ICP DAS USA CAN-2088D User's Manual

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ICP DAS USA CAN-2088D User's Manual | Manualzz

DeviceNet Slave Device

CAN-2088D

User’s Manual

Warranty

Without contrived damage, all products manufactured by ICP DAS are warranted in one year from the date of delivery to customers.

Warning

ICP DAS revises the manual at any time without notice. However, no responsibility is taken by ICP DAS unless infringement act imperils to patents of the third parties.

Copyright

Copyright © 2010 is reserved by ICP DAS.

Trademark

The brand name ICP DAS as a trademark is registered, and can be used by other authorized companies.

CAN-2088D User’s Manual (v1.00, June/2010) 1

Contents

1 Introduction.............................................................................................3

1.1 Overview.........................................................................................3

1.2 Hardware Specifications ...............................................................4

1.3 Features..........................................................................................5

2 Hardware .................................................................................................6

2.1 Structure.........................................................................................6

2.2 The Node ID & Baud rate Rotary Switch ......................................7

2.3 LED Description .............................................................................8

2.4 PIN Assignment ...........................................................................10

2.5 Wire Connection .......................................................................... 11

3 DeviceNet Profile Area .........................................................................12

3.1 DeviceNet Statement of Compliance..........................................12

3.2 Identity Object (Class ID: 0x01) ..................................................13

3.3 Connection Object (Class ID:0x05) ............................................14

3.4 Assembly Object (Class ID: 0x04) ..............................................15

3.5 Application Object1 (Class ID: 0x64)..........................................18

3.6 Application Object2 (Class ID: 0x65)..........................................21

4 Application ............................................................................................22

Appendix A: Dimension...............................................................................25

CAN-2088D User’s Manual (v1.00, June/2010) 2

1 Introduction

1.1 Overview

PWM (Pulse width modulation) is a powerful technique for controlling analog circuits. It uses digital outputs to generate a waveform with variant duty cycle and frequency to control analog circuits. CAN-2088D is a DeviceNet slave module and it has 8 PWM output channels and 8 digital inputs. It can be used to develop powerful and cost effective analog control system.

CAN-2088D User’s Manual (v1.00, June/2010) 3

1.2 Hardware Specifications

PWM Output: z Output Channels: 8 (Source) z Scaling Resolution: 16-bit (1 ~ 128 µs for each step). z Frequency Range: 0.2 Hz ~ 500 kHz (non-continuous, and the min. unit of the high/low level of the signal is 1 us). z Duty Cycle: 0.1% ~ 99.9%. z PWM Mode: Burst Counting, Continuous mode. z Burst Counter: 1 ~ 65535. z Trigger Mode: Hardware or software trigger. z Hardware z Max Load Current: 1 mA. z Intra-module Isolation, Field to Logic: 2500 Vrms. z ESD Protection: 4 kV Contact for each channel.

Digital Input: z Input Channels: 8 (Sink). z Input Type: One common for all digital input. z On Voltage Level: +5.5 ~ +30 V. z Off Voltage Level: <+3.5 V. z Counter Frequency: 500 kHz Max. z Max. Counts: 32-bit (0 ~ 4294967295) z Input Impedance: 2.2 kΩ, 0.5 W z Intra-module Isolation, Field to Logic: 2500 Vrms z ESD Protection: 4 kV Contact for each channel

Others: z LED: 1 as power indicator, 1 as terminator resistor, 2 as DeviceNet status, 8 as PWM and 8 as DI indicator. z Power Requirement: +10 ~ +30 V

DC

, 3.5 W. z Operating z Storage Temperature: -30 ~ 80 ℃. z Humidity: 10 to 90% RH, Non-condensing. z

Dimensions: 32.3 mm x 99 mm x 77.5 mm (W x L x H) Detail

.

CAN-2088D User’s Manual (v1.00, June/2010) 4

1.3 Features

z DeviceNet general I/O slave devices. z Comply with DeviceNet specification Volume I, Release 2.0 &

Volume II, Release 2.0 z Group 2 Only Server (non UCMM-capable) z Support Predefined Master/Slave Connection Set z Connection

1 connection for Explicit Messaging

1 connection for Polled I/O

1 connection for Bit-Strobe I/O connection z Support DeviceNet heartbeat and shutdown messages z Provide EDS file for standard DeviceNet master interface. z Automatic generation of PWM outputs by hardware, without software intervention. z 0.2 Hz ~ 500 kHz (non-continuous) PWM output frequency with

0.1%~99.9% duty cycle configuration. z Software and hardware trigger mode for PWM output. z Support individual or synchronous PWM output in software trigger mode. z Each digital input channel provides high-speed counter functionality. z DI channel can be configured as simple digital input channel or hardware trigger source of the PWM output. z NET, MOD and PWR DeviceNet status Led indictors

CAN-2088D User’s Manual (v1.00, June/2010) 5

2 Hardware

2.1 Structure

(Top View) (Bottom View)

CAN-2088D User’s Manual (v1.00, June/2010) 6

2.2 The Node ID & Baud rate Rotary Switch

The rotary switches for node ID configure the node ID of CAN-2088D module. These two switches are for the tens digit and the units digit of node ID.

The node ID value of this demo picture is 32.

Node ID rotary switch

The rotary switch for baud rate handles the CAN baud rate of CAN-2088D module. The relationship between the rotary switch value and the practical baud rate is presented in the following table.

Baud rate rotary switch

Rotary Switch Value Baud rate (kbps)

0 125

1 250

2 500

CAN-2088D User’s Manual (v1.00, June/2010) 7

2.3 LED Description

PWR LED

The CAN-2088D needs the power of 10 ~ 30 VDC. Under a normal connection, a good power supply and a correct voltage selection, as the unit is turned on, the LED will light up in red.

NET LED

The NET LED indicates the current status of the DeviceNet communication link. condition status

Init Off Off line indicates

Device is not online

Off Connection timeout

Flashing On line

I/O connection timeout

Device is on line, but not communicating

Init solid Link failed

Solid

(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

On line, communicating Device is online and communicating

MOD LED

This LED provides the devices status. It indicates whether or not the device is operating properly. condition status

Off Normal indicates

Device has unrecoverable fault.

Device has recoverable fault to recover. If users want to fix the problem, reconfiguring device’s

MAC ID or resetting device may work.

CAN-2088D User’s Manual (v1.00, June/2010) 8

Terminal Resistor LED

When enable the 120Ω terminal resistor, the LED will turn on.

PWM LED

If the PWM LED turns on, it means that the channel of PWM is sending pulse.

DI LED

If the DI LED turns on, it means that the channel of DI is receiving an ON-Voltage-Level digital signal.

CAN-2088D User’s Manual (v1.00, June/2010) 9

2.4 PIN Assignment

CAN-2088D User’s Manual (v1.00, June/2010) 10

2.5 Wire Connection

CAN-2088D User’s Manual (v1.00, June/2010) 11

3 DeviceNet Profile Area

This section documents the detailed functions for each object class that is implemented in the CAN-2088D DeviceNet network.

3.1 DeviceNet Statement of Compliance

General Device Data

Device Information Description

Specification

Vendor Name

Device Profile Name

Production Revision

Volume II, Release 2.0

ICP DAS

CAN-2088D

1.1

DeviceNet Physical Conformance Data

Item Description

DeviceNet status LED Support

MAC ID Setting

Yes

Switch (0 ~ 63)

Default MAC ID 1

Communication Baud Rate Setting Switch (125, 250, 500 kbps)

Default Baud Rate 125 kbps

Set

CAN-2088D User’s Manual (v1.00, June/2010) 12

3.2 Identity Object (Class ID: 0x01)

This object provides the identification of and general information about the device.

Class Attribute (Instance ID=0)

Attribute ID Attribute name Data Type Method Value

0x01 Revision UINT Get 0001

0x02 Max Get 1

Class Service

Service Code Service name

0x0E Get_Attribute_Single

Support

Yes

Instance Attribute (Instance ID=1)

Attribute

Description

ID

Method

DeviceNet Data

Type

Value

4 Major. Minor of firmware version USINT

USINT

1.1

Instance Service

Service Code Service name

0x0E Get_Attribute_Single

0x10 Set_Attribute_Single

Note: Use the Instance Service 0x05 will reboot the device.

Support

Yes

Yes

CAN-2088D User’s Manual (v1.00, June/2010) 13

3.3 Connection Object (Class ID:0x05)

This section presents the externally visible characteristics of the

Connection Objects associated with the Predefined Master/Slave Connection

Set within slave devices.

The default IO connection path is as follow.

Connection Path Class ID Instance ID Attribute ID

Poll Produced

Poll Consumed

0x04

0x04

Bit Strobe Produced 0x04

Bit Strobe Consumed 0x04

0x66

0x64

0x66

0x64

0x03

0x03

0x03

0x03

Connection

Instance ID

1

2

3

Description

References the Explicit Messaging Connection into the Server

References the Poll I/O Connection

References the Bit–Strobe I/O Connection

CAN-2088D User’s Manual (v1.00, June/2010) 14

3.4 Assembly Object (Class ID: 0x04)

The Assembly Object binds attributes of multiple objects, which allows data to or from each object to be sent or received over a single connection.

Assembly objects can be used to bind input data or output data. The terms of ”input” and ”output” are defined from the network’s point of view. An input will produce data on the network and an output will consume data from the network.

Class attribute (Instance ID=0)

Attribute

Attribute ID name

Data Type Method Value

0x01 Revision UINT Get 1

UINT Get 0x0A

Class service

Service Code Service name

0x0E Get_Attribute_Single

Instance ID

Instance ID OUTPUT

0x64 Clear channel 0 ~ 7 DI counter

Support

Yes

INPUT

Get 0 ~ 7 DI counter clear

Flag

0x65

0x66

0x67

0x68

0x69

0x6A

Set channel 0 ~ 7 Config. to default

Get 0 ~ 7 Config. to default

Flag

Get channel 0 ~ 7 DI value

Set channel 0 ~ 7 sync mode

Get channel 0 ~ 7 DI counter

Get channel 0 ~ 7 sync mode

Set channel 0 ~ 7 hardware trig Get channel 0 ~ 7 hardware mode trig mode

Set channel 0 ~ 7 output type Get channel 0 ~ 7 output type

0x6B

0x6C

0x6D

0x6E

Set channel 0 ~ 7 PWM period

Set channel 0 ~ 7 PWM duty

Set channel 0 ~ 7 PWM burst count

Set channel 0 ~ 7 PWM start/stop

Get channel 0 ~ 7 PWM period

Get channel 0 ~ 7 PWM duty

Get channel 0 ~ 7 PWM burst count

Get channel 0 ~ 7 PWM start/stop

CAN-2088D User’s Manual (v1.00, June/2010) 15

Contents of Each Assembly Object Instance

Instance

ID

Description

0x64

Clear channel 0 DI counter

Clear channel 7 DI counter

0x65

0x66

0x67

Channel 0 Configuration to default

Channel 7 Configuration to default

Get channel 0 DI value

Get channel 7 DI value

Get channel 0 DI counter

Get channel 7 DI counter

0x68

0x69

0x6A

0x6B

0x6C

0x6D

0x6E

Channel 0 sync mode

Channel 7 sync mode

Channel 0 hardware trig mode

Channel 7 hardware trig mode

Channel 0 output type

Channel 7 output type

Channel 0 PWM period

Channel 7 PWM period

Channel 0 PWM duty

Channel 7 PWM duty

Channel 0 PWM burst count

Channel 7 PWM burst count

Channel 0 PWM start/stop

Channel 0 PWM start/stop

CAN-2088D User’s Manual (v1.00, June/2010)

UINT

UINT

UINT

UINT

USINT

USINT

USINT

USINT

USINT

USINT

USINT

USINT

UDINT

UDINT

Type

USINT

USINT

Method

Default

Value

Get/Set 0x00

0x00

USINT

USINT

USINT

USINT

UDINT

UDINT

Get/Set 0x00

0x00

Get 0x00

0x00

Get 0x00000000

0x00000000

Get/Set 0x00

0x00

Get/Set 0x00

0x00

Get/Set 0x01

0x01

Get/Set 0x00000002

0x00000002

Get/Set 0x01F4

0x01F4

Get/Set 0x00

0x00

Get/Set 0x00

0x00

16

Parameter description of Assembly Object Instance

Instance

ID

Data Range Parameter Description

0x64

0x65

0x66

0x01: Clear

0x01: Set to default

0x00 or 0x01

Clear channelx DI counter

Set channelx configuration to default value

0x67

0x68

0x00000000 ~ 0xFFFFFFFF

Channelx digital input value

Channelx high speed digital input counter value

Channelx with sync output.

0x69

0x6A

0x00: disable sync

0x01: enable sync

0x00: disable

0x01: start trig

0x02: stop trig

Channelx trigger status. The DI ch0 is the trig of PO ch0, and DI ch1 is the trig of PO ch1, and so on. When DI value is changed, the PO will be triggered.

Channelx output mode

0x6B

0x00: Burst Counting mode

0x01: Continue mode

0x00000002 ~ 0x004C4B40

(0.2 Hz ~ 500 kHz)

0x6C 0x0001 ~ 0x03E7

(1‰ ~ 999‰)

Channelx frequency range. The frequency range is non-continuous.

0x00000001 => 0.1 Hz

Channelx high duty mille.

0x0001 => 1‰ low duty mille = (1000 – high duty) ‰

0x6D 0x0001 ~ 0xFFFF Channelx Burst counting value, only for burst counting mode.

Channelx start or stop to output pulse.

0x01: start output

Note: x is channel number of module

Instance attribute (Instance ID=0x64~0x6E)

Attribute ID Description Method

DeviceNet

Data Type

Value

Dependent on instance ID

0x03 Data Get/Set

INPUT

Instance service

Service Code Service name

0x0E Get_Attribute_Single

0x10 Set_Attribute_Single

Support

Yes

Yes

CAN-2088D User’s Manual (v1.00, June/2010) 17

3.5 Application Object1 (Class ID: 0x64)

Application objects are the interfaces between an application and the

DeviceNet Layer. The attributes of application Objects contain the data for the application, which are accessed and exchanged via DeviceNet. DeviceNet accesses application data by invoking read and write functions. These functions need to be provided by an Application Object. DeviceNet provides

Get_Attribute_Single and Set_ Attribute_Single to read and write CAN-2088D module.

Application Object1 defines pulse output channels and digital input channels configuration.

Class attribute (Instance ID=0)

Attribute

Attribute ID name

Data Type Method Value

0x01 Revision UINT Get 1

UINT Get 0x08

Class service

Service Code Service name

0x0E Get_Attribute_Single

Support

Yes

Instance ID

Instance ID

0x01

0x02

0x03

0x04

0x05

0x06

0x07

0x08

Description

PO&DI channel 0 configuration

PO&DI channel 1 configuration

PO&DI channel 2 configuration

PO&DI channel 3 configuration

PO&DI channel 4 configuration

PO&DI channel 5 configuration

PO&DI channel 6 configuration

PO&DI channel 7 configuration

CAN-2088D User’s Manual (v1.00, June/2010) 18

Instance attribute (Instance ID=0x01~0x08)

Attribute

ID

Description Method Data Type

Default

Value

0x01 Clear DI counter Get/Set USINT 0x00

0x02 Set configuration to default Get/Set USINT 0x00

Get

Get

USINT

Get/Set USINT

0x00

UDINT 0x00000000

0x00

Get/Set USINT 0x01

0x0A PWM burst count

Get/Set UINT 0x01F4

Get/Set UINT 0x0000

Get/Set USINT 0x00

Parameter description of Application Object1 attributes

Attribute

ID

Data Range Parameter Description

0x01 0x01: Clear Clear channelx DI counter

0x02

0x03

0x04

0x05

0x01: Set to default

0x00 or 0x01

0x00000000 ~ 0xFFFFFFFF

Set channelx configuration to default value

Channelx DI value

Channelx high speed digital input counter value

Channelx with sync output.

0x06

0x07

0x08

0x09

0x00: disable sync

0x01: enable sync

0x00: disable

0x01: start trigger

0x02: stop trigger

0x00: Burst Counting mode

0x01: Continue Counting mode

0x00000002 ~ 0x004C4B40

(0.2 Hz ~ 500 kHz)

0x0001 ~ 0x03E7

(1‰ ~ 999‰)

Channelx trigger status. The DI ch0 is the trig of PO ch0, and DI ch1 is the trig of PO ch1, and so on. When DI value is changed, the PO will be triggered.

Channelx output mode

Channelx frequency range. The frequency range is non-continuous.

0x00000001 => 0.1 Hz

Channelx high duty mille.

0x0001 => 1‰ low duty mille = (1000 – high duty) ‰

CAN-2088D User’s Manual (v1.00, June/2010) 19

0x0A

0x0001 ~ 0xFFFF Channelx Burst counting value, only for burst counting mode.

Channelx start or stop to output pulse.

0x0B

0x00: stop output

0x01: start output

Note: x is channel number of module, dependent on instance ID setting

Instance service

Service Code Service name

0x0E Get_Attribute_Single

0x10 Set_Attribute_Single

Support

Yes

Yes

CAN-2088D User’s Manual (v1.00, June/2010) 20

3.6 Application Object2 (Class ID: 0x65)

Application Object2 defines some configuration that used for all pulse output channels and digital input channels.

Class attribute (Instance ID=0)

Attribute ID Attribute name Data Type Method Value

0x01 Revision UINT Get 1

0x02 Max Get 0x01

Class service

Service Code Service name

0x0E Get_Attribute_Single

Support

Yes

Instance attribute (Instance ID=1)

Attribute

Description

ID

Method

Get/Set

Data Type

USINT

Default

Value

0x00

0x03

Save all Configuration to

EEPROM

Set USINT -

Parameter description of Application Object2 attributes

Attribute

ID

Data Range Parameter Description

0x01 DI value

DI value: per bit to per channel data

DI channel 0, 5 on => DI vaue: 0x21

0x02

0x03

0x00: stop sync channels

0x01: start sync channels

0x01: Use default configuration

0x02: Save all

Configuration to EEPROM

Set sync channels start or stop to output pulse

0x01: After restarting the device, configuration will become factory setting.

0x02: Save all channels configuration into

EEPROM

Instance service

Service Code Service name

0x0E Get_Attribute_Single

0x10 Set_Attribute_Single

Support

Yes

Yes

CAN-2088D User’s Manual (v1.00, June/2010) 21

4 Application

Application Object1 (Class ID:0x64) lists all the parameters of the module.

Each Instance ID is corresponding to the different cahnnels. By using “Set/Get

Attribute Single” service, user can read/write the parameters of each channel.

Example1:

Clear channel0 DI counter.

(Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x01).

If the node ID of the CAN-2088D is 1, and the master (ID: 0x0A) has completed “Explicit” connection with the device.

By setting the value of attribute ID 0x01 to be 0x01, the channel 0 of the DI counter becomes 0.

IDENTIFIER BITS 8-byte Data (byte)

Data

Destination MAC ID RTR (HEX)

Length

10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7

6 0A 10 64 01 01 01 --1 0 0 0 0 0 0 1 1 0 0 0

Master

IDENTIFIER BITS

10 9 8 7 6 5 4 3 2 1 0

1 0 0 0 0 0 0 1 0 1 1 0

Data

Length

Slave

(CAN-2088D)

8-byte Data (byte)

(HEX)

0 1 2 3 4 5 6 7

2 0A 90 --- -- -- ---

Slave

Master

(CAN-2088D)

Set the value 0x01 to the Application Object1 with Instance ID 0x01 and Attribute

ID 0x01. After sending the “Set Attribute Single”, the slave device will response

0x90 to mean setting OK. Then channel 0 of the DI counter will be set to zero.

By changing the Instance ID and Attribute ID of the Application Object, you can set other parameters of this device.

CAN-2088D User’s Manual (v1.00, June/2010) 22

Example2:

Get DI data of channel 0 (Class ID: 0x64, Instance ID: 0x01, Attribute ID 0x03).

If the node ID of the CAN-2088D is 1, and the master (ID: 0x0A) has completed “Explicit” connection with the device. By getting the value of the object with attribute ID 0x03, you can get the DI data of channel 0.

IDENTIFIER BITS 8-byte Data (byte)

Data

Destination MAC ID RTR (HEX)

Length

10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7

5 0A 0E 64 01 03 -- --1 0 0 0 0 0 0 1 1 0 0 0

Master

IDENTIFIER BITS

10 9 8 7 6 5 4 3 2 1 0

1 0 0 0 0 0 0 1 0 1 1 0

Data

Length

Slave

(CAN-2088D)

8-byte Data (byte)

(HEX)

0 1 2 3 4 5 6 7

3 0A 8E 00 -- -- -- ---

Slave

Master

(CAN-2088D)

Get the value of Application Object1 with Instance ID 0x01 and Attribute ID 0x03.

After sending the “Get Attribute Single”, the slave device will response the DI data of channel 0 on byte 2.

By changing the Instance ID and Attribute ID of the Application Object, you can get other parameters of this device.

CAN-2088D User’s Manual (v1.00, June/2010) 23

The attribute 0x0B of Application Object1 can control the module to start or stop the pulse output of each channel. Each Instance ID is mapped to each channel. Attribute 0x07 can decide the PWM method of each channel. If you select the Burst Counting mode, the attribute 0x0A must be set to decide how many pulse you want to output. You can set 1 ~ 65535 to the attribute 0x0A and use attribute 0x0B to start or stop the pulse output. When set the attribute

0x0B to 1, the channel will output the specific pulses with one burst cyclic and the value of attribute 0x0B becomes to 0. For example, set the channel 0

(Instance ID: 0x01) to the Burst Counting mode and set the attribute 0x0A to

100. When user set the attribute 0x0B to 1, this channel will output 100 pulses, and then stop to send. If you select the Continue Counting mode, the attribute

0x0A will be useless. When users set the attribute 0x0B to 1 on Continue

Counting mode, the channel will start to output the pulse cyclically until the attribute is set to 0. If you want to change the frequency of the pulses, you can set the value 2 ~ 5000000 to the attribute 0x08. The unit is 0.1 Hz, therefore, the pulse with 0.2 Hz ~ 500 kHz can be applied.

The attribute 0x09 is the pulse duty. If set the attribute to value 300, it means that the pulse width of the high duty is 300‰ and the one of low duty is

700‰. The attribute 0x06 can set the DI channel to be the hardware trigger of the PWM output channel. When set the value 1 to the object of the instance ID

0x01 with attribute 0x06, it means that the DI channel 0 will loss the DI functions and become a hardware trigger of PWM output channel 0. In this case, if the value of DI channel 0 is changed, the channel 0 of PWM output will start to output pulse.

The attribute 0x05 of Application Object1 and the attribute 0x02 of

Application Object2 can control the channel of the PWM module to output synchronous. If user wish channel 0 ~ 3 of the PWM module output the pulse synchronously, set the value 1 to the Application Object1 Instance 0x01 ~ 0x04 with attribute 0x05. Then, set the value 1 to the Application Object2 with

Instance 0x01 and attribute 0x02. These 4 channels (channel 0 ~ 3) will start to output pulse at the same time (their first low-to-high edge will be triggered at the same time, but the period may be different because of different pulse width).

CAN-2088D User’s Manual (v1.00, June/2010) 24

Appendix A: Dimension

CAN-2088D User’s Manual (v1.00, June/2010) 25

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