0x05
consumed_connection_id
UINT
Get
Table 3.2
0x06
initial_comm_characteristics
BYTE
Get
0x01
Get
No
specified
default
0x07
DeviceNet
Method
Data Type
produced_connection_size
UINT
Default
Value
0x08
consumed_connection_size
UINT
Get
No
specified
default
0x09
expected_packet_rate
UINT
Get
0
0x0C
watchdog_timeout_action
USINT
Get
0
Get
No
specified
default
Get
No
specified
default
Get
No
specified
default
0x0D
0x0E
0x0F
produced_connection_path_ length
produced_connection_path
consumed_connection_path_length
UINT
EPATH
UINT
0x10
consumed_connection_path
EPATH
Get
No
specified
default
0x11
production_inhibit_time
UINT
Get
0
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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4.6.3 Bit–Strobe I/O Connection
Instance (0x03) attribute
Attribute
ID
Description
DeviceNet
Method
Data Type
Default
Value
0x01
state
USINT
Get
0x01
0x02
instance_type
USINT
Get
0x01
0x03
transportClass_trigger
BYTE
Get
0x83
0x04
produced_connection_id
UINT
Get
Table 3.2
0x05
consumed_connection_id
UINT
Get
Table 3.2
0x06
initial_comm_characteristics
BYTE
Get
0x02
0x07
produced_connection_size
UINT
Get
No
specified
default
0x08
consumed_connection_size
UINT
Get
0x08
0x09
expected_packet_rate
UINT
Get
0
0x0C
watchdog_timeout_action
USINT
Get
0
Get
No
specified
default
Get
No
specified
default
Get
No
specified
default
0x0D
0x0E
0x0F
produced_connection_path_ length
produced_connection_path
consumed_connection_path_length
UINT
EPATH
UINT
0x10
consumed_connection_path
EPATH
Get
No
specified
default
0x11
production_inhibit_time
UINT
Get
0
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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4.6.4 Change of State or Cyclic I/O Connection (Acknowledge)
Instance (0x04) attribute (Acknowledge)
Attribute
ID
Description
0x01
state
USINT
Get
0x01
0x02
instance_type
USINT
Get
0x01
0x03
transportClass_trigger
BYTE
Get
0x02
0x04
produced_connection_id
UINT
Get
Table 3.2
0x05
consumed_connection_id
UINT
Get
Table 3.2
0x06
initial_comm_characteristics
BYTE
Get
0x01
Get
No
specified
default
0x07
DeviceNet
Method
Data Type
produced_connection_size
UINT
Default
Value
0x08
consumed_connection_size
UINT
Get
No
specified
default
0x09
expected_packet_rate
UINT
Get
0
0x0C
watchdog_timeout_action
USINT
Get
0
Get
No
specified
default
Get
No
specified
default
No
specified
default
0x0D
0x0E
produced_connection_path_ length
produced_connection_path
UINT
EPATH
0x0F
consumed_connection_path_length
UINT
Get
0x10
consumed_connection_path
EPATH
Get
0x11
production_inhibit_time
UINT
Get
20h 2Bh 24h
01h
0
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
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4.6.5 Change of State or Cyclic I/O Connection (Unacknowledge)
Instance (0x04) attribute (Unacknowledge)
Attribute
DeviceNet
Description
Method
ID
Data Type
0x01
state
USINT
Get
0x02
instance_type
USINT
Get
0x03
transportClass_trigger
BYTE
Get
0x04
produced_connection_id
UINT
Get
0x05
consumed_connection_id
UINT
Get
0x06
initial_comm_characteristics
BYTE
Get
0x07
produced_connection_size
UINT
Get
0x08
consumed_connection_size
UINT
Get
0x09
0x0C
expected_packet_rate
watchdog_timeout_action
UINT
USINT
Get
Get
0x0D
produced_connection_path_ length
UINT
Get
0x0E
produced_connection_path
EPATH
Get
consumed_connection_path_length UINT
consumed_connection_path
EPATH
production_inhibit_time
UINT
Get
Get
Get
0x0F
0x10
0x11
Default
Value
0x01
0x01
0x00
Table 3.2
0xFFFF
0x0F
No
specified
default
No
specified
default
0
0
No
specified
default
No
specified
default
0
Empty
0
Instance service
Service Code
Service name
Support
0x0E
Get_Attribute_Single
Yes
0x10
Set_Attribute_Single
Yes
Note : The first assembly instance number in the CAN-8124/CAN-8224/
CAN-8424 is 0x64. The second is 0x65. The priority of Assembly
instances follows the sequence of DO, AO, DI, AI and Counter. There
are many examples for users to go through in order to understand
Assembly objects. Please refer to the next section.
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Chapter 5 Configuration & Getting Start
5.1 CAN-8124/CAN-8224 Configuration Flowchart
Select the needed i-8K/i-87K IO
modules from ICP DAS in your
DeviceNet application.
1. Execute CAN Slave Utility in the
off-line mode
2. Select the proper module slot No. and
name for each i-8K/i-87K module
plugged in the CAN-8124/CAN-8224
3. Produce the corresponding EDS file.
1. Reset the CAN-8124/CAN-8224
device with the proper node ID and
baud rate.
2. Apply the EDS file in your
DeviceNet.
3. Start to communicate with the
DeviceNet Master Interface
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5.2 CAN-8424 Configuration Flowchart
Select the needed i-8K/i-87K IO modules
from ICP DAS in your DeviceNet
application.
1. Connect the COM1 of the CAN-8424 &
PC’s COM port with the download cable,
CA0915.
2. Execute CAN Slave Utility to configure
the CAN-8424 device and create the EDS
file.
After configuring CAN-8424 and creating
the specific EDS files, apply the EDS file
in your DeviceNet application.
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5.3 CAN Slave Utility Overview
The CAN Slave Utility is designed for the CAN-8124/CAN-8224/
CAN-8424. It provides the following functions.
z
z
z
z
Configures the input range of the i-8000 and i-87K AI/AO modules
plugged in the CAN-8124/CAN-8224/CAN-8424.
Scans the i-8000 or i-87K modules in the CAN-8424. Then, it creates
EDS files to match the scan results in the on-line mode.
Produces the EDS files by using the off-line method for
CAN-8124/CAN-8224/ CAN-8424.
Shows the important information which is useful in the DeviceNet
network. Such as Assembly instances and Application instance
attributes.
For the reason that all i-8K/i-87K AI/AO parameter configurations can be
done by using explicit messages for the DeviceNet specification, the
CAN-8124/CAN-8224/CAN-8424 can work directly without using the CAN
Slave Utility if users don’t need to use the CAN-8424 EDS file creation system
in the on-line mode, That is to say that users can turn on the
CAN-8124/CAN-8224 and directly apply it into the DeviceNet network by using
default settings. Users can get the EDS file by using the CAN Slave Utility in
the off-line mode. When the AI/AO channel’s configurations are needed, use
explicit message to modify the AI/AO parameter configurations. For more
detailed information, please refer to section 7.2.
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5.4 Configuration with the CAN Slave Utility
Installing the CAN Slave Utility
Step 1: Download the CAN Slave Utility setup file from the web site
http://www.icpdas.com/download/can/Remote_IO.htm or CD-ROM disk
following the path of “Fieldbus_CD:/DeviceNet/Slave/CAN-8x24/Utility/.
Step 2: Execute the setup.exe file to install the CAN Slave Utility.
Step 3: A “Welcome” window will pop up to prompt the user to begin installation.
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Step 4: Click the “Next” button and then a “Choose Destination Location”
window will pop up for deciding the installation path.
Step 5: Click the “Next” button. A “Ready to Install the Program” window will
pop up. Here, press the “Install” button to install the Utility.
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Step 6: Click the “Next” button and start to install the CAN Slave Utility to the
system. After finishing this process, the following figure will be displayed
prompting users to “Finish” the successful completion of the installation.
Step 7: After finishing the installation of the CAN Slave Utility, users can find
the CAN_SL Utility as shown in the following screenshot.
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Uninstall CAN Slave Utility
You can uninstall the CAN_SL Utility software by the following means
described below.
Step 1: Click “Start” in the task bar, and then click the Settings/Control Panel.
Step 2: Click the “Add/Remove Programs” button icon to open the dialog.
Step 3: Find out the CAN_SL Utility, and click the Change/Remove button.
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Step 4: Select the “Remove” option and press the “Next” button to remove the
software.
Step 5: Click the “Yes” button to remove the software.
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Step 6: Finally, click the “Finish” button to finish the uninstall process.
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5.5 CAN-8124/CAN-8224 Configuration (Off-line mode)
Step 1: Select “DeviceNet” from under the “Application Layer” option. Then,
select “offline” from the “Setting status”.
Step 2: If the CAN slave device is CAN-8224 with node id 1 and baud rate 125
Kbps, then users must set the file’s correct value for the CAN-8224 node id
and baud rate in the “NODE ID” and “CAN Baud rate”. Then, select the “2 Slot”
as the number of slots under “Slot Number”.
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Step 3: Click one of the slot module icons as shown in the “CAN Slave Device
Situation” frame below. A list box will pop up. Select the correct slot module
that is plugged into the CAN-8224.
Step 4: If the i-8024 and i-8042 modules are plugged into slot 0 and slot 1
respectively, then, select 8024 from the list box, and click the “Apply Module”
button to save this configuration.
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Step 5: Once completing this configuration, users can move the mouse point to
the slot module in the “CAN Slave Device Situation” frame. If the configuration
has been successful, users will see the correct module name on the top of the
slot module.
Step 6: Repeat steps 4~6 to configure slot 2 with the i-8042 module. Then,
click the “Save Setting” button to finish the off-line parameter settings.
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Step 7: Users can perform their parameter settings in the “General Setting”
window. Also, users can check the default settings for each slot module by
clicking on the module’s icon. Alternatively users can move the mouse pointer
over the slot module to show the modules name and information displayed in
the “Module Information” frame. Then, click the “Build EDS file” button to go to
the next step.
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Step 8: In this step users can begin building the specific EDS files for their
CAN-8124/CAN-8224. In this dialog, users can know the information of IO
modules, assembly components and application instances. Due to the off-line
mode, the output and input instance parameters are not able to be set.
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By clicking the “Module View” button, the following figure will be displayed.
Clicking on the “Assembly Object View” button, the following figure will be
displayed.
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Clicking the “Application Object View” button and the following figure will pop
up.
Step 9: Press the “NEXT” button to go to the next step. Otherwise you can
press the “Back” button to go back to the above step.
Step 10: The next step shows the settable connection path. The connection
path in the CAN-8124/CAN-8224 device is default path. Users can refer to the
settable path to set these IO connection paths. The application and assembly
object instance can also be shown in this figure.
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Step 11: Setting the EDS file’s information and giving it a description in the
description box provided as can be seen in the following figure.
Step 12: Click the “Finish” button to complete the CAN-8124/CAN-8224
configuration and the system will create the EDS file for users as in the
following figure.
Step 13: When this process is finished, the main window will pop-up. Then
select “Exit program” to exit the program.
You can find the EDS file for the specific CAN-8124/CAN-8224. The file
name is ICPDNS1.eds. “1” represents the Node ID of the device. Therefore,
users can apply the EDS file in the DeviceNet application as the following
figure.
Note: There is also some device information in the EDS file. Users can also
see the information form the EDS file.
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5.6 CAN-8424 Configuration (On-line mode)
Before using the CAN Slave utility in the On-line mode with the CAN-8424,
please make sure that you have connected the COM1 port of the CAN-8424
with the available COM port on your PC. The architecture is displayed in the
following figure. In this demo, the CAN-8424 will be used, and slot modules,
i-8041, i-8040, i-8024 and i-8017H are plugged into slots 0, 1, 2 and 3
respectively.
Step 1: Turn off the CAN-8424. Set the “DR” rotary switch for the CAN-8424 to
9. Then turn on the CAN-8424.
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Step 2: Use the “DR” rotary switch again to set the baud rate for the CAN-8424.
Here, we use the baud rate at 125 Kbps for the demo. Therefore, set the “DR”
rotary switch to 0.
Step 3: Execute the CAN_SL.exe file, and the figure will be displayed. Select a
PC COM port to connect the CAN-8424. We used the PC COM 6 port for this
demo. Click the “Connect” button to store the information into the CAN-8424.
Then press the “Connect” button to connect to the CAN-8424. The utility will
scan the IO modules plugged into the CAN-8424 automatically.
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Step 4: After scanning the IO modules, there will be some information about
the firmware version, MAC ID and baud rate as shown in the below windows.
Step 5: In the “CAN Slave Device situation” section, press the specific modules
and their module configuration information will be revealed in the right upper
window. Furthermore users can set their specific module configuration.
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Step 6: After selecting the needed configuration, press the “Set” button to set
the module’s configuration as in this specific one.
Step 7: After finishing the process of configuration, press the “Build EDS file” to
button to go to the next step to start to build the specific EDS file for your
CAN-8424.
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Step 8: The dialog will be displayed as follows. In this dialog, users can define
their needed assembly objects.
Step 9: Set the output instance and input instance to either default or user
defined mode.
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The dialog will be shown by the assembly mapping information. If users
set it to the “user-defined mode”, users can add, delete or update instance
mapping in the dialog. In addition, the usable IO information will be shown in
the IO Mapping frame. Users can set/clear the specific channel IO of the slot to
the assembly instance. In the default mode, the system just shows the default
Assembly instance information. Users cannot modify the assembly instance
components.
Step 10: In addition, the utility also provides module, assembly and application
object information by pressing the “Module view”, “Assembly Object View” and
“Application View” buttons.
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Step 11: If you press the “Module View” button, the “Module Information”
window will pop-up. Users can get the IO module plugged into the CAN-8424
from this dialog.
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Step 12: By pressing the “Assembly Object View” button, the “Assembly Object
Information” window will pop-up. Users can get every assembly object
information in the CAN-8424 from this dialog.
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Step 13: When pressing the “Application Object View” button, the “Application
Object Information” window will pop-up. Users can get every application
object’s information in the CAN-8424 from this dialog.
Step 14: After creating the assembly object, press the “NEXT” button to go to
the next step. Alternatively you can press the “Back” button to go back to the
above step.
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Step 15: Upon completion of the above steps, the following window will pop-up.
Users can set their EDS files information from here.
Step 16: Users can set the specified information they want in the below fields.
This information will be stored in the EDS file.
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Step 17: Set the Polling/Bit Strobe/COS/Cyclic IO connection path for the
CAN-8424.
The utility will list all useable paths in these fields. These selections
include assembly and application objects.
Step 18: Press the “Finish” button to complete the CAN-8424 configuration and
the system will create the EDS file for the CAN-8424. Otherwise press the
“Back” button to go back to the above step. Users can then find the EDS file in
the execute file path.
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Chapter 6 Components of Assembly Objects
6.1 Components in the Assembly object
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.
The CAN-8x24 provides many assembly objects for users. The number of
assembly objects is decided by the user-defined or default settings. However,
the number of assembly objects is only a default setting in the
CAN-8124/CAN-8224. Every IO slot modules represents an application object
instance. The CAN-8x24 device would arrange the application instances in
order by slot address. The assembly object instances consist of these
application object attributes. Moreover the default assembly instances are the
groups relating to DO/AO/DI/AI signals. However, in the CAN-8x24, users can
define the specific assembly object instances they need by using the CAN
Slave Utility. The sketch map is as figure 6-1. The CAN-8x24 supports a
maximum of 16 assembly instances.
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Figure 6-1 DeviceNet object sketch map
Note: The max number in the assembly instance is 16.
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6.2 CAN-8424 Assembly Example
There are many IO examples related to the CAN-8424 in this section.
These demos should help users to understand the CAN-8424 to a suitable
degree.
Example1:
In this demo, apply the i-87017 (slot 0), i-8024 (slot 1), i-8057 (slot 2) and
i-8053 (slot 3) to the CAN-8424 as follows.
The CAN-8424 will arrange the application objects for the DeviceNet
according to the following table.
Slot
Application
Address Instance ID
Module
name
DO
AO
DI
AI
Length(Byte) Length(Byte) Length(Byte) Length(Byte)
0
0x01
87017
0
0
0
16
1
0x02
8024
0
8
0
0
2
0x03
8057
2
0
0
0
3
0x04
8053
0
0
2
0
Because there are four slots in the CAN-8424, the application instance number
is 4. The corresponding Instance attribute is as follows:
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Application Instance 1
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
87017
0x02
Module Type
Get
CHAR
Depend on the
Get/Set
number of
module channel
3 (AI type)
1st byte (1st channel)
2nd byte (2nd channel)
3rd byte (3rd channel)
4th byte (4th channel)
5th byte (5th channel)
6th byte (6th channel)
7th byte (7th channel)
8th byte (8th channel)
0x03
Configuration
0x04
Total Channels
Get
CHAR
8
0x05
Total Length
Get
CHAR
16
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
0
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
0
0x0A
AI Length
Get
CHAR
16
0x0B
DO channel
num
Get
CHAR
0
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel num
Get
CHAR
0
0x0E
AI channel num
Get
CHAR
8
0x0F
Enable/Disable
output safe
Get/Set
value
CHAR
0
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI counter
value
Set
CHAR
0
0x13
DI counter value
Get
INTEGER
0
0
0
0x14
DO data
Set
Defined by
module channel
num
0x15
AO data
Set
Defined by
module channel
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num
0x16
DI data
Get
Defined by
module channel
num
0
1st and 2nd bytes (1st
channel)
3rd and 4th bytes (2nd
channel)
5th and 6th bytes (3rd
channel)
7th and 8th bytes (4th
channel)
9th and 10th bytes (5th
channel)
11th and 12th bytes (6th
channel)
13th and 14th bytes (7th
channel)
15th and 16th bytes (8th
channel)
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input
Mode
Get/Set
CHAR
0
Application Instance 2
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8024
0x02
Module Type
Get
CHAR
2 (AO type)
Depend on the
Get/Set
number of
module channel
1st byte (1st channel)
2nd byte (2nd channel)
3rd byte (3rd channel)
4th byte (4th channel)
0x03
Configuration
0x04
Total Channels
Get
CHAR
4
0x05
Total Length
Get
CHAR
8
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
0
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
0
0x0A
AI Length
Get
CHAR
8
0x0B
DO channel
num
Get
CHAR
0
0x0C
AO channel
Get
CHAR
0
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num
0x0D
DI channel
num
Get
CHAR
0
0x0E
AI channel
num
Get
CHAR
4
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI
counter value
Set
CHAR
0
0x13
DI counter
value
Get
WORD
0
Set
Defined by
module channel
num
0
Set
Defined by
module channel
num
1st and 2nd bytes (1st
channel)
3rd and 4th bytes (2nd
channel)
5th and 6th bytes (3rd
channel)
7th and 8th bytes (4th
channel)
Get
Defined by
module channel
num
0
0
0x14
0x15
0x16
DO data
AO data
DI data
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input Get/Set
Mode
CHAR
0
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Application Instance 3
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8057
0x02
Module Type
Get
CHAR
0 (DO type)
Depend on the
Get/Set
number of
module channel
0x03
Configuration
0x04
Total Channels
Get
CHAR
16
0x05
Total Length
Get
CHAR
2
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
2
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
0
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
num
Get
CHAR
16
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel
num
Get
CHAR
0
0x0E
AI channel
num
Get
CHAR
0
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
0x40
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI
counter value
Set
CHAR
0
0x13
DI counter
value
Get
WORD
0
Defined by
module channel
num
1st bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
0x14
DO data
Set
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4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
1st bit of 2nd byte (9th
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
channel)
7th bit of 2nd byte (15th
channel)
8th bit of 2nd byte (16th
channel)
0x15
0x16
AO data
DI data
Set
Defined by
module channel
num
0
Get
Defined by
module channel
num
0
0
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input Get/Set
Mode
CHAR
0
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Application Instance 4
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8053
0x02
Module Type
Get
CHAR
2 (DI type)
Depend on the
Get/Set
number of
module channel
0x03
Configuration
0x40
0x04
Total Channels
Get
CHAR
16
0x05
Total Length
Get
CHAR
2
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
0
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
2
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
num
Get
CHAR
0
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel num
Get
CHAR
16
0x0E
AI channel num
Get
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
CHAR
0
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI counter
value
Set
CHAR
0
0x13
DI counter value
Get
WORD
0
Set
Defined by
module channel
num
0
0
1st bit of 1st byte (1st
0x14
DO data
0x15
AO data
Set
Defined by
module channel
num
0x16
DI data
Get
Defined by
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module channel
num
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
1st bit of 2nd byte (9th
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
channel)
7th bit of 2nd byte (15th
channel)
8th bit of 2nd byte (16th
channel)
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input
Mode
Get/Set
CHAR
0
0
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Refer to the application object instances. The CAN-8424 will define the
default assembly object instances according to the following table.
Assembly Object Instance ID(Hex)
Data Length(Byte)
Component modules
0x64
DO: 2
i-8053 (ch0~ch15)
0x65
AO: 8
i-8024 (ch0~ch3)
0x66
DI: 2
i-8057 (ch0~ch15)
0x67
AI: 8
i-87017 (ch0~ch3)
0x68
AI: 8
i-87017 (ch4~ch7)
If the default assembly instances are not adaptive, the user-defined
assembly object can be created by applying the CAN Slave Utility. The system
will show the unit of IO modules in the utility software. Therefore, users can
arrange the unit to the specific assembly instance. In analog modules, the unit
of length is 2 bytes and 1 byte is in the digital module.
Slot
Application
Address Instance ID
Module name
Useable
Useable
Useable
Useable
DO unit
AO unit
DI unit
AI unit
0
0x01
87017
0
0
0
8
1
0x02
8024
0
4
0
0
2
0x03
8057
2
0
0
0
3
0x04
8053
0
0
2
0
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Users can assign assembly instances as either input or output instances.
However there must be DO or AO units in output instances. Plus there must be
DI or AI units in input instances. For example:
Assembly Object
Instance ID (Hex)
Instance Type
Data
Length(Byte)
Component modules
1st byte DO (1st byte of i-8053)
2nd byte DO (2nd byte of i-8053)
3rd byte AO (1st CH of i-8024)
0x64
Output
8
4th byte AO (1st CH of i-8024)
5th byte AO (2nd CH of i-8024)
6th byte AO (2nd CH of i-8024)
7th byte AO (3rd CH of i-8024)
8th byte AO (3rd CH of i-8024)
0x65
Output
2
1st byte AO (4th CH of i-8024)
2nd byte AO (4th CH of i-8024)
1st byte DI (1st byte of i-8057)
2nd byte DI (2nd byte of i-8057)
3rd byte AI (1st CH of i-87017)
0x66
Input
8
4th byte AI (1st CH of i-87017)
5th byte AI (2nd CH of i-87017)
6th byte AI (2nd CH of i-87017)
7th byte AI (3rd CH of i-87017)
8th byte AI (3rd CH of i-87017)
1st byte AI (4th CH of i-87017)
2nd byte AI (4th CH of i-87017)
3rd byte AI (5th CH of i-87017)
0x67
Input
8
4th byte AI (5th CH of i-87017)
5th byte AI (6th CH of i-87017)
6th byte AI (6th CH of i-87017)
7th byte AI (7th CH of i-87017)
8th byte AI (7th CH of i-87017)
0x68
Input
2
1st byte AI (8th CH of i-87017)
2nd byte AI (8th CH of i-87017)
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Example2:
If users plug i-8057 (slot 0), i-8064 (slot 1), i-8042 (slot 2) and i-8053 (slot
3) into the CAN-8424, the CAN-8424 will arrange the application objects for
the DeviceNet according to the following table.
Slot
Application Module
Address Instance ID
DO
AO
DI
AI
name
Length(Byte)
Length(Byte)
Length(Byte)
Length(Byte)
0
0x01
8057
2
0
0
0
1
0x02
8064
1
0
0
0
2
0x03
8042
2
0
2
0
3
0x04
8053
0
0
2
0
Since there are four slots in CAN-8424, the application instance number is 4.
The corresponding instance attributes are as follows:
Application Instance 1
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8057
0x02
Module Type
Get
CHAR
0 (DO type)
Depend on the
Get/Set
number of
module channel
0x03
Configuration
0x40
0x04
Total Channels
Get
CHAR
16
0x05
Total Length
Get
CHAR
2
0x06
Reserved
Get
CHAR
0
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0x07
DO Length
Get
CHAR
2
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
0
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
num
Get
CHAR
16
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel num
Get
CHAR
0
0x0E
AI channel num
Get
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
CHAR
0
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI counter
value
Set
CHAR
0
0x13
DI counter value
Get
WORD
0
st
0x14
DO data
Set
Defined by
module channel
num
1 bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
1st bit of 2nd byte (9th
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
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channel)
7th bit of 2nd byte (15th
channel)
8th bit of 2nd byte (16th
channel)
0x15
0x16
AO data
DI data
Set
Defined by
module channel
num
0
Get
Defined by
module channel
num
0
0
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input
Mode
Get/Set
CHAR
0
Application Instance 2
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8064
0x02
CHAR
Depend on the
number of
Configuration Get/Set
module channel
CHAR
Total Channels
Get
0x03
0x04
Module Type
Get
0 (DO type)
0x40
8
0x05
Total Length
Get
CHAR
1
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
1
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
0
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
num
Get
CHAR
8
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel
num
Get
CHAR
0
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0x0E
0x0F
AI channel
num
Get
Enable/Disable
output safe
Get/Set
value
CHAR
0
CHAR
0
0x10
Output safe
value
Defined by
Get/Set module channel
num
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI
counter value
Set
CHAR
0
0x13
DI counter
value
Get
WORD
0
Defined by
module channel
num
1st bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
0x14
DO data
Set
0x15
AO data
Set
0x16
DI data
Get
0x17
AI data
Get
0x18
Clear Counter
module
Set
0x19
Counter
module’s Input Get/Set
Mode
Defined by
module channel
num
Defined by
module channel
num
Defined by
module channel
num
0
0
0
0
CHAR
0
CHAR
0
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Application Instance 3
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8042
0x02
Module Type
Get
CHAR
4
(DO_AND_DI_TYPE)
Depend on the
Get/Set
number of
module channel
0x03
Configuration
0x04
Total Channels
Get
CHAR
32
0x05
Total Length
Get
CHAR
4
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
2
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
2
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
num
Get
CHAR
16
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel
num
Get
CHAR
16
0x0E
AI channel
num
Get
CHAR
0
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
0x40
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI
counter value
Set
CHAR
0
0x13
DI counter
value
Get
WORD
0
Set
Defined by
module channel
num
1st bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
0x14
DO data
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3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
1st bit of 2nd byte (9th
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
channel)
7th bit of 2nd byte (15th
channel)
8th bit of 2nd byte (16th
channel)
0x15
0x16
AO data
DI data
Set
Get
Defined by
module channel
num
0
Defined by
module channel
num
1st bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
1st bit of 2nd byte (9th
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
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channel)
7th bit of 2nd byte (15th
channel)
8th bit of 2nd byte (16th
channel)
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input Get/Set
Mode
CHAR
0
0
Application Instance 4
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8053
0x02
Module Type
0x03
Configuration
0x04
Total Channels
0x05
Total Length
Get
CHAR
2
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
0
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
2
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
num
Get
CHAR
0
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel num
Get
CHAR
16
0x0E
AI channel num
Get
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
CHAR
0
0x10
Output safe
value
0x11
DI counter
CHAR
Depend on the
number of
Get/Set
module channel
CHAR
Get
Get
Defined by
Get/Set module channel
num
CHAR
Get/Set
1 (DI type)
0x40
16
0
0
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channel
0x12
Clear DI counter
value
Set
CHAR
0
0x13
DI counter value
Get
0
0x14
DO data
Set
0x15
AO data
Set
WORD
Defined by
module channel
num
Defined by
module channel
num
0
0
0x16
DI data
Get
1st bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
th
8
bit
of 1st byte (8th
Defined by
channel)
module channel 1st bit of 2nd byte (9th
num
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
channel)
7th bit of 2nd byte (15th
channel)
8th bit of 2nd byte (16th
channel)
0x17
AI data
Get
Defined by
module channel
num
0
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input
Mode
Get/Set
CHAR
0
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Refer to the application object instances. The CAN-8x24 will define the default
assembly object instances according to the following table.
Assembly Object
Instance Type
Data Length(Byte)
Component modules
0x64
Output
DO: 5
i-8053/ i-8064/ i-8042
0x65
Input
DI: 4
i-8042/i-8057
Instance ID (Hex)
If the default assembly instances are not adaptive, a user-defined assembly
object can be created. The system will show the unit of IO modules in the CAN
Slave Utility software. Therefore, users can arrange the unit to the specific
assembly instances. In analog modules, the unit of length is 2 bytes where 1
byte is in the digital modules.
Users can assign assembly instances as either input or output instances.
However there must be DO or AO units in output instances. Plus there must be
DI or AI units in input instances. For example:
Assembly Object
Instance
Data
Instance ID (Hex)
Type
Length(Byte)
0x64
Output
2
Component modules
1st byte DO (1st byte of i-8053),
2nd byte DO (1st byte of i-8064)
1st byte DO (2nd byte of i-8053),
0x65
Output
3
2nd byte DO (1st byte of i-8042),
3rd byte DO (2nd byte of i-8042)
1st byte DI (2nd byte of i-8042),
0x66
Input
4
2nd byte DI (1st byte of i-8042),
3rd byte DI (2nd byte of i-8057)
4th byte DI (2nd byte of i-8057)
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6.3 CAN-8124/CAN-8224 Assembly Example
There are few IO examples related to the CAN-8124/CAN-8224 in this
section. These demos should help users to understand the CAN-8124/
CAN-8224 to a suitable degree.
Example1: AI/AO modules demo
In this demo, apply the i-87017 (slot 0), i-8024 (slot 1) into the CAN-8224
as follows.
The CAN-8224 would arrange the application objects for the DeviceNet
according to the following table.
Slot
Application
Address Instance ID
Module
name
DO
AO
DI
AI
Length(Byte) Length(Byte) Length(Byte) Length(Byte)
0
0x01
87017
0
0
0
16
1
0x02
8024
0
8
0
0
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Application Instance 1
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
87017
0x02
Module Type
Get
CHAR
3 (AI type)
st
1 byte (1st channel)
2nd byte (2nd channel)
0x03
Configuration
Depend on the
Get/Set
number of
module channel
3rd byte (3rd channel)
4th byte (4th channel)
5th byte (5th channel)
6th byte (6th channel)
7th byte (7th channel)
8th byte (8th channel)
0x04
Total Channels
Get
CHAR
8
0x05
Total Length
Get
CHAR
16
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
0
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
0
0x0A
AI Length
Get
CHAR
16
0x0B
DO channel
num
Get
CHAR
0
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel num
Get
CHAR
0
0x0E
AI channel num
Get
CHAR
8
0x0F
Enable/Disable
output safe
Get/Set
value
CHAR
0
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI counter
value
Set
CHAR
0
0x13
DI counter value
Get
WORD
0
0x14
DO data
Set
Defined by
module channel
0
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num
0x15
0x16
AO data
DI data
Set
Defined by
module channel
num
0
Get
Defined by
module channel
num
0
1st and 2nd bytes (1st
channel)
3rd and 4th bytes (2nd
channel)
5th and 6th bytes (3rd
channel)
7th and 8th bytes (4th
channel)
9th and 10th bytes (5th
channel)
11th and 12th bytes (6th
channel)
13th and 14th bytes (7th
channel)
15th and 16th bytes (8th
channel)
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input
Mode
Get/Set
CHAR
0
Application Instance 2
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8024
0x02
Module Type
Get
CHAR
2 (AO type)
st
0x03
Configuration
Depend on the
Get/Set
number of
module channel
1 byte (1st channel)
2nd byte (2nd channel)
3rd byte (3rd channel)
4th byte (4th channel)
0x04
Total Channels
Get
CHAR
4
0x05
Total Length
Get
CHAR
8
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
0
0x08
AO Length
Get
CHAR
8
0x09
DI Length
Get
CHAR
0
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0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
num
Get
CHAR
0
0x0C
AO channel
num
Get
CHAR
4
0x0D
DI channel
num
Get
CHAR
0
0x0E
AI channel
num
Get
CHAR
0
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI
counter value
Set
CHAR
0
0x13
DI counter
value
Get
WORD
0
Set
Defined by
module channel
num
0
Set
Defined by
module channel
num
1st and 2nd bytes (1st
channel)
3rd and 4th bytes (2nd
channel)
5th and 6th bytes (3rd
channel)
7th and 8th bytes (4th
channel)
Get
Defined by
module channel
num
0
0
0x14
0x15
0x16
DO data
AO data
DI data
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
Get/Set
CHAR
0
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module’s Input
Mode
Refer to the application object instances. The CAN-8224 will define the default
assembly object instances according to the following table.
Assembly Object Instance ID(Hex)
Data Length(Byte)
Component modules
0x64
AO: 8
i-8024
0x65
AI: 8
i-87017
0x66
AI: 8
i-87017
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Example 2: DI/DO module demo
In this demo, apply the i-8042 (slot 0) into the CAN-8124 as follows.
Slot
Application
Address Instance ID
2
0x01
Module
DO
AO
DI
AI
name
Length(Byte)
Length(Byte)
Length(Byte)
Length(Byte)
8042
2
0
2
0
Application Instance 1
Attribute ID
Description
Method
Data Type
Value
0x01
Module name
Get
WORD
8042
0x02
Module Type
Get
CHAR
4
(DO_AND_DI_TYPE)
Depend on the
Get/Set
number of
module channel
0x03
Configuration
0x40
0x04
Total Channels
Get
CHAR
32
0x05
Total Length
Get
CHAR
4
0x06
Reserved
Get
CHAR
0
0x07
DO Length
Get
CHAR
2
0x08
AO Length
Get
CHAR
0
0x09
DI Length
Get
CHAR
2
0x0A
AI Length
Get
CHAR
0
0x0B
DO channel
Get
CHAR
16
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num
0x0C
AO channel
num
Get
CHAR
0
0x0D
DI channel
num
Get
CHAR
16
0x0E
AI channel
num
Get
CHAR
0
CHAR
0
0x0F
Enable/Disable
output safe
Get/Set
value
0x10
Output safe
value
Defined by
Get/Set module channel
num
0
0x11
DI counter
channel
Get/Set
CHAR
0
0x12
Clear DI
counter value
Set
CHAR
0
0x13
DI counter
value
Get
WORD
0
Defined by
module channel
num
1st bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
1st bit of 2nd byte (9th
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
channel)
7th bit of 2nd byte (15th
channel)
0x14
DO data
Set
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8th bit of 2nd byte (16th
channel)
0x15
0x16
AO data
DI data
Defined by
module channel
num
0
Get
Defined by
module channel
num
1st bit of 1st byte (1st
channel)
2nd bit of 1st byte (2nd
channel)
3rd bit of 1st byte (3rd
channel)
4th bit of 1st byte (4th
channel)
5th bit of 1st byte (5th
channel)
6th bit of 1st byte (6th
channel)
7th bit of 1st byte (7th
channel)
8th bit of 1st byte (8th
channel)
1st bit of 2nd byte (9th
channel)
2nd bit of 2nd byte (10th
channel)
3rd bit of 2nd byte (11th
channel)
4th bit of 2nd byte (12th
channel)
5th bit of 2nd byte (13th
channel)
6th bit of 2nd byte (14th
channel)
7th bit of 2nd byte (15th
channel)
8th bit of 2nd byte (16th
channel)
0
Set
0x17
AI data
Get
Defined by
module channel
num
0x18
Clear Counter
module
Set
CHAR
0
0x19
Counter
module’s Input Get/Set
Mode
CHAR
0
Refer to the application object instances. The CAN-8124 will define the default
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assembly object instances according to the following table.
Assembly Object
Instance Type
Data Length(Byte)
Component modules
0x64
Output
DO: 2
i-8042
0x65
Input
DI: 2
i-8042
Instance ID (Hex)
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Chapter 7 DeviceNet Communication Set
7.1 DeviceNet Communication Set Introduction
The CAN-8124/CAN-8224/CAN-8424 is a Group 2 Only Slave device, and
supports the “Predefined Master/slave Connection Set”. To communicate with
the device, the process about how to establish a connection is important. In
addition, we also show examples about how to access IO modules.
The CAN Identifier Fields associated with the Predefined Master/Slave
Connection Set for the DeviceNet are shown in the below table. Table defines
the Identifiers that are to be used with all connection based messaging
involved in the Predefined Master/Slave Connection Set for the
CAN-8124/CAN-8224/CAN-8424.
IDENTIFIER BITS
10
0
9
8
7
6
Group 1
5
4
3
IDENTITY USAGE
2
1
RANGE
0
Source MAC ID
HEX
Group 1 Messages
Message ID
000 –
3ff
0 1 1 0 1
Source MAC ID
Slave’s I/O Change of State or Cyclic Message
0 1 1 1 0
Source MAC ID
Slave’s I/O Bit–Strobe Response Message
0 1 1 1 1
Source MAC ID
Slave’s I/O Poll Response or Change of
State/Cyclic Acknowledge Message
1 0
MAC ID
Group 2
Group 2 Messages
Message ID
5ff
1 0
Source MAC ID
0 0 0
Master’s I/O Bit–Strobe Command Message
1 0
Destination MAC ID
0 1 0
Master’s Change of State or Cyclic Acknowledge
Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response
Messages/ Device Heartbeat Message/ Device
Shutdown Message
1 0
Destination MAC ID
1 0 0
Master’s Explicit Request Messages
1 0
Destination MAC ID
1 0 1
Master’s I/O Poll Command/Change of State/Cyclic
Message
1 0
Destination MAC ID
1 1 0
400 –
Group 2 Only Unconnected Explicit Request
Messages (reserved)
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1 0
Destination MAC ID
1 1 1 1 1
1 1 1
Group 4 Message ID
Duplicate MAC ID Check Messages
Group 4 Messages
000 –
3ff
1 1 1 1 1
2C
Communication Faulted Response
Message
1 1 1 1 1
2D
Communication Faulted Request
Message
The following table lists the Error Codes that may be present in the
General Error Code field of an Error Response message.
Error Condition
Resource
unavailable
General Error
code(Hex)
02
Additional Error
Condition
Additional Error
Code(Hex)
Invalid allocation
choice
02
Invalid
Unconnected
request
03
Poll After
COS_CYCLIC
04
Service not
support
08
None
FF
Invalid attribute
value
9
None
FF
Already in
requested
mode/state
0B
None
FF
Object state
conflict
0C
Class specific error
01
Attribute not
settable
0E
None
FF
Privilege violation
0F
None
FF
Device state
conflict
10
None
FF
Reply data too
large
11
None
FF
Not enough data
13
None
FF
Attribute not
14
None
FF
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supported
Too much data
15
None
FF
Object does not
exist
16
None
FF
FRAGMENTATION
EQ
17
None
FF
Invalid parameter
20
None
FF
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The following steps may be useful to those users who would like to
implement their own DeviceNet applications using the command set.
1. Request the use of the Predefined Master/Slave Connection Set.
2. Apply the Master’s Explicit Request Messages to set an
expected_packet_rate attribute for the IO connection to establish an
I/O Connection Object State.
.
3. There are two ways to access the IO modules. The first method is by
way of an IO connection object. The other is by using an explicit
message to set/get the IO attribute for the application object.
4. Release the use of the Predefined Master/Slave Connection Set.
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7.2 Examples of the DeviceNet communication set
7.2.1 Requests the use of the Predefined Master/Slave
Connection Set
An unconnected explicit messaging request sent by the Master node via a
destination node’s Group 2 Only Unconnected Explicit Request Message to
request the use of the Predefined Master/Slave Connection set. This example
is shows the user how to use it. In this demo, the Master establishes the
Explicit Message, Poll IO and Bit-Strobe IO connections.
The figure below shows the Group 2 Only Unconnected Explicit
connection Identifier Fields.
IDENTIFIER BITS
10
9
8
7
6
5
4
3
IDENTITY USAGE
2
1
HEX
RANGE
0
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response Messages
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages
Note: CAN-8424: Node ID=0x09, Master node ID=0x0a
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit, Polled & Bit Strobed
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 07 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
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7.2.2 How to apply the Poll IO connection
Poll Command and Response message move any amount of I/O data
between a Master and its Polled Slaves. This example is revealed how to
apply the Poll IO connection in the DeviceNet application.
Note: CAN-8x24: Node ID=0x09, Master node ID=0x0A
The figure below shows the Poll I/O connection Identifier Fields.
IDENTIFIER BITS
10
9
1 0
8
7
6
5
4
Destination MAC ID
3
HEX
IDENTITY USAGE
2
1
RANGE
0
1 0 1
Master’s I/O Poll Command/Change of State/Cyclic
Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response Messages
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages
1 0
Destination MAC ID
0 1 1 1 1
1 0 0
Source MAC ID
Master’s Explicit Request Messages
Slave’s I/O Poll Response Message
1. Requests the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit, Polled & Bit Strobed
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 07 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
2. Apply
the
Master’s
Explicit
Request
Messages
to
set
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the
CAN-8124/CAN-8224/CAN-8424 User Manual
expected_packet_rate attributes so that the IO connection can
establish the I/O Connection Object State.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=2 ( Poll IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 02 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
3. Apply the Poll I/O connection to access the IO modules
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =5
|
|
|
|
|
|
_ Poll Output Data
|
|
|
|
ID=10 001001 101. Data= FF FF
_ Group 1 Message
| _ Message ID =F
| |
_ Source MAC ID=0x09
| |
|
_ Poll Response Data
| |
|
|
ID= 0 1111 001001. Data= FF DF
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7.2.3 The Bit-Strobe IO connection example
Bit-Strobe Command and Response messages rapidly move small
amounts of I/O data between a Master and its Bit-Strobe Slaves.
The figure below shows Bit-Strobe I/O connection Identifier Fields.
IDENTIFIER BITS
10
9
8
7
6
0 1 1 1 0
5
4
3
HEX
IDENTITY USAGE
2
1
RANGE
0
Source MAC ID
Slave’s I/O Bit–Strobe Response Message
1 0
Source MAC ID
0 0 0
Master’s I/O Bit–Strobe Command Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response Messages
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages
1 0
Destination MAC ID
1 0 0
Master’s Explicit Request Messages
Note: CAN-8x24: Node ID=0x09, Master node ID=0x0A
1. Requests the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit, Polled & Bit Strobed
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 07 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
2.
Apply
Master’s
Explicit
Request
Messages
to
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set
CAN-8124/CAN-8224/CAN-8424 User Manual
expected_packet_rate attribute of IO connection to make I/O
Connection Object State established.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=3 ( Bit Strobe IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 03 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
3.
Apply Bit-Strobe I/O connection to access IO modules
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =0
|
|
|
|
|
|
_ Bit-Strobe 64-bit Output Data
|
|
|
|
ID=10 001001 000. Data= FF FF FF FF FF FF FF FF
_ Group 1 Message
| _ Message ID =E
| |
_ Source MAC ID=0x09
| |
|
_ Bit-Strobe Response Data
| |
|
|
ID= 0 1110 001001. Data= FF DF
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7.2.4 Change of State/Cyclic IO with Acknowledge connections
The Change of State/Cyclic connection sets use connection instance 2
(the polled connection instance) for master to slave data production and slave
to master acknowledgment. Connection instance 4 is used for slave to master
data production and master to slave acknowledgment. If a device does not
support the poll, and has no support for output data, connection instance 2
does not need to be instantiated.
The figure below shows COS/Cyclic I/O connection Identifier Fields.
IDENTIFIER BITS
10
9
8
7
6
0 1 1 0 1
1 0
5
4
3
IDENTITY USAGE
2
1
Destination MAC ID
RANGE
0
Source MAC ID
0 1 0
Slave’s I/O Change of State or Cyclic Message
Master’s Change of State or Cyclic Acknowledge
Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response Messages
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages
1 0
Destination MAC ID
1 0 0
HEX
Master’s Explicit Request Messages
Note: CAN-8x24: Node ID=0x09, Master node ID=0x0A
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1. Requests the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Explicit &Cyclic
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 21 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
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2.
Apply the Master’s Explicit Request Messages to set an
expected_packet_rate attribute for the IO connection to establish an
I/O Connection Object State.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=4 ( Cyclic IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 04 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
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3.
The Cyclic I/O connection starts to transfer the IO data
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =2, Master Change of State or Cyclic Acknowledge Message
|
|
|
|
|
|
_No response data
ID=10 001001 010. Data= No data
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =2, Master Change of State or Cyclic Acknowledge Message
|
|
|
|
|
|
_No response data
ID=10 001001 010. Data= No data
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7.2.5 Change of State/Cyclic IO without Acknowledge connections
This example shows how to apply the COS/Cyclic IO without an
acknowledge connection.
The figure below shows the COS/Cyclic I/O connection Identifier Fields.
IDENTIFIER BITS
10
9
8
7
6
0 1 1 0 1
5
4
3
HEX
IDENTITY USAGE
2
1
RANGE
0
Source MAC ID
Slave’s I/O Change of State or Cyclic Message
1 0
Source MAC ID
0 1 1
Slave’s Explicit/ Unconnected Response Messages
1 0
Destination MAC ID
1 1 0
Group 2 Only Unconnected Explicit Request
Messages
1 0
Destination MAC ID
1 0 0
Master’s Explicit Request Messages
Note: CAN-8x24: Node ID=0x09, Master node ID=0x0A
1. Requests the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice=Ack suppression, Cyclic &Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 61 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
2.
Apply
the
Master’s
Explicit
Request
Messages
to
set
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an
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expected_packet_rate attribute for the IO connection to establish an I/O
Connection Object State.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Set Attribute Request
|
|
|
| | _ Class ID=5
|
|
|
| | | _ Instance ID=4 ( Cyclic IO connection Instance ID )
|
|
|
| | | | _ Attribute ID=9
|
|
|
| | | | | _ Attribute Data= 0x0E0A
ID=10 001001 100. Data= 0A 10 05 04 09 0A 0E
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service= Set Attribute Response
|
|
|
| | _Response Attribute Data=0x0E10
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A 90 10 0E
3. The slave device starts to transmit data cyclically.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
_ Group 1 Message
| _ Message ID =D
| |
_ Source MAC ID=0x09
| |
|
_ Cyclic Output Data of 2 bytes
| |
|
|
ID= 0 1101 001001. Data= FF DF
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7.2.6 Reset Service
This service can reset the device. If users want to reset the device, they can
apply this service to the device
The parameter type for the reset common service has the following bit
specifications:
Value
Type of Reset
0
Emulate as closely as possible cycling power on the item the
Identity object represents.
1
Return as closely as possible to the out-of-box configuration,
then emulate the cycling power as closely as possible.
Note: CAN-8x24: Node ID=0x09, Master node ID=0x0A
1. Requests the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
2. Apply the Master’s Explicit Request Messages to set the Identify
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object. The service ID(0x05) is the reset service.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Reset service
|
|
|
| | _ Class ID=1
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Service Data= 0
ID=10 001001 100. Data= 0A 05 01 01 00
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service= Reset Response
|
|
|
| |
|
|
|
| |
ID=10 001001 011. Data= 0A 85
Then the slave sends the shutdown message to the CAN bus.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID=9
|
|
|
| _ Service code= 0x4E, Device Shutdwon message
|
|
|
| |
__ Class ID=1
|
|
|
| | |
_ Instance ID=1
|
|
|
| | _|__ __|__ _____ Shutdown Code
ID=10 001001 011. Data= 09 CE 01 00 01 00 04 00
3. After the device sends out the shutdown message, it will reset and
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send Duplicated ID messages.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =7
|
|
|
_ Physical Port Number=0
|
|
|
|
_ Vendor ID= 803
|
|
|
|
|
__ Serial Number=1
|
|
|
|
|
|
|
|
|
|
|
|
ID=10 001001 111. Data= 00 23 03 01 00 00 00
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =7
|
|
|
_ Physical Port Number=0
|
|
|
|
_ Vendor ID= 803
|
|
|
|
|
__ Serial Number=1
|
|
|
|
|
|
|
|
|
|
|
|
ID=10 001001 111. Data= 00 23 03 01 00 00 00
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7.2.7 Device Heartbeat
This message broadcasts the current state of the device. This message is
transmitted by a group 2 only server as an Unconnected Response Message
(Message Group 2, Message ID 3).
Note: CAN-8x24: Node ID=0x09, Master node ID=0x0A
1. Requests the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
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2.
Apply the Master’s Explicit Request Messages to set the heartbeat
interval value.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=set attribute
|
|
|
| | _ Class ID=1
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Attribute ID= 0x0A
|
|
|
| | | | | _ Attribute Data= 2 seconds
ID=10 001001 100. Data= 0A 10 01 01 0A 02 00
Then slave (MAC ID =0x09) would send the heartbeat message in every 2
seconds.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Source MAC ID= 0x09
|
|
|
| _ Service code=0x4D
|
|
|
| |
_ Identity Object Instance ID=1
|
|
|
| |
| _ Device State=3
|
|
|
| | __|_ _|__ ____ EV, SF, UF, DF and Consistency value
ID=10 001001 011. Data=09 CD 01 00 03 00 00 00
Note: If users want to cancel the heartbeat message, please set 0 into the
heartbeat interval attribute value in the Identity object instance.
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7.2.8 Fragmentation example
There are 2 kinds of fragmentation messages in the DeviceNet. One is
acknowledged fragmentation for explicit message. The other is the
unacknowledged fragmentation for IO messages. If the length of the message
data is greater than 8 bytes, this message must be fragmented to be sent.
z
Unacknowledged Fragmentation example
This example relates to when fragmentation of an I/O message is
performed in an unacknowledged fashion. Unacknowledged fragmentation
consists of the back-back transmission of the fragments from the transmitting
module. The receiving module(s) returns no acknowledgments (other than the
CAN-provided Ack) on a per-fragment basis. The connection simply invokes
the Link Producer’s Send service as necessary to move the message without
waiting for any specific acknowledgment from the receiving module(s).
In this demo, the polling consumed size is 10 bytes. The master must
send the fragmented messages. Data=0102030405060708090A. Assume that
an I/O Connection has been established.
Note: The slave device node is 0x09, and the master node ID is 0x0A
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =5
|
|
|
|
|
|
_ Fragment Type= First Fragment, Fragment Count=0
|
|
|
| ----------------------- 1st portion of the I/O data
ID=10 001001 101. Data= 00 01 02 03 04 05 06 07
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =5
|
|
|
|
|
|
_ Fragment Type= Final Fragment, Fragment Count=1
|
|
|
| ----------------------- final portion of the I/O data
ID=10 001001 101. Data= 81 08 09 0A
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z
Acknowledge Fragmentation
This example relates to when fragmentation of an Explicit Message is
performed in an Acknowledged fashion. Acknowledged fragmentation consists
of the transmission of a fragment from the transmitting module followed by the
transmission of an acknowledgment by the receiving module. The receiving
module acknowledges the reception of each fragment. This provides a degree
of flow control. The assumption is that larger bodies of information may be
moved across Explicit Messaging Connections (e.g. Upload/Download
functions) and, as such, a degree of flow control is necessary.
In this demo, assume that attribute data=0102030405060708090A. The
assembly instance ID=4, attribute=3.
Note: The slave device node is 0x09, and the master node ID is 0x0A
1. Requests the use of the Predefined Master/Slave Connection set
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =6
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Request
|
|
|
| | _ Class ID=3
|
|
|
| | | _ Instance ID=1
|
|
|
| | | | _ Allocation Choice= Explicit
|
|
|
| | | | | _ Allocator’s MAC ID=0x0A
ID=10 001001 110. Data= 0A 4B 03 01 01 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Transaction ID=0. Destination MAC ID= 0x0A
|
|
|
| _ Service=Allocate_Master/Slave_Connection_Set Response
|
|
|
| | _Connection Message Body Format = DeviceNet (8/8)
|
|
|
| | |
|
|
|
| | |
|
|
|
| | |
ID=10 001001 011. Data= 0A CB 00
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2. Apply the Master’s Explicit Request Messages to set the Assembly
object
Service(0x10) = set attribute service.
Data = 0102030405060708090A.
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Fragment Type= First Fragment, Fragment Count=0
|
|
|
| | _ Service=set attribute
|
|
|
| | | _ Class ID=4
|
|
|
| | | | _ Instance ID=2
|
|
|
| | | | | _ Attribute ID= 0x03
|
|
|
| | | | | |
|
|
|
| | | | | | _ Attribute Data= 0102
|
|
|
| | | | | | _|_
ID=10 001001 100. Data= 8a 00 10 04 02 03 01 02
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=0. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=0
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 011. Data=8A C0 00
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Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=0. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Fragment Type= First Fragment, Fragment Count=1
|
|
|
| |
_ Attribute Data= 03 04 05 06 07 08
|
|
|
| | __|___________
ID=10 001001 100. Data= 8a 41 03 04 05 06 07 08
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=1. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=1
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 011. Data=8A C1 00
Master (MAC ID =0x0A)
Slave (MAC ID =0x09)
_ Group 2 Message
|
_ Destination MAC ID=0x09
|
|
_ Message ID =4
|
|
|
_ Frag=1. Transaction ID=0. Source MAC ID= 0x0A
|
|
|
| _ Fragment Type= Final Fragment, Fragment Count=2
|
|
|
| |
_ Attribute Data= 09 0A
|
|
|
| | __|_
ID=10 001001 100. Data= 8a 82 09 0A
_ Group 2 Message
|
_ Source MAC ID=0x09
|
|
_ Message ID =3
|
|
|
_ Frag=1. Destination MAC ID= 0x0A
|
|
|
| _ Fragment Type= Acknowledge, Fragment Count=2
|
|
|
| |
|
|
|
| | _Ack State=Success
ID=10 001001 011. Data=8A C2 00
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Chapter 8 Interpreting Analog Module Data
8.1 Analog Input Module Data transfer
Since the CAN-8x24 only supports the hex format, all of the AI channels
need to transfer to the hex format when storing into this object. The
transformation equation is shown below.
⎛ HexValue − H min ⎞
FloatValue = ⎜
⎟ ∗ (F max − F min ) + F min
⎝ H max − H min ⎠
The FloatValue is the result after transformation. The HexValue is the
value which wants to be transferred. The Hmax and Hmin is the maximum and
minimum values of the 2's complement hex range. The Fmax and Fmin is the
maximum and minimum value of the float range. Users can find out the Hmax,
Hmin, Fmax, and Fmin, values from in the appendix B. For example, the input
range for the module i-7017 is set to -10V ~ +10V. According to the table in the
appendix B, we can find out the range for the hex format as 0x8000 (+32767) ~
0x7FFF (-32768). Therefore, if the value received from the AI channel of the
i-7017 is 0x1234, the AI value with a float format can be calculated as follows.
⎛ 4660 − (− 32768) ⎞
⎜⎜
⎟⎟ ∗ (10V − (− 10V )) + (− 10V ) ≈ 1.422V
⎝ 32767 − (− 32768) ⎠
Incidentally, any AI value which is bigger than the maximum value of the input
range will be set to the maximum value of the input range automatically.
Furthermore, the AI value which is smaller than the minimum value of the input
range is also set to the minimum value of the input range automatically.
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8.2 Analog Output Module Data transfer
For the reason that the CAN-8x24 doesn’t support the float format, user
needs to transfer the AO value from the float format to the hex format. It is
similar with the AI situation. The transformation equation is as follows.
⎛ FloatValue − F min ⎞
HexValue = ⎜
⎟ ∗ (H max − H min ) + H min
⎝ F max − F min ⎠
The HexValue is the result after transformation. The FloatValue is the
value which wants to be transferred. The Fmax and Fmin are the maximum
and minimum values of the float range. The Hmax and Hmin are the maximum
and minimum values of the 2's complement hex range. User can find out the
Fmax, Fmin, Hmax, and Hmin values from in the appendix B.
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Chapter 9 Troubleshooting
The following section describes some typical problem scenarios and how
to diagnose these problems.
9.1 Problem: Unable to Communicate with the Device
If you are unable to communicate with the device, please make sure that
you have specified an appropriate MAC ID. The MSD means the most
significant digit of the node address, and LSD represents the low significant
digit of the node ID in the decimal format. Please check these settings and try
again. Figure 9-1 shows the NA rotary switch.
Figure 9-1 NA rotary switch
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9.2 Problem: All of the LEDs are off
It is necessary to provide device power to the device. Please check the
connect pins on the CAN-8124/CAN-8224/CAN-8424. Figure 9-2 and 9-3
show the CAN-8124/CAN-8224/CAN-8424 power pin assignments.
Figure 9-2 CAN-8424 power pin assignments
Figure 9-3 CAN-8124 power pin assignments
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9.3 Problem: MOD LED is Flashing
Check the setting values on the NA and DR rotary switches. If the values
are invalid, the MOD led will be flashing.
Figure 9-4 NA and DR rotary switches
9.4 Problem: NET LED is Solid when power-up
The device detects a duplicate node address. Please change the NA
rotary switch to another value and try again.
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9.5 Problem: How can I start to use the ICP DAS DeviceNet
products?
ICP DAS provides many kinds of DeviceNet products. Users will need
some basic knowledge for DeviceNet before they begin applying it. The easy
way to use any DeviceNet products from ICP DAS is to study the manual. This
manual provides the important DeviceNet knowledge for users. It is enough to
use ICP DAS’s DeviceNet products.
9.6 Problem: Why can I not to communicate any IO message
with the device?
CAN-8x24 device provides the Assembly Object path as the default IO
connection path when the distributors send it to you. Before you use the new
device, please configure your device with the CAN Slave Utility. For more
details relating to this, please refer to chapter 5. The critical point is about
application and Assembly Objects because these objects are not vendor
objects. Users must understand the relationship between the Application and
Assembly Objects.
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9.7 Problem: How to get IO data from CAN-8x24?
We support the i-8053, i-8064, i-8042 and i-8057 modules plugged-in
CAN-8424 as is depicted in the following figure.
The CAN-8424 will take the information of these modules as the attribute
data of application instance as in the following table.
Slot
Application Module
Address Instance ID
DO
AO
DI
AI
name
Length(Byte)
Length(Byte)
Length(Byte)
Length(Byte)
0
0x01
8053
0
0
2
0
1
0x02
8064
1
0
0
0
2
0x03
8042
2
0
2
0
3
0x04
8057
2
0
0
0
Refer to the application object instances. The CAN-8424 will define the default
assembly object instances according to the following table.
Assembly Object
Instance Type
Data Length(Byte)
Component modules
0x64
Output
DO: 5
i-8053/ i-8064/ i-8042
0x65
Input
DI: 4
i-8042/i-8057
Instance ID (Hex)
If the default assembly instances are not adaptive, a user-defined assembly
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object can be created. The system will show the unit of IO modules in the CAN
Slave Utility software. Therefore, users can arrange the unit to the specific
assembly instances. In analog modules, the unit of length is 2 bytes where 1
byte is in the digital modules.
Users can assign assembly instances as either input or output instances.
However there must be DO or AO units in output instances. Plus there must be
DI or AI units in input instances. For example:
Assembly Object
Instance
Data
Instance ID (Hex)
Type
Length(Byte)
0x64
Output
2
Component modules
1st byte DO (1st byte of i-8053),
2nd byte DO (1st byte of i-8064)
1st byte DO (2nd byte of i-8053),
0x65
Output
3
2nd byte DO (1st byte of i-8042),
3rd byte DO (2nd byte of i-8042)
1st byte DI (2nd byte of i-8042),
0x66
Input
4
2nd byte DI (1st byte of i-8042),
3rd byte DI (2nd byte of i-8057)
4th byte DI (2nd byte of i-8057)
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There are two ways to get IO data:
1. Users can apply the explicit connection to get the IO attribute of application
instance. We can get the DI value for the i-8042 by getting the 22tth attribute
for the 3rd application instance. Also, to output the DO data on the i-8053 by
setting the 20th attribute data for the first application instance.
2. Apply the IO connection to get/set the modules IO data. Plus the IO
connection path can be either an application or assembly instances.
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CAN-8124/CAN-8224/CAN-8424 User Manual
Appendix A: Analog I/O Transformation Table
In order to look up your required information, we have separated the
transformation table into several parts according to the slot module names.
They are given below.
i-87K Range Code
i-8K Range Code
i-87013/87015
i-8024
i-87017/87017R
i-8017H
i-87017W-A5
i-8080
i-87017RC
i-87018/87018R/87018Z
i-87019R
i-87022
i-87024
i-87026
i-87082
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i-87013/i-87015
RTD Type Definition
Type
Code
20
(Default)
21
22
23
24
25
26
RTD Type
Platinum 100
a = 0.00385
-100 to 100 degree Celsius
Platinum 100
a = 0.00385
0 to 100 degree Celsius
Platinum 100
a = 0.00385
0 to 200 degree Celsius
Platinum 100
a = 0.00385
0 to 600 degree Celsius
Platinum 100
a = 0.003916
-100 to 100 degree Celsius
Platinum 100
a = 0.003916
0 to 100 degree Celsius
Platinum 100
a = 0.003916
Data Format
Max Value
Min Value
Engineer Unit
+100.00
-100.00
% of FSR
+100.00
-100.00
2's complement HEX
7FFF
8000
Ohm
+138.50
+060.25
Engineer Unit
+100.00
+000.00
% of FSR
+100.00
+000.00
2's complement HEX
7FFF
0000
Ohm
+138.50
+100.00
Engineer Unit
+200.00
+000.00
% of FSR
+100.00
+000.00
2's complement HEX
7FFF
0000
Ohm
+175.84
+100.00
Engineer Unit
+600.00
+000.00
% of FSR
+100.00
+000.00
2's complement HEX
7FFF
0000
Ohm
+313.59
+100.00
Engineer Unit
+100.00
-100.00
% of FSR
+100.00
-100.00
2's complement HEX
7FFF
8000
Ohm
+139.16
+059.58
Engineer Unit
+100.00
+000.00
% of FSR
+100.00
+000.00
2's complement HEX
7FFF
0000
Ohm
+139.16
+100.00
Engineer Unit
+200.00
+000.00
% of FSR
+100.00
+000.00
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0 to 200 degree Celsius
27
28
29
2A
2B*1
*1
2C
2D*1
Platinum 100
a = 0.003916
0 to 600 degree Celsius
Nickel 120
-80 to 100 degree Celsius
Nickel 120
0 to 100 degree Celsius
Platinum 1000
a = 0.00385
-200 to 600 degree Celsius
Cu 100
a = 0.00421
-20 to 150 degree Celsius
Cu 100
a = 0.00421
0 to 200 degree Celsius
Cu 1000
a = 0.00421
-20 to 150 degree Celsius
2's complement HEX
7FFF
0000
Ohm
+177.13
+100.00
Engineer Unit
+600.00
+000.00
% of FSR
+100.00
+000.00
2's complement HEX
7FFF
0000
Ohm
+317.28
+100.00
Engineer Unit
+100.00
-080.00
% of FSR
+100.00
-080.00
2's complement HEX
7FFF
999A
Ohm
+200.64
+120.60
Engineer Unit
+100.00
+000.00
% of FSR
+100.00
+000.00
2's complement HEX
7FFF
0000
Ohm
+200.64
+120.60
Engineer Unit ()
+600.00
-200.00
% of FSR
+100.00
-033.33
2's complement HEX
7FFF
D556
Ohm
+3137.1
+0185.2
Engineer Unit ()
+150.00
-020.00
% of FSR
+100.00
-013.33
2's complement HEX
7FFF
EEEF
Ohm
+163.17
+091.56
Engineer Unit ()
+200.00
-000.00
% of FSR
+100.00
-000.00
2's complement HEX
7FFF
0000
Ohm
+167.75
+090.34
Engineer Unit ()
+150.00
-020.00
% of FSR
+100.00
-013.33
2's complement HEX
7FFF
EEEF
Ohm
+1631.7
+0915.6
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2E
*2
*2
2F
80
81
*2
*2
Pt 100
a = 0.00385
-200 to +200 degree Celsius
Pt 100
a = 0.003916
-200 to +200 degree Celsius
Pt 100
a = 0.00385
-200 to +600 degree Celsius
Pt 100
a = 0.003916
-200 to +600 degree Celsius
Engineer Unit ()
+200.00
-200.00
% of FSR
+100.00
-100.00
2's complement HEX
7FFF
8000
Ohm
+175.84
+018.49
Engineer Unit ()
+200.00
-200.00
% of FSR
+100.00
-100.00
2's complement HEX
7FFF
8000
Ohm
+177.14
+017.14
Engineer Unit ()
+600.00
-200.00
% of FSR
+100.00
-033.33
2's complement HEX
7FFF
D556
Ohm
+313.59
+018.49
Engineer Unit ()
+600.00
-200.00
% of FSR
+100.00
-033.33
2's complement HEX
7FFF
D556
Ohm
+317.28
+017.14
Note :
* 1: Type 2B, 2C and 2D are only available with i-87015.
* 2: Type 2E, 2F, 80 and 81 are only available with the i-87015 firmware version A1.10
and later, i-87013 firmware version B1.3 and later.
Appendix B
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CAN-8124/CAN-8224/CAN-8424 User Manual
RTD Input Type Over/Under Range Response
For i-87013
Data Format
Over Range
Under Range
Engineer Unit
+9999
-0000
% of FSR
+9999
-0000
2's Complement HEX
7FFF
8000
For i-87015
Data Format
Over Range
Under Range
Engineer Unit
+9999.9
-9999.9
% of FSR
+999.99
-999.99
2's Complement HEX
7FFF
8000
Appendix B
i-87017/87017R
Type 08 to 0D Definition
Type Code
08
(Default)
09
0A
0B
Input Range
-10V to +10V
-5V to +5V
-1V to +1V
-500mV to
+500mV
Data Format
Full Scale
Zero
Negative Full
Scale
Engineer Unit
+10.000
+00.000
-10.000
% of FSR
+100.00
+000.00
-100.00
2's Complement HEX
7FFF
0000
8000
Engineer Unit
+5.0000
+0.0000
-5.0000
% of FSR
+100.00
+000.00
-100.00
2's Complement HEX
7FFF
0000
8000
Engineer Unit
+1.0000
+0.0000
-1.0000
% of FSR
+100.00
+000.00
-100.00
2's Complement HEX
7FFF
0000
8000
Engineer Unit
+500.00
+000.00
-500.00
% of FSR
+100.00
+000.00
-100.00
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0C
0D*1
-150mV to
+150mV
-20mA to +20mA
2's Complement HEX
7FFF
0000
8000
Engineer Unit
+150.00
+000.00
-150.00
% of FSR
+100.00
+000.00
-100.00
2's Complement HEX
7FFF
0000
8000
Engineer Unit
+20.000
+00.0000
-20.000
% of FSR
+100.00
+000.00
-100.00
2's Complement HEX
7FFF
0000
8000
Note:
*1: When i-87017 and i-87017R are connecting to a current source set to OD type code, an
optional external 125 Ohms resistor is required.
Appendix B
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CAN-8124/CAN-8224/CAN-8424 User Manual
i-87017W-A5
Type 1B to 1C Definition
Type
Code
Input Range
1B
(Default)
1C
-150V to +150V
-50V to +50V
Data Format
Full Scale
Zero
Negative
Full Scale
Engineer Unit
+150.00
+000.0000
-150.00
% of FSR
+100.00
+000.00
-100.00
2's Complement HEX
7FFF
0000
8000
Engineer Unit
+50.000
+00.0000
-50.000
% of FSR
+100.00
+000.00
-100.00
2's Complement HEX
7FFF
0000
8000
Appendix B
i-87017RC
Type 07 to 1A Definition
Type Code Input Range
07
(Default)
0D
1A
-4mA to
+20mA
-20mA to
+20mA
+0A to
+20mA
Data Format
Full Scale
Zero
Negative
Full Scale
Engineer Unit
+04.000
+00.0000
+20.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+20.000
+00.0000
-20.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+00.000
+00.0000
+20.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Note:
i-87017RC has built-in 125 Ohms resistors for each channel. When connecting to a
current source, no add any external resistors required.
Appendix B
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CAN-8124/CAN-8224/CAN-8424 User Manual
i-87018/87018R/87018Z
Type 00 to 16 and Thermocouple Type Definition
Type
Code
Input Range
00
-15mV to +15mV
01
-50mV to +50mV
02
-100mV to +100mV
03
-500mV to +500mV
04
-1V to +1V
05
(Default)
-2.5V to +2.5V
Data Format
Full Scale
Zero
Negative
Full Scale
Engineer Unit
+15.000
+00.000
-15.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+50.000
+00.000
-50.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+100.00
+000.00
-100.00
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+500.00
+000.00
-500.00
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+1.0000
+0.0000
-1.0000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+2.5000
+0.0000
-2.5000
% of FSR
+100.00
+000.00
-100.00
2's Complement
7FFF
0000
8000
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HEX
06
0E
0F
10
11
12
13
-20mA to +20mA
with 125 ohms
resistor
J Type
K Type
T Type
E Type
R Type
S Type
Engineer Unit
+20.000
+00.0000
-20.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+760.00
+00.000
-210.00
% of FSR
+100.00
+000.00
-027.63
2's Complement
HEX
7FFF
0000
DCA2
Engineer Unit
+1372.0
+00.000
-0270.0
% of FSR
+100.00
+000.00
-019.68
2's Complement
HEX
7FFF
0000
E6D0
Engineer Unit
+400.00
+000.00
-270.00
% of FSR
+100.00
+000.00
-067.50
2's Complement
HEX
7FFF
0000
A99A
Engineer Unit
+1000.0
+000.00
-0270.0
% of FSR
+100.00
+000.00
-027.00
2's Complement
HEX
7FFF
0000
DD71
Engineer Unit
+1768.0
+00.000
+0000.0
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+1768.0
+00.000
+0000.0
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14
15
16
17
18
19
B Type
N Type
C Type
L Type
M Type
L Type
DIN43710
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+1820.0
+000.00
+0000.0
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+1300.0
+000.00
-0270.0
% of FSR
+100.00
+000.00
-020.77
2's Complement
HEX
7FFF
0000
E56B
Engineer Unit
+2320.0
+00.000
+0000.0
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+800.00
+00.000
-200.00
% of FSR
+100.00
+000.00
-025.00
2's Complement
HEX
7FFF
0000
E000
Engineer Unit
+100.00
+000.00
-200.00
% of FSR
+050.00
+000.00
-100.00
2's Complement
HEX
4000
0000
8000
Engineer Unit
+900.00
+000.00
-200.00
% of FSR
+100.00
+000.00
-022.22
2's Complement
7FFF
0000
E38F
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HEX
Appendix B
i-87019R
Type 00 to 19 Definition
Type
Code
00
01
02
03
04
Input Range
-15mV to +15mV
-50mV to +50mV
-100mV to +100mV
-500mV to +500mV
-1V to +1V
Data Format
Full Scale
Zero
Negative
Full Scale
Engineer Unit
+15.000
+00.000
-15.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+50.000
+00.000
-50.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+100.00
+000.00
-100.00
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+500.00
+000.00
-500.00
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+1.0000
+0.0000
-1.0000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
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05
-2.5V to +2.5V
-20mA to +20mA
with 125 ohms
resistor
06
08
(Default)
09
0A
0B
0C
-10V to +10V
-5V to +5V
-1V to +1V
-500mV to +500mV
-150mV to +150mV
Engineer Unit
+2.5000
+0.0000
-2.5000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+20.000
+00.0000
-20.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+10.000
+00.000
-10.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+5.0000
+0.0000
-5.0000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+1.0000
+0.0000
-1.0000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+500.00
+000.00
-500.00
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+150.00
+000.00
-150.00
% of FSR
+100.00
+000.00
-100.00
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0D
0E
0F
10
11
12
13
-20mA to +20mA
with 125 ohms
resistor
J Type
K Type
T Type
E Type
R Type
S Type
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+20.000
+00.0000
-20.000
% of FSR
+100.00
+000.00
-100.00
2's Complement
HEX
7FFF
0000
8000
Engineer Unit
+760.00
+00.000
-210.00
% of FSR
+100.00
+000.00
-027.63
2's Complement
HEX
7FFF
0000
DCA2
Engineer Unit
+1372.0
+00.000
-0270.0
% of FSR
+100.00
+000.00
-019.68
2's Complement
HEX
7FFF
0000
E6D0
Engineer Unit
+400.00
+000.00
-270.00
% of FSR
+100.00
+000.00
-067.50
2's Complement
HEX
7FFF
0000
A99A
Engineer Unit
+1000.0
+000.00
-0270.0
% of FSR
+100.00
+000.00
-027.00
2's Complement
HEX
7FFF
0000
DD71
Engineer Unit
+1768.0
+00.000
+0000.0
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+1768.0
+00.000
+0000.0
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14
15
16
17
18
19
B Type
N Type
C Type
L Type
M Type
L Type
DIN43710
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+1820.0
+000.00
+0000.0
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+1300.0
+000.00
-0270.0
% of FSR
+100.00
+000.00
-020.77
2's Complement
HEX
7FFF
0000
E56B
Engineer Unit
+2320.0
+00.000
+0000.0
% of FSR
+100.00
+000.00
+000.00
2's Complement
HEX
7FFF
0000
0000
Engineer Unit
+800.00
+00.000
-200.00
% of FSR
+100.00
+000.00
-025.00
2's Complement
HEX
7FFF
0000
E000
Engineer Unit
+100.00
+000.00
-200.00
% of FSR
+050.00
+000.00
-100.00
2's Complement
HEX
4000
0000
8000
Engineer Unit
+900.00
+000.00
-200.00
% of FSR
+100.00
+000.00
-022.22
2's Complement
7FFF
0000
E38F
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HEX
Appendix B
CAN-8124/CAN-8224/CAN-8424 User Manual (Version 2.1, May/2008) 153/156
CAN-8124/CAN-8224/CAN-8424 User Manual
i-87022
Type
Code
Output Range
0
0 to 20mA
1
4 to 20mA
2
(Default)
0 to 10V
Data Format
Max Value
Min Value
Engineer Unit
20.000
00.000
% of FSR
+100.00
+000.00
Hexadecimal
FFF
000
Engineer Unit
20.000
04.000
% of FSR
+100.00
+000.00
Hexadecimal
FFF
000
Engineer Unit
10.000
00.000
% of FSR
+100.00
+000.00
Hexadecimal
FFF
000
Appendix B
i-87024
Type
Code
Output Range
30
0 to 20mA
31
32
4 to 20mA
0 to 10V
33
(Default)
-10 to 10V
34
0 to 5V
35
-5 to 5V
Data Format
Max Value
Min Value
Engineer Unit
+20.000
+00.000
Hexadecimal
7FFF
0000
Engineer Unit
+20.000
+04.000
Hexadecimal
7FFF
0000
Engineer Unit
+10.000
+00.000
Hexadecimal
7FFF
0000
Engineer Unit
+10.000
-10.000
Hexadecimal
7FFF
8000
Engineer Unit
+05.000
+00.000
Hexadecimal
7FFF
0000
Engineer Unit
+05.000
-05.000
Hexadecimal
7FFF
8000
Appendix B
CAN-8124/CAN-8224/CAN-8424 User Manual (Version 2.1, May/2008) 154/156
CAN-8124/CAN-8224/CAN-8424 User Manual
i-87026
Type
Code
Output Range
0
0 to 20mA
1
4 to 20mA
2
(Default)
0 to 10V
Data Format
Max Value
Min Value
Engineer Unit
20.000
00.000
% of FSR
+100.00
+000.00
Hexadecimal
FFFF
0000
Engineer Unit
20.000
04.000
% of FSR
+100.00
+000.00
Hexadecimal
FFFF
0000
Engineer Unit
10.000
00.000
% of FSR
+100.00
+000.00
Hexadecimal
FFFF
0000
Appendix B
i-87082
Type Code
50
(Default)
51
Description
Counter Mode
Frequency Measurement
Appendix B
i-8024
Type
Code
Output Range
0
(Default)
-10 to +10V
1
0 to +20mA
Data Format
Max Value
Min Value
Engineer Unit
10.000
-10.000
Hexadecimal
7FFF
8000
Engineer Unit
20.000
00.000
Hexadecimal
7FFF
0000
Appendix B
CAN-8124/CAN-8224/CAN-8424 User Manual (Version 2.1, May/2008) 155/156
CAN-8124/CAN-8224/CAN-8424 User Manual
i-8017H
Type
Code
Input Range
0
(Default)
-10 to +10V
1
-5 to +5V
2
-2.5 to +2.5V
3
-1.25 to +1.25V
4
-20.0 to +20.0mA
Data Format
Max Value
Min Value
Engineer Unit
+10.000
-10.000
Hexadecimal
1FFF
2000
Engineer Unit
+5.000
-5.000
Hexadecimal
1FFF
2000
Engineer Unit
+2.500
-2.500
Hexadecimal
1FFF
2000
Engineer Unit
+1.250
-1.250
Hexadecimal
1FFF
2000
Engineer Unit
+20.0
-20.0
Hexadecimal
1FFF
2000
Appendix B
i-8080
Type Code
Operation Mode
0
Dir/Pulse counting mode
1
Up/Down counting mode
2
Frequency mode
3
(Default)
Up counting mode
Appendix B
CAN-8124/CAN-8224/CAN-8424 User Manual (Version 2.1, May/2008) 156/156
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