User manual

User manual
DI-32LV-uso-e
11-10-2011
16:17
Pagina 1
mod. IO-CB/DI-32LV-00
M . U . I O - C B / D I - 3 2 LV- 2 / 0 7 . 0 7
C o d . J 3 0 - 4 7 8 - 1 A D I - 3 2 LV E
ISO9001 Certified
User
manual
Ascon Tecnologic S.r.l.
via Indipendenza 56,
27029 - Vigevano (PV), Italia
Tel.: +39 0381 69871,
Fax: +39 0381 698730
www.ascontecnologic.com
Contents
- Characteristics
- Functional Block Diagram
- PDOs used by the module
- Hardware Set-up
- Parameter configuration
- Commands
- Emergency messages
- Parameter Store/Restore
- Object Dictionary
E
CANopen I/O module
32 Isolated
Digital Inputs
mod. IO-CB/DI-32LV
32 optoisolated digital inputs
with edge detect and interrupt
functions
APPLICABLE STANDARDS
WARNING
The DI-32LV module is suited for the CiA DS301 protocol [1] and implements the
CiA DS401 standard Device Profile [2].
1) The product described in this manual should only be installed, operated and maintained by
qualified application programmers and software engineers who are familiar with automation
safety concepts and applicable national standards.
2) This product supports the Parameter defaults indicated by CiA standards, in addition, some parameters have a factory set (value present in the module when comes from the factory). The default
values can be loaded with the restore command, but after the restore, factory set values are lost.
Characteristics
Functional Block Diagram
Technical data
Number of channels
Polarity (EN 61131-2 type 1)
UL (state 0)
UT (transition)
UH (state 1)
Input impedance
ON/OFF delay
ON/OFF delay
Polarity
32
Sink
-3...+11/5 Vdc
5...11 Vdc
11... 30 Vdc
5 kΩ
5 ms
<5 ms
Filter
Change
polarity
Any change
High to low
Transmit
Interrupt enable
=1 OR
Close if TRUE
Low to high
PDOs used by the module
General
3 way isolation
Channel to Channel
No (note)
Channel to Logic
800 Vp
Logic to Serial Bus
800 Vp
Power Supply to Logic
800 Vp
Power supply
24 Vdc; -15...+25%
Power consuption
3W
Overvoltage protection 40 Vdc
Dimensions
L: 152; H: 110; W: 65
Weight
350 g
Safety regulations
Isolation class II (50Vrms),
EN61010-1
Installation cathegory II,
Pollution degree 2
CE marking
EN61131-2
Note: Two separated groups
of 16 channels each
3 way
isolation
diagram
Fieldbus
TPDO
TPDO 1
Logic
Input
channels
1 - 16
Input
channels
17 - 32
800Vp
Environment
Temperature
Relative
Humidity
Mounting
Protection
Vibrations
(3 axes)
Shock (3 axes)
Mapped objects
DigInput8_1
COBID: 180h+ NodeID DigInput8_2
Transmission Type:01h * DigInput8_3
DigInput8_4
Index
6000h
6000h
6000h
6000h
Sub-index
01h
02h
03h
04h
Note: * The Transmission Type is configurable:
01h is the factory set (value present in the modules when come from the factory);
FFh is the default value.
Power supply
Operating
-10...+65°C
5...95% non condensing
Appropriate measures must
be taken against humidity
>85%
Vertical, free air
IP20
10...57Hz 0.0375mm
57...150Hz 0.5g
15g, 11ms half sine
Properties
Storage
-40...+85°C
5...95% non condensing
For a short period, slight
condensation may appear
on the housing
DI-32LV-uso-e
11-10-2011
16:17
Pagina 2
Index 6008h – Interrupt Mask High-to-Low 8-bit:
Hardware Set-up
detection of a High-to-Low edge.
Hexadecimal rotary switches, service and I/O LEDs
Service Status
LEDs
ON
RUN Blinking
Single flash
OFF
ON
Single flash
ERR Double flash
Triple flash
OFF
ON
ST Blinking
Single flash
OFF
PWR ON
OFF
Negative screw-driver
0.4 x 2.5 mm
Top view
•
Hi
Lo
Fro
nt s
ide
•
•
•
I/O LEDs
IN 1...32
•
Meaning
Operational
Pre-operational (CANopen)
STOPPED
Device in RESET state
BUS OFF
Warning limit reached
Error Control Event
Sync Error (CANopen)
No error. Device working
DIAG Error
INIT and DIAG running
Baud rate setting
Module OK and ready
Module Power Supply ON
Module Power Supply OFF
Status Meaning
ON
Input active
OFF Input inactive
Index 6005h – Global Interrupt Enable:
the actual PDO transmission is performed if two initial conditions are met: the variable
in Index 6005h should be “TRUE” and the PDO transmission type should be 255.
Module specific parameters
Index 3000h – Node Address
Current Module Node ID - Read only access
Index 3001h – Baudrate
Current Module Bit rate - Read only access
Commands
Index 200Ch – Operating mode
The device has its own internal state machine. It is possible to move through this
by sending appropriate values to the Index 200Ch, following the table below.
Bit Rate and Node ID configuration
Bit rate
Lo switch
1
2
3
4
5
6*
7
8
4
Node ID
Baud rate
kbps
20
50
100
125
250
500
800
1000
Bus length
m
2500
1000
500
500
250
100
50
25
Hi
Lo
switch switch
0
1
0
2
7
F
Ready
Valid ID Node
3
2
01h (address 1)
02h (address 2)
7Fh (address 127D)
Error
1
3
Run
Notes: * Default value
Procedure for Node ID and Bit Rate configuration
The HI and LO hexadecimal rotary swithches set the module’s Bit Rate and CAN Node ID.
During the configuration, the module must be off line and the CAN bus must be physically
disconnected.
To configure the module, follow the procedure:
1 Turn the Power OFF
2 Set the HI switch to “F”
3 Select the desired Bit Rate value by setting the LO switch following the table
(e.g. “8” for 1 Mbps)
4 Turn the Power ON
5 Shift the HI switch to “E” (all the module service LEDs should flash)
6 Turn the Power OFF. Now configure Node ID
7 Set the HI and LO switches to the desired valid Node ID following the table
8 Turn the Power ON.
Alternatively, at step 7 set the value 00h. Then, at the next Power ON, the last valid stored
value will be resumed as Node ID.
Default values:
Bit Rate = 500 kbps, Node ID = 127D
Transition Operating
Behaviour
mode value
Init
At Power-Up, the Device is in the “ready” state.
Transition 1 is also executed if Index 200Ch Operating Mode contains the default value 1
1
01h
Operating mode “RUN” is activated
2
00h
Return to the initialisation “ready” state.
The transition is performed:
• following an operator’s command
• after assigning a configuration parameter (2004h)
3
FFh
The “error” state is automatically assigned by the device (and the operating mode value is read only) when:
• an attempt is made to execute an unexpected command
4
00h
This value causes an exit from the “error” state, after
the error condition is acknowledged. The only transition
is to the “ready” state
Parameter configuration
Emergency messages
Configuring the Input Channels
The module automatically sends emergency messages including error codes. The
communication errors are descrided in CiA DS301 [1]. The error codes are expressed
as a DEVICE SPECIFIC ERROR type of code. The codes indicating a specific condition
are also inserted, following the table below:
Error code Error
0000000000 No error –This code is generated when exiting an error condition,
to notify the end of one of the error states
0000000007 Error Wrong Command – An attempt to execute a command from an
illegal state
The functional block diagram for the Inputs is consistent with the standard profile CiA
DS401 [2].
The digital signal is first filtered (Index 6003h – Filter Constant Input 8-bit and Index
2004 - Filter Constant), then polarised (Index 6002 – Polarity Input 8-bit) and finally
assigned to the variable that contains its value (Index 6000h – Read Input 8-bit).
The information is now ready to be transmitted on the CAN network via the TPDO1.
Other entries determine the trigger condition:
Index 6006h – Interrupt Mask Any Change 8-bit:
detection of any input level change.
Index 6007h – Interrupt Mask Low-to-High 8-bit:
detection of a Low-to-High edge.
0
Emergency 01h
Message
1
FFh
2
3
4
5
21h
00h
00h
00h
COB – ID = [entry 1014h] + NodeID
Error code
6
00h
7
0yh
DI-32LV-uso-e
11-10-2011
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Pagina 3
Parameter Store/Restore
Reference documents
This module allows parameters to be saved in a non volatile memory. In order to
avoid storing parameters by mistake, storage is only executed when a specific
signature is written to the appropriate subindex. The signature is “save”.
Similarly, the default values of parameters, according to the communication or
device profile, are restored. On receipt of the correct signature in the appropriate
subindex, the device restores the default parameters and then confirms the SDO
transmission. The signature is “load”.
The new configuration becomes active after a reset, i.e. after a “Power
OFF/Power ON cycle” or an NMT “Reset Node” message.
Byte
0
1
2
3
4
5
6
7
22h
10h
10h
73h
61h
76h
65h
01h
Store
Parameter
s
a
v
e
COB – ID = 600h + NodeID
22h
11h
10h
6Ch
6Fh
61h
64h
01h
Restore
Parameter
l
o
a
d
COB – ID = 600h + NodeID
SDO Messages
The entries of a device Object Dictionary are accessed trough SDO (Service
Data Object) messages. The basic SDO messages are as follows, as based on
the Client – Server request and response model:
Byte
0
1
2
3
4
5
6
Read
40h
Index
Sub-Index
Reserved
request
COB – ID = 600h + NodeID
Read
4xh *
Index
Sub-Index
Data
response
COB – ID = 580h + NodeID
Write
22h
Index
Sub-Index
Data
request
COB – ID = 600h + NodeID
Write
60h
Index
Sub-Index
Reserved
response
COB – ID = 580h + NodeID
* This code is type dependant.
Please refer to the CIA DS301 Profile for more details.
7
List of CiA documents to which the user should refer:
[1] CiA DS301 - CANopen Application Layer and Communication Profile;
[2] CiA DS401 - CANopen Device Profile for generic I/O Modules.
Accessories, Spare Parts and Warranty
Power Supply 45W 24Vdc 2A
Power Supply 120W 24Vdc 5A
Additional Terminal Block 2x11
Female Plug 11 Screw clamp
Female Plug 11 Spring clamp
RJ45 terminated cable 14cm
RJ45 terminated cable 22cm
CAN termination Adapter
AP-S2/AL-DR45-24
AP-S2/AL-DR120-24
AP-S2/TB-211-1
AP-S2/SPINA-V11
AP-S2/SPINA-M11
AP-S2/LOCAL-BUS76
AP-S2/LOCAL-BUS152
AP-S2/TERM-CAN
Warranty: 3 years excluding defects due to improper use
DI-32LV-uso-e
11-10-2011
16:17
Pagina 4
Object Dictionary (with default values)
A
In order to configure the module, it is necessary to connect it to a PC with the CAN interface and the superivisory software installed. The configuration can be obtained by
writing the desired values to the module’s variables listed in the Object Dictionary.
Object Dictionary structure
Index Sub
(hex) Index
1000
1001
1003
1005
1006
1007
1008
1009
100A
100C
100D
1010
00h
01h
1011
Object
Name
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
ARRAY
Device Type
Error Register
Predefined error field
COB-ID SYNC
Communication cycle period
Synchrounous window length
Manufacturer Device Name
Manufacturer Hardware Version
Manufacturer Software Version
Guard Time
Life Time Factor
Store parameters
Largest subindex supported
Save all parameters
Restore Default Parameters
Largest subindex supported 01
Restore all default parameters 01
COB-ID EMCY
80+NodeID
Inhibit Time EMCY
0000
Producer heartbeat time
0000
Identity Object
Number of entries
01
Vendor ID
000000E9
Server SDO Param
Number of entries
02
COB-ID Client -> Server
600+NodeID
COB-ID Server -> Client
580+NodeID
1st Transmit PDO Comm Param.
Largest subindex supported 05
COB-ID used
180+NodeID
Transmission type
FF *
Inhibit time
0000
Reseved
Event timer
0000
1st Transmit PDO Mapping
No. of mapped application obj. 04
DigInput8_1
60000108
DigInput8_2
60000208
DigInput8_3
60000308
DigInput8_4
60000408
Filter Constant
Number of entries
20
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED16
UNSIGNED16
Identity (23h)
UNSIGNED8
UNSIGNED32
RO
RW
RW
RW
RW
UNSIGNED8
UNSIGNED32
UNSIGNED32
PDO CommPar (20h)
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED16
UNSIGNED8
UNSIGNED16
PDO Mapping (21h)
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED8
UNSIGNED8
RO
RO
RO
00h
VAR
VAR
VAR
VAR
VAR
RECORD
VAR
VAR
RECORD
VAR
VAR
VAR
RECORD
VAR
VAR
VAR
VAR
VAR
VAR
RECORD
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
10h
11h
12h
13h
14h
15h
16h
17h
18h
19h
1Ah
1Bh
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
VAR
Filter Constant 1
Filter Constant 2
Filter Constant 3
Filter Constant 4
Filter Constant 5
Filter Constant 6
Filter Constant 7
Filter Constant 8
Filter Constant 9
Filter Constant 10
Filter Constant 11
Filter Constant 12
Filter Constant 13
Filter Constant 14
Filter Constant 15
Filter Constant 16
Filter Constant 17
Filter Constant 18
Filter Constant 19
Filter Constant 20
Filter Constant 21
Filter Constant 22
Filter Constant 23
Filter Constant 24
Filter Constant 25
Filter Constant 26
Filter Constant 27
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
00
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
1Ch
1Dh
1Eh
1Fh
20h
VAR
VAR
VAR
VAR
VAR
Filter Constant 28
Filter Constant 29
Filter Constant 30
Filter Constant 31
Filter Constant 32
00
00
00
00
00
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
RW
RW
RW
RW
RW
00h
01h
1014
1015
1017
1018
00h
01h
1200
00h
01h
02h
1800
00H
01h
02h
03h
04h
05h
1A00
00h
01h
02h
03h
04h
2004
Default
[hex]
00010191
00
00000000
00000080
00000000
00000000
“32LV”
“1.00”
“1.00”
0000
00
01
03
Type
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
Vis-String
Vis-String
Vis-String
UNSIGNED16
UNSIGNED8
UNSIGNED32
UNSIGNED8
UNSIGNED32
UNSIGNED32
Acc.
Attr.
RO
RO
RO
RW
RW
RW
const
const
const
RW
RW
RO
RW
RW
MO
M
M
O
O
O
O
O
O
O
O
O
O
O
Index Sub
(hex) Index
200C VAR
3000
3001
6000
00h
01h
02h
03h
04h
6002
00h
01h
02h
03h
04h
6003
00h
01h
02h
03h
04h
O
O
O
M
RO
RO
6005
6006
00h
01h
02h
03h
04h
O
M
RO
RW
RW
RW
RW
RW
6007
00h
01h
02h
03h
04h
M
6008
RO
RO
RO
RO
RO
00h
01h
02h
03h
04h
Object Name
Operating Mode
VAR Node Address
VAR Node Baudrate
ARRAY Read Input 8 – bit
VAR Number of entries
VAR DigInput8_1
VAR DigInput8_2
VAR DigInput8_3
VAR DigInput8_4
ARRAY Polarity Input 8 – bit
VAR Number of entries
VAR Polarity8_1
VAR Polarity8_2
VAR Polarity8_3
VAR Polarity8_4
ARRAY
VAR
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
VAR
ARRAY
VAR
VAR
VAR
VAR
VAR
Filter Constant Input 8 – bit
Number of entries
FilterConst8_1
FilterConst8_2
FilterConst8_3
FilterConst8_4
Global Interrupt Enable Digital
Interrupt Mask Any Change 8 - bit
Number of entries
InterruptAnyChange8_1
InterruptAnyChange8_2
InterruptAnyChange8_3
InterruptAnyChange8_4
Interrupt Mask Low to High 8 - bit
Number of entries
InterruptLowToHigh8_1
InterruptLowToHigh8_2
InterruptLowToHigh8_3
InterruptLowToHigh8_4
Interrupt Mask High to Low 8 - bit
Number of entries
InterruptHighToLow8_1
InterruptHighToLow8_2
InterruptHighToLow8_3
InterruptHighToLow8_4
Default
[hex]
01
7F
06
04
00
00
00
00
04
00
00
00
00
04
00
00
00
00
TRUE
04
FF
FF
FF
FF
04
00
00
00
00
04
00
00
00
00
Type
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
BOOLEAN
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
UNSIGNED8
Acc. MO
Attr.
RW O
RO O
RO O
M
RO
RO
RO
RO
RO
O
RO
RW
RW
RW
RW
O
RO
RW
RW
RW
RW
RW
O
O
RO
RW
RW
RW
RW
O
RO
RW
RW
RW
RW
O
RO
RW
RW
RW
RW
O
RO
*
The factory set (value present in the modules when new) for the transmission
type is: 01h.
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