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