Part 3 - esd electronics, Inc.

Part 3 - esd electronics, Inc.
CANbloc-Mini
I/O Modules DIO8
For The Use In
CANopen - Networks
Manual
CAN-CBM-DIO8 Manual Rev. 0.83
Document file:
I:\texte\Doku\MANUALS\CAN\CBM\DIO8\Englisch\DIO8-083.en9
Date of print:
16.03.04
Changes in the chapters
The changes in the user’s manual listed below effect changes in the hardware, as well as changes in the
description of the facts only.
Chapter
3.6
4.2.5
Changes versus previous version
Order information changed
Schematic diagram of input and output circuits inserted
Further technical changes are subject to change without notice.
CAN-CBM-DIO8 Manual Rev. 0.83
NOTE
The information in this document has been carefully checked and is believed to be entirely reliable. esd
makes no warranty of any kind with regard to the material in this document, and assumes no
responsibility for any errors that may appear in this document. esd reserves the right to make changes
without notice to this, or any of its products, to improve reliability, performance or design.
esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product
of esd gmbh.
esd does not convey to the purchaser of the product described herein any license under the patent rights
of esd gmbh nor the rights of others.
esd electronic system design gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Phone:
Fax:
E-mail:
Internet:
+49-511-372 98-0
+49-511-372 98-68
[email protected]
www.esd-electronics.com
USA / Canada:
esd electronics Inc.
12 Elm Street
Hatfield, MA 01038-0048
USA
Phone:
Fax:
E-mail:
Internet:
CAN-CBM-DIO8 Manual Rev. 0.83
+1-800-732-8006
+1-800-732-8093
[email protected]
www.esd-electronics.us
Contents
Contents
Page
1. Preface and General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1 Purpose of Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3. Short Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 CAN Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4 Connection of Supply Voltage and I/O Connections . . . . . . . . . . . . . . . . . . . .
3.4 Case Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Order Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
5
6
6
6
6
7
7
8
8
8
4. Digital Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4.1 Transmission Rates of Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4.2 Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4.2.1 Restrictions in Defining I/O-Directions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2.2 Reading Back the Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.2.3 Reception Monitoring of the Digital Outputs (for Servo Mode) . . . . . . . . . . 11
4.2.4 Output Failures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2.5 Input and Output Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
5. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.1 I/O-Module Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5.2 CAN Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6. LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6.1 LED - Display Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7. CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 CAN Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 CAN Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Process-Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Parameter Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Internal Master-Slave Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
17
18
19
20
20
8. Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Parameterization Via DIP-Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Assignment of the DIP-Switch (in normal status): . . . . . . . . . . . . . . . . . . . .
8.1.2 Setting the CAN-Bit Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3 Test Mode (only for the manufacturer) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.4 Programming Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
22
22
23
23
25
CAN-CBM-DIO8 Manual Rev. 0.83
1
Contents
8.1.5 Assignment of the DIP-Switch in Programming Mode . . . . . . . . . . . . . . . . .
8.1.5.1 Programming the Input/Output Functions . . . . . . . . . . . . . . . . . . .
8.1.5.2 Programming the CAN Identifiers and the Software Model . . . . . .
8.1.5.3 Inhibiting the I/O-Master/Slave Compound . . . . . . . . . . . . . . . . . .
8.1.5.4 Examples for Programming by the DIP-Switch . . . . . . . . . . . . . . .
8.2 Parameterization by the Parameter Channel (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.1 Access to I/O-Code Positions Via the Parameter Channel . . . . . . . . . . . . . . .
8.2.1.1 Time Performance at SDO-Write Accesses . . . . . . . . . . . . . . . . . . .
8.2.1.2 Internal Procedure During SDO-Write Accesses . . . . . . . . . . . . . .
8.2.2 How to Use the Parameter Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
26
26
27
27
28
28
28
29
30
9. CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 The CANopen Object Directory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 Communication Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Standardised Device Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.1 Digital Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.2 Analog Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.3 Manufacturer-Specific Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Service-Data Objects (SDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Structure of SDO Telegrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Non-Transient Storing of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 NMT-Boot-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Basic Boot-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Extended Boot-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4 Process-Data Objects (PDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1 PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2 PDO Transmission Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.1 Synchronous Transmission Types . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.2 Event-Controlled Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.3 Cyclical Asynchronous Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.4 Node Guarding / Life Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.5 The Emergency Telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
31
32
33
33
33
35
35
35
36
37
37
37
39
40
41
41
41
42
42
43
10. Quick Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Configuration for the Use in the CANopen Network . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Configuration for the Use in CANopen Network . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Table of the Most Important Identifiers and Messages for CANopen . . . . . . . . . . . . .
44
44
45
46
11. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
11.1 CAN Identifiers Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
11.2 Code Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
2
CAN-CBM-DIO8 Manual Rev. 0.83
Preface
1. Preface and General
This manual is a complex technical information about the I/O-modules of the CANblock-Mini-series
(CBM) CAN-CBM-DIO8.
A large part of the descriptions is valid also for other CBM-modules. Special data which concern only
one of these CBM-modules are described in the additional manual.
A few words on how to put the module into operation can be found in the chapter ‘Quick Start’ on
page 44.
1.1 Purpose of Use
If the module described in this manual is to be used with a motor controller, it is important also to follow
the definitions, regulations and safety information from the manuals of the servo converters used.
CAN-CBM-DIO8 Manual Rev. 0.83
3
Preface and Safety Information
This page is intentionally left blank.
4
CAN-CBM-DIO8 Manual Rev. 0.83
Short Description
2. Safety Information
The operator or security officers are committed to
• controlling that all important regulations, information and rules are followed,
• guaranteeing that only qualified personnel is working at and with the device components,
• guaranteeing that the manual is available to the personnel for all according operations, and
• forbidding unqualified personnel working at and with the device.
3. Short Description
CAN 2.0B
Watchdog
X2
Power Supply
24 V (DC)
Coding Switch
CAN ID
CAN Bitrate
I/O Mode
256 Byte
+ 2 kByte
RAM
µC
C515C
Digital
I/O Ports
Digital
I/O Ports
Emergency
Stop
Status Display
X1
Physical
CAN
Layer
ISO11898
PROFET
Driver
24 V(DC)
Error
X2 Plug-In Terminal Block
electrical isolation
C
A
N
B
U
S
8 Digital Outputs 24 V/ 1.0 A or
8 Digital Inputs
Firmware
EPROM
External
SRAM
Fig. 3: Block-circuit diagram of the CAN-CBM-DIO8 module
3.1 Components
• decentral I/O-unit for CAN with eight connecting terminals which can be freely used as inputs or
outputs.
• top-hat rails mounting
• connectors: screw-type/plug terminals
• two green status LEDs (‘Operation’ (below) and ‘Mode’)
• two red error LEDs (module- and output error)
• yellow LEDs for the I/O-signal display
• processor: SAB 80C515C-L
• CAN transceiver: PCA82C250T (SMD) electrically insulated
CAN-CBM-DIO8 Manual Rev. 0.83
5
Short Description
3.2 Mechanical Data
• case: UEGM-MSTB by Phoenix Contact
dimensions:
height: 79 mm
depth: 90.5 mm (+10 mm for I/O - connector)
width: 25 mm
• ambient temperature: 0...50 /C or extended temperature range -20...+70/C
• position of the DIP switch at the upper case side (when snapped-open)
• position of the CAN connector at the lower case side
• position of the green operation LED below
3.3 Electrical Data
• voltage supply: 18 to 30 Volts DC, typical 24 V
• current: typical 30 mA, max. 80 mA (when outputs are switched-off)
3.3.1 Digital Inputs
•
•
•
•
not electrically insulated
input resistance:
3 kΩ # Ri # 4 kΩ
input-voltage range ‘low’: 0...5 V
input-voltage range ‘high’: 13...30 V
3.3.2 Digital Outputs
•
•
•
•
•
•
•
•
•
•
6
not electrically insulated
type: ‘PNP’ (high-side driver: high side switch)
short-circuit proof
maximum output current: ca. 1 A (per channel, driver specification!)
short circuit recognition/ overload from about 4 A (per channel)
output voltage ‘low’: 0 V via input resistances
(with open output)
output voltage ‘high’: > Ub - 1,8 V
(with maximum load, supply with 24 V)
the current output status can be read back
shared short-circuit-status display by a red LED
display by red LED, if total current is exceeded
CAN-CBM-DIO8 Manual Rev. 0.83
Short Description
3.3.3 CAN Connection
3-pole COMBICON connectors (male) by Phoenix without shroud, pitch 5.00 mm, designation MSTBA
2.5/3-G-5.00
Assignment of the adaptor cable 3-pole Combicon <-> DSUB9:
Pin 3
CAN_H
Pin 7
Pin 2
CAN_L
Pin 2
Pin 1
CAN_GND
Pin 3
3-pol. Combicon
DSUB9
3.3.4 Connection of Supply Voltage and I/O Connections
Digital I/O 8
I/O
1
I/O
2
I/O
3
I/O
4
I/O
5
I/O
6
I/O
7
I/O
8
Outputs Power Supply 18V...30V
OUT
Error
24V
Digital I/O 1
Digital I/O 2
Digital I/O 3
Digital I/O 4
Digital I/O 5
Digital I/O 6
Digital I/O 7
Module Power Supply 18V...30V
Modul
Error
24V
GND For Module And Outputs
Mode
GND
GND For Module And Outputs
POW
GND
CAN-CBM-DIO8 Manual Rev. 0.83
7
Short Description
3.4 Case Design
•
Case type:
UEGM-MSTB by Phoenix Contact
3.5 Software
•
•
•
•
•
•
•
CANopen with special extensions
one receive- and one transmit-PDO
one SDO (expedited protocol, max. 4 user-data bytes)
node- and life guarding, emergency messages
linking up to four modules to form a 'logical' module with 32 I/O-lines
SYNC-frame evaluation (which is restricted when modules are linked)
operating mode ‘DS401’ or ‘Servo’ can be selected via DIP switch
3.6 Order Information
Type
Properties
Order No.
CAN-CBM-DIO8
CANbloc-Mini module with
8 digital inputs/ outputs, 24 V / 1 A,
24 VDC, CANopen, 0...50 /C ambient
temperature
C.2830.02
CAN-CBM-DIO8-12V
as C.2830.02, but 12 VDC power supply
C.2830.04
CAN-CBM-DIO8-T
as C.2830.02, but -20...+70 /C ambient
temperature
C.2830.05
CAN-CBM-DIO8-MD
User manual in English 1*)
(this manual)
C.2830.20
Engineering manual in English 2*)
CAN-CBM-DIO8-ENG Contents: circuit diagrams, PCB top overlay
drawing, data sheets of significant components
C.2830.25
1*) If module and manual are ordered together, the manual is free of charge.
2*) This manual is liable of costs, please contact our support.
8
CAN-CBM-DIO8 Manual Rev. 0.83
Digital Inputs and Outputs
4. Digital Inputs/Outputs
Each I/O-connection is either defined as an input or an output via the DIP switch.
The status of the I/O-connections is each indicated by a yellow LED.
4.1 Transmission Rates of Digital Inputs
The transmission rates for the digital inputs can be distinguished:
• cyclical but not synchronous: The transmission-rate interval is only predetermined by the I/O-module
(not designed for CANopen standard, but useful for simple applications!)
• acyclical, synchronous: The transmission is made after a SYNC message has been received
(transmission type 0)
• cyclical, synchronous: The transmission is made after a certain number of SYNC messages each has
been received (PDO-transmission type 1...240)
• event-controlled, asynchronous: The transmission is made when the status of certain digital inputs
changes (PDO-transmission type 255)
If up to four I/O-modules are linked to form a 'logic' module, the I/O-slave modules transmit their digital
input information first to the I/O-master. The master combines them, e.g., in a 4-byte message (PDO)
for the motor controller (or for the master control) and then transmits them via the process-data object.
4.2 Digital Outputs
Each output driver has a nominal current of 1 A. If about 4 A per output are exceeded, the according
output is switched off at once and an error is reported.
Factory-set all I/O-connections are only defined as inputs.
For the I/O-module type 'DIO8’ it is advisable to define the inputs and outputs always in pairs of two,
as will be described on the following page.
In order to be able to drive them as outputs, the connection which is to be an output also has to be
defined via DIP-switch or parameter channel (see chapter Parameterization, from page 26).
CAN-CBM-DIO8 Manual Rev. 0.83
9
Digital Inputs and Outputs
4.2.1 Restrictions in Defining I/O-Directions
The output driver for the 8 digital outputs has only 4 status lines which means that the error status of
two output lines each cannot be distinguished. For technical reasons the error status of connections
defined as INPUT has to be ignored (open-load detection of the driver).
If for instance I/O-connection 1 is used as digital input and I/O-connection 2 is used as digital output,
possible errors (e.g. overload) of I/O-connection 2 cannot be recognized. Therefore it is advisable to use
the I/O-lines 1 and 2, 3 and 4, 5 and 6 as well as 7 and 8 always as 'pair of two' with the same direction.
Example for an advisable combination:
1+2 = inputs,
3+4=outputs,
5+6=inputs,
7+8=outputs
Example for a not advisable combination:
1=output,
2=input,
3+4=outputs,
5+6=inputs, 7+8=outputs
In this example an overload of I/O-connection 1, e.g., will not be recognized, because I/Oconnection 2 is defined as input and the internal status line of I/O 1+2 has therefore to be
ignored.
Errors at outputs 3,4,7,8 however will still be recognized and shown.
4.2.2 Reading Back the Digital Outputs
Each I/O-line defined as an output always retains its function as a digital input as well, i.e. if an output
is enabled, the current status will be transmitted as described in 4.1.
10
CAN-CBM-DIO8 Manual Rev. 0.83
Digital Inputs and Outputs
4.2.3 Reception Monitoring of the Digital Outputs (for Servo Mode)
The monitoring which will be described here is normally only useful for the use in servo mode (or if for
other reasons no node guarding in accordance with CANopen is possible):
If the telegrams for the digital outputs (RX-PDO) are transmitted periodically, the I/O-module can
monitor the receive cycle.
If no telegrams are received for a certain time (e.g. for 500 ms), the modules concerned switch all
outputs to the predefined error status (e.g. all outputs off) and report an error via the red LED. The
module remains in its normal operating mode, however. As soon as a telegram for the digital outputs
is received again, the error display switches off.
The default setting of the according parameter (code position 30, see appendix) is 0, i.e. there is no
reception monitoring, if the default setting is used.
4.2.4 Output Failures
If a short-circuit occurs or the maximum permissible output current of a channel is exceeded, only the
output concerned is switched off driver-internally, the other outputs remain unaffected for the time
being.
The output driver used, also signalizes errors, if an external voltage instead of a load conducting to
ground is applied to its outputs. This is a fatal error and causes a reset of the whole outputs of the
module. Therefore it must be avoided to apply an external voltage to an I/O-line which has been defined
as an output!
Errors occurring at the outputs are shown by the red 'Out Error' LED.
Furthermore a CANopen-standard-compliant emergency telegram is transmitted.
CAN-CBM-DIO8 Manual Rev. 0.83
11
Digital Inputs and Outputs
4.2.5 Input and Output Circuits
Outputs
Power supply
+24 V
OUTPUT 1
(to Microcontroller)
DO-214AA
2A
Vbb
1
Digital I / O 1
BTS 712
150R
INPUT 1
(to Microcontroller)
5V1
150R
yellow
2k2
5k5
10 nF
Load
Z
GND for
module and
outputs
2k2
10 nF
2k7
GND for
module and
outputs
Figure 4.2.1: Schematic diagram of input and output circuits
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CAN-CBM-DIO8 Manual Rev. 0.83
Installation
5. Installation
Generally all guidelines regarding EMC-compliant installation, wiring, conductor cross sections,
materials to be used, minimum clearances, lightning protection, etc. have to be strictly followed.
This section will only explain a few features in detail.
5.1 I/O-Module Protection
Note:
The I/O-modules contain components which are electrostatic-sensitive.
• Before working on the area of the connections, the personnel has to discharge itself
electrostatically, e.g. by touching earthed metal or PE-screws.
• When connecting an I/O-module, first the earth connection is to be made and then the
connection of the signal lines in order to degrade possibly existing differences in potential
without risk.
5.2 CAN Wiring
The CAN is wired with lines which are ISO 11898 compliant. The following electrical features are
required:
Parameter
impedance (Z)
min.
Value
nom.
max.
108 S
120 S
132 S
resistivity (r)
70 mS/m
specific line
delay
5 ns / m
Description
natural impedance (HF), measured between
two signal lines
has to be added to the delays of the transmit
and receive circuit
The CAN has to be terminated at both sides with a correct impedance, in other words, by a lowinductance 120 S - resistor. The I/O-modules of the 'DIO8'-series do not have a terminal resistance.
The maximum possible bus length depends on the bit rate (bit timing). This will be explained in the
chapter 'CAN'
CAN-CBM-DIO8 Manual Rev. 0.83
13
LEDs
6. LEDs
8 I/O-status display LEDs, 2 operating display LEDs and 2 error display LEDs are used:
• operating display ‘Operation GND’(green)
• mode display ‘Mode GND’(green)
• output-error display ‘OUT Error 24 V’(red)
• module-error display ‘Module Error 24 V’(red)
Normally only green LEDs should be on. A red LED indicates an error or a very special system status
(e.g. programming mode).
If errors occur during the initialisation phase, the operating, mode and module-error LEDs start
blinking at the same time in order to distinguish this error distinctly from 'normal' errors (which occur
during operation).
This error can for instance be caused by:
• wrong setting of the DIP-switch, e.g. CAN address 0
• EEPROM defect
• other error during initialisation-automatic test
Errors which occur during normal operation are shown by the red error LEDs.
As long as the operating LED does not switch off, the error is not very serious.
Among these errors are, e.g.:
• no periodical messages from the motor controller
• a to high error rate on the CAN, caused for instance by a faulty CAN termination
• extreme busload so that messages cannot be transmitted
• temporary overload of individual outputs
If serious errors occur, the operating LED is switched off. Serious errors are for instance:
• CAN OFF
• hardware error
In this case the module does not work anymore, in other words, it does not accept commands by the
CAN anymore. The module can only (if at all) be restarted by switching the module supply off and on
again.
The various LED combinations will be explained in the following chapter.
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CAN-CBM-DIO8 Manual Rev. 0.83
LEDs
6.1 LED - Display Combinations
Operating
display
ON
ON
Mode
Module
display
error
ON
OFF
OFF
OFF
(temporary)
Output
error
OFF
OFF
BLINKING
ON
OFF
X
OFF
X
ON
X
BLINKING
OFF
OFF
BLINKING
ON
ON
BLINKING
X
OFF
ON
BLINKING
X
BLINKING
BLINKING
BLINKING
OFF
Function
normal operation
received CAN message
operating mode is not ‘operational’
(see below)
programming mode
error of output driver
CAN error,
protocol error etc. (see below) but
module still in operation
CAN OFF,
module not in operation anymore
configuration or automatic-test error
Blinking of the operating display LED (green):
Blink code
Meaning
Error cure, notes
short-long-long-short
preoperational,
module is configured as I/Omaster
make sure that the CAN connections
are correct, transmit 'Start Node',
servo mode: motor controller has to
operate as BUS master
short-short-short
regular, slow blinking
preoperational,
module is configured as I/Oslave
preoperational,
I/O-master / slave cascading is
switched off
CAN-CBM-DIO8 Manual Rev. 0.83
see above
see above
15
LEDs
Blinking of the module error LED (red)
Classifying some blinking codes for precise diagnosis:
Blink code
long - short-short
long-short
long-short-long-short
short-short-short
(other codes)
Meaning
timeout by RX-monitor
AI4 only: Error of the analog
input module
(e.g.:overcharging)
node guard error
(node guard RTRs from NMTmaster fail to arrive)
CAN error
or
CAN OFF
slave error
(only if ‘internal' Master-Slave
cascading is activated)
CAL-error register is not 0
Error cure, notes
check CAN connection,
switch off RX-monitor of I/Omodule (code no. 30)
servo mode: activate periodical
transmission of CAN-OUT3 of the
motor controller
check clamp connections,
check if the analog input signals lie
in the defined range
check CAN connection,
increase lifetime factor according to
DS203-2, (see description
'Extended NMT-Boot up')
correct bit rate for all bus users?
CAN terminated correctly?
CAN shielded correctly?
The I/O-master module has
detected an error at one of its I/Oslave modules:
check CAN lines and supply lines
read out CAL-error register and
keep on investigating
(object 1001h, see CANopen)
'Operation', 'Mode' and 'Error' are blinking at the same time
Blink code
Meaning
3 * blinking
automatic-test error type 3
4 * blinking
EEPROM error
5 * blinking
error at DIP configuration
16
Error cure, notes
check voltage supply,
maybe a hardware defect
see page 25 ,
maybe hardware defect
see page 22,
e.g. set CAN address > 0
CAN-CBM-DIO8 Manual Rev. 0.83
CAN
7. CAN
This chapter will describe physical features of the CAN and the most important protocols required for
the use of the module, implemented into the I/O-modules.
Further information on the higher protocol layers can be taken from the CAL/CANopen documentation
‘CiA Draft Standard 201 ... 207’, ‘CiA Draft Standard 301’ and ‘CiA Draft Standard Proposal 401’.
There the communication profile(301) and the device profile (401) will be explained. If you want to
know exactly to what extent the 'objects' described in these documentation are implemented in the I/Omodule family 'DIO8x', please consult the data sheets of the special modules. The objects generally
implemented will be described starting from page 31.
The CAN identifiers used for the data transfer are listed in the appendix.
7.1 CAN Timing
The CAN timing has been set in compliance with the CiA-guidelines (certain deviations are due to the
hardware used). Depending on the CAN-bit rate set (see also page 23), the CAN controller is
programmed according to the following table. Furthermore the specified maximum bus lengths apply
depending on the bit rate:
Bit rate
Tseg 1
Tseg 2
Tsync
max. bus length
(cable: 5 ns/m)
1000 Kbit / s
700 ns
200 ns
100 ns
10 m
500 Kbit / s
1600 ns
300 ns
100 ns
80 m
250 Kbit / s
3400 ns
400 ns
200 ns
250 m
125 Kbit / s
6.5 :s
1 :s
500 ns
500 m
100 Kbit / s
8 :s
1.5 :s
500 ns
700 m
50 Kbit / s
16 :s
3 :s
1 :s
1000 m
20 Kbit / s
40 :s
7.5 :s
2.5 :s
1500 m
10 Kbit / s
80 :s
15 :s
5.0 :s
2000 m
The values Tsync, Tseg1 and Tseg2 refer to the CAN specification of the CAN controller used, they
signify time intervals within a bit from the CAN telegram.
Tsync:
Time of the synchronization segment.
Tseg1:
The sum from ‘propagation time segment’ and ‘phase buffer segment 1’. Tseg 1 is the time
between the Sync-segment and the sample point of a bit.
Tseg2:
The ‘remaining’ time after the sample point (‘phase buffer segment 2’) to the beginning of
the next bit.
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17
CAN
Attention: The maximum reachable bus length of the CAN-CBM-DIO8, CAN-CBM-AI4,
CAN-CBM-AO4, CAN-CBM-DIO8-Counter and CAN-CBM-OP1 modules is
shorter than the reachable bus length of other esd CAN modules because of the type
of optocoupler in the CAN interface of these modules.
This has to be taken into account at the network planning and installation!
7.2 CAN Channels
The following channels are available for the data transfer between the control (e.g. motor controller) and
the I/O-units:
• a process-data object (PDO) with 8 to 32 bits, depending on the number of I/O-slave modules
• a parameter channel (SDO) to access manufacturer-specific code positions
Depending on the requirements up to four I/O-modules with 8 I/O-connections each can be linked via
the CAN to form a 'big' module with 32 I/O-connections. Modules linked in such a way will be called
'I/O-master module' and 'I/O-slaves' in this manual. The I/O-master module is not to be confused with
a CANopen master! For such a module the following channels are used:
• an internal parameter channel from the I/O-master module to its I/O-slave modules
• a maximum of three internal parameter and process-data objects from the I/O-slave module to the
I/O-master module
Before using the internal module compound, you have to check whether the required identifiers are
really available in the CAN network (see appendix, starting on page 47).
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CAN-CBM-DIO8 Manual Rev. 0.83
CAN
7.3 Process-Data Objects
Each I/O-module configured as master is connected to the control or the motor controller via a processdata object (PDO).
For the I/O-module each process-data object consists of a receive branch (PDO-RX) and a transmit
branch (PDO-TX).
Via the process-data object the I/O-module receives programs to enable its digital outputs and transmits
the status of its digital inputs.
In ‘DS-401’-mode the contents of the process-data telegrams can be set flexibly. More on this can be
taken from chapter 'PDO Mapping' starting on page 40.
In servo mode the PDO mapping is configured in default setting in such a way that the CAN telegrams
have the following structure:
process-data telegram (e.g. address 2) transmitted by the I/O-module in servo mode
Identifier
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Data 8
768+2
= 770
input
1...8
input
9...16
input
17...24
input not used not used not used not used
25...32
(0)
(0)
(0)
(0)
Inputs 1...8 are the I/O-connections of the master module, inputs 9...16 are at slave no. 1, inputs 17...24
are at slave no. 2, inputs 25...32 are at slave no. 3.
Input 1 is inserted into the LSB of data 1, input 8 into the MSB, etc.
If some slaves are not available, the according inputs transmit the value 0.
The transmission of digital input information is initiated by the I/O-module in servo mode, eventcontrolled and/or time-controlled transmissions are possible (see chapter 'Parameterization', starting on
page 26).
process-data telegram (e.g. address 2) received by the I/O-module in servo mode
Identifier
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Data 8
767+2
= 769
output
1...8
output
9...16
output
17...24
output
25...32
not used not used not used not used
(0)
(0)
(0)
(0)
This telegram is equally structured than the transmitted telegram.
If a bit is set, the according output is enabled (provided that it is defined as an output).
Attempts to enable connections which have not been defined as outputs are ignored by the I/O-modules.
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19
CAN
7.3.1 Parameter Channel
Each I/O-master module can be configured by a parameter channel. Important parameters are
transmitted from the I/O-master module to the I/O-slaves. A detailed description of the parameter
channel will follow on page 28.
For standard applications the use of the parameter channel is not necessary, because the most important
parameters can also be set via the DIP-switch.
7.3.2 Internal Master-Slave Communication
For the communication between I/O-master module and its I/O-slave modules further CAN identifiers
are covered which can be taken from the appendix
For the CAN transmission from the I/O-slaves to the I/O-master each slave has its own identifier
(because 'quick' process data which must not collide has also to be transmitted via this identifier).
The telegrams for the monitoring of the transmission from the slave modules to the master module are
structured as follows:
Identifier
Data 1
ident.
(see
below)
896 ... + x
Data 2
Data 3
Data 4
index
(low)
index
(high)
subindex
Data 5 Data 6 Data 7 Data 8
user
data
user
data
user
data
user
data
For identification the following codes are used (following the SDO channel, which, however, has nothing
in common with the 'internal' parameter channel):
Code
Meaning
0x00
telegram with process data and status
0x40
read command
0x2B
write command with data (maximum 32 bits)
0x4A
response to read command with user data (maximum 32 bits)
0x60
acknowledgment for write command
0x80
acknowledgement: „error“
Only one identifier is used for the CAN transmission from the I/O-master to its I/O-slaves. The slave
number is written into the CAN-user data in order to 'save' identifiers. This way parameters and process
data are transmitted which the I/O-master module passes on to its I/O-slaves after analysing the PDOtelegrams.
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CAN-CBM-DIO8 Manual Rev. 0.83
CAN
If the 'internal' communication between I/O-master module and I/O-slave module is disturbing or is not
required, it can be switched off by a special programming option by the DIP-switch (see page 27 ). This
might be necessary, if no identifiers for the internal master/slave communication are available in the CAN
network.
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21
Parameterization
8. Parameterization
The module can be parameterized without external aids (bit rate, CAN addresses).
Connection to the power supply is only needed for programming the inputs and outputs and further
internal parameters.
8.1 Parameterization Via DIP-Switch
8.1.1 Assignment of the DIP-Switch (in normal status):
Switch number
Function
Explanations
1
CAN address (bit 0)
OFF=0, ON= 1
2
CAN address (bit 1)
OFF=0, ON= +2
3
CAN address (bit 2)
OFF=0, ON= +4
4
CAN address (bit 3)
OFF=0, ON= +8
5
CAN address (bit 4)
OFF=0, ON=+16
6
CAN address (bit 5)
OFF=0, ON=+32
master/slave number (L)
OR
CAN address (bit 6)
OFF=0, ON= 1
7 (*)
8 (**)
master/slave number (H)
OR
reserve
9
CAN-bit rate (bit 0)
10
CAN-bit rate (bit 1)
11
CAN-bit rate (bit 2)
12
programming switch
OFF=0, ON=+64
OFF=0, ON= +2
normal status ‘OFF’
The CAN address results from the addition of the squares (see column 'Description').
(*)
The assignment of switch 7 depends on the choice whether the I/O-modules are to operate with
'internal master/slave cascading' (see page 26) or not. The setting whether the modules operate
with or without cascading can be made in the programming mode (see page 25).
With 'internal cascading’ only 63 different node identifiers are possible, without 'internal
cascading' however 127.
(**)
If the 'internal master/slave cascading' is not used, switch 8 has no function at the time being. It
should be set to 'OFF' so that it does not collide with possibly future extensions.
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Parameterization
8.1.2 Setting the CAN-Bit Rate
Switch 9
Switch 10
Switch 11
CAN-bit rate
OFF
OFF
OFF
1000 Kbit / s
OFF
OFF
ON
500 Kbit / s
OFF
ON
OFF
250 Kbit / s
OFF
ON
ON
125 Kbit / s
ON
OFF
OFF
100 Kbit / s
ON
OFF
ON
50 Kbit / s
ON
ON
OFF
20 Kbit / s
ON
ON
ON
10 Kbit / s
8.1.3 Test Mode (only for the manufacturer)
The test mode is used for a fast test of the I/O-connections and for the default setting. Current
information can be taken from the special document.
In order to activate the test mode, all DIP-switches have to be set to 'ON' before switching on the supply
voltage and then (max. 2 seconds after a power-on) one of the switches 8...12 has to be set to 'OFF'
again. The I/O-module then switches into test mode, which can only be left again by switching off the
supply voltage. Furthermore all EEPROM cells are set to the default values.
In test mode the two last DIP-switches define the test which is to be carried out:
S11 ON, S12 OFF:
‘running’ test of all LEDs and reading back the digital inputs (directly after
activating the test). If there is an error at reading-back, the red module-error
LED is additionally driven.
S11 OFF, S12 OFF:
reserved
S11 ON, S12 ON:
reserved
S11 OFF, S12 ON:
‘DIP’-test: Switches 1...10 are linked by software to the outputs 1...8 and both
error LEDs.
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23
Parameterization
Manufacturer-default settings which have been implemented previously
(during power-ON all DIP-switches ON, then after about 2 seconds...):
Switch 12 OFF: ‘Servo’ mode, no A/D-converter installed
Switch 11 OFF: ‘DS401’, no A/D-converter installed
Switch 10 OFF: ‘DS401’, 1 channel A/D + D/A, voltage feed (±10 V)
Switch 9 OFF: ‘DS401’, 1 channel A/D + D/A, current feed (±20 mA)
Switch 8 OFF: ‘DS401’, input 1 and 2 as counter inputs (C0256)
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Parameterization
8.1.4 Programming Mode
As long as the programming switch (S12) is in 'OFF' position, the module is in 'normal operation'. By
switching S12 to 'ON' the module gets into 'Programming' mode, no matter which current operating
mode it had been in.
If the programming switch is already on 'ON' during power-ON, the default settings become active and
all possibly stored 'special configurations' will be overwritten. If the programming switch is only put to
'ON' after power-on, however, the parameters which can only be set via SDO remain stored.
The programming mode is signalized as follows:
•
•
•
the green operation LED is switched off
the green mode LED is permanently on
the red module-error LED blinks slowly as long as the programming switch is 'ON'
In programming mode all outputs are switched off.
During this phase the switches S1 ... S9 can be set in accordance with the following chapters. Each time
the switch is turned the green operation LED blinks.
Only when the programming switch is turned from ‘ON’ to ‘OFF’ the set configuration (definition of
inputs and outputs) is taken over into a non-transient memory.
After a successful programming the blinking interval of the red module-error LED becomes shorter. For
safety reasons the programming mode can only be left by switching off the supply voltage.
Before switching-on the supply voltage again, the DIP-switches for the address setting and the CAN bit
rate (S1...S11) have to be set to their current values again!
All parameters which can be set via DIP-switch in the programming mode can also be set via SDO (see
page 28). For this, however, you need a suitable configuration tool.
CAN-CBM-DIO8 Manual Rev. 0.83
25
Parameterization
8.1.5 Assignment of the DIP-Switch in Programming Mode
Note: The Assignment of the DIP-Switch in Programming Mode is not valid for the CBM-AO4 module
and the CBM-AI4 module (see ‘CBM-AI4 manual supplement)
Switch number
Function
Description
1
port direction I/O 1
OFF = input,
ON = output
2
port direction I/O 2
...
3
port direction I/O 3
...
4
port direction I/O 4
...
5
port direction I/O 5
...
6
port direction I/O 6
...
7
port direction I/O 7
...
8
port direction I/O 8
...
9
CAN-ID basis,
software model
OFF = servo mode
ON = DS401-mode
10
internal I/O-cascading
(I/O-M/S compound)
OFF = cascading ON =
no cascading.
11
‘reserve’
should remain ‘OFF’!
12
programming switch
normal status ‘OFF’
8.1.5.1 Programming the Input/Output Functions
In programming mode the switches 1 to 8 of the DIP-switch have the following special functions:
The switch position ‘ON’ defines the according I/O-line as output, the position ‘OFF’ defines an input.
For the I/O-module ‘DIO8’ you have to observe the notes in chapter ‘Digital Outputs’ on page 10!
8.1.5.2 Programming the CAN Identifiers and the Software Model
In programming mode switch 9 has the following meaning:
Switch 9 ‘OFF’:
The CAN identifiers listed in the appendix starting on page 47 are used (‘servo
mode’).
Switch 9 ‘ON’:
For the time being CAN identifiers from the ‘Predefined Connection Set’ are
used (‘DS 401’-mode, see appendix).
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Parameterization
8.1.5.3 Inhibiting the I/O-Master/Slave Compound
If the compound of the I/O-master to three I/O-slaves is not desired, it is possible to inhibit this
functionality. This can be achieved by switch 10 in programming mode:
Switch 10 ‘OFF’:
Linking an I/O-master module with a maximum of three slave modules is possible
(this is normal).
Switch 10 ‘ON’:
An I/O master-Slave compound is not possible (special case, only required if the
‘internal’ transmission between I/O-master and I/O-slaves as described on page
26 is disturbing).
8.1.5.4 Examples for Programming by the DIP-Switch
Servo mode with all I/O-pins as outputs:
•
•
•
•
•
•
•
•
voltage supply off
DIP-switches 1 to 8 ‘ON’
DIP-switches 9 to 11 ‘OFF’
DIP-switch 12 ‘ON’
voltage supply on:
red LED is slowly blinking
DIP-switch 12 ‘OFF’:
red LED is slowly ‘flashing’ (programming is finished)
voltage supply off again
before switching on again:
set device number and addresses again (see pages 22, 23) !
DS401-mode without internal I/O-cascading, all I/O-pins as inputs:
•
•
•
•
•
•
•
•
•
•
voltage supply off
DIP-switches 1 to 8 ‘OFF’
DIP-switch 9 ‘ON’
DIP-switch 10 ‘ON’
DIP-switch 11 ‘OFF’
DIP-switch 12 ‘ON’
voltage supply on:
red LED is slowly blinking
DIP-switch 12 ‘OFF’:
red LED is slowly ‘flashing’ (programming finished)
voltage supply off again
before switching on again:
set device number and addresses again (see pages 22, 23) !
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27
Parameterization
8.2 Parameterization by the Parameter Channel (SDO)
By means of a PC with CAN interface and configuration tool or another control system the most
important internal parameters of the I/O-module can be configured. For this an SDO-channel is available
in each I/O-module defined as master. This SDO-channel will be explained in detail in chapter
‘CANopen’.
8.2.1 Access to I/O-Code Positions Via the Parameter Channel
The I/O-module uses its own ‘code positions’ for accessing internal parameters. These code positions
can be taken from the appendix. The subindex is not used within this ‘manufacturer-specific profile’
(CANopen designation) and the according telegram field should be set to ‘0’.
8.2.1.1 Time Performance at SDO-Write Accesses
Write accesses to I/O-modules without ‘internal master/slave compound’ are acknowledged within 30
ms, if ‘automatic storing’ is used.
A ‘normal’ write access is much quicker acknowledged, if no automatic storage is uses. In this case a
write access is acknowledged within 10 ms. If you want to retain the parameters even after switching
off the supply voltage, they have to be saved by a special ‘save’ command to CANopen object 1. The
time the ‘save’ command needs to be executed depends on the number of changed memory cells in the
EEPROM. In the worst case the EEPROM used needs up to 20 ms per write access, however, such long
delay times have never been witnessed in tests.
An SDO-write access can take especially long time (100 ms), if you work with ‘internal master/slave
compound’ and code positions have been written on which have to be passed from the I/O-master
module to its I/O-slaves first. The internal procedure during this access will be explained in the following
chapter.
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Parameterization
8.2.1.2 Internal Procedure During SDO-Write Accesses
The following example is used to explain the ‘most difficult’ internal procedure during SDO-write
accesses with ‘internal master/slave compound’:
Example 1: Definition of 32 inputs/outputs via the parameter channel
All I/O-lines of the master module and the three slave modules connected to it are to be defined as
outputs. The device address of the master module is 2.
The appropriate code position 10dec (port direction) can be taken from the appendix.
From this the following CAN (SDO) telegram to be transmitted from the control system results:
identifier command
code
1536 + 2
= 1538
(write)
0x23
index
(low)
index
(high)
subindex
data 1
data 2
data 3
data 4
0xFF
-10dec =
0xF5
0x5F-0 =
0x5F
0x00
(master)
0xFF
(slave1)
0xFF
(slave2)
0xFF
(slave3)
0xFF
Only the I/O-master module with device address 2 receives this telegram. Since this telegram contains
also data for the slaves connected to the master, however, the master then transmits according telegrams
to its slaves via the internal master->slave channel (identifiers 1664+2) and waits for the response of the
slaves.
Note: (Provided that not all three slaves are available, the master stops waiting after a certain time (50
ms), but does not report an error!).
The slaves store their individual port-direction definitions into the non-transient memory and
acknowledge this after successfully storing via the slave->master channels.
Afterwards the master, too, stores its own ‘new’ port-direction definition into the non-transient memory.
This procedure requires also some time (max. 20 ms).
Only after completing programming, the I/O-master module reports the acknowledgement to the control
system:
identifier command
code
1408 + 2
= 1410
(w.resp)
0x23
index
(low)
index
(high)
subindex
data 1
data 2
data 3
data 4
0xFF
-10dec =
0xF5
0x5F-0 =
0x5F
0x00
0x00
0x00
0x00
0x00
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29
Parameterization
The actual reaction time can only be estimated, because it depends on the following factors, for instance:
• CAN bit rate
• CAN load and part of CAN telegrams with a higher grade of priority
• CPU-demand in the I/O-modules by other tasks, e.g. fast status changes at the digital inputs.
8.2.2 How to Use the Parameter Channel
Generally the following things have to be observed when using the SDOs:
•
SDOs are used to configure the I/O-modules. They must not be used to change internal parameters
during ‘normal’ operation. This would reduce the lifetime of the EEPROMs used for storing!
•
When changing a module configured via SDO or using the module in a different place, the
configuration should be set to its default values again. This concerns especially the change in I/Odirections mentioned above.
•
For parameters which can be configured via DIP-switch and via SDO the setting which had been
executed last applies.
•
Changes of identifier-‘basis addresses’ by means of write accesses to code positions starting from
50 become only active after initializing the modules again for instance by a network management
or by switching off the supply voltage. This possibility of ‘redefining’ the CAN-ID basis addresses
is only to be used, if the addresses cannot be set anymore by means of the DIP-switch!
•
Accessing the code positions does not depend on the status of the module (operational,
preoperational).
•
When linking modules to one ‘logical’ module, the I/O-slave modules should also be connected
when parameterizing the I/O-master module, because at SDO accesses it exchanges several
parameters via the internal parameter channel with its I/O-slave modules (e.g. the port-direction
definition).
•
Only if serious errors occurred an SDO access is not possible anymore.
•
The automatic storing of parameters into the EEPROM after each write access can be suppressed
via access to a manufacturer-specific code position. This can be requested in object 1010h in the
CANopen communication profile. The automatic storing of parameters is default-set, however, in
other words, no ‘save’ command has to be transmitted.
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9. CANopen
This chapter offers fundamental information on ‘CANopen’ and the most important information on the
functions implemented.
A complete CANopen description would be too extensive for this manual.
Interested readers are advised to refer to the CAL/CANopen manual, which is not easy to understand,
however.
9.1 The CANopen Object Directory
The object directory is mainly a (arranged) group of objects which can be accessed via the network.
Each object in this directory is addressed with a 16-bit index which is represented in hexadecimal form
in the object directories.
The index can be a 16-bit parameter according to the CANopen specification (CiA-Draft DS301,
DS401) or a manufacturer-specific code. By means of the MSB of the index the object class of the
parameter is determined.
Part of the object directory are among others:
Index (hex)
Object
Example
0001 ... 009F
definition of data types
1000 ... 1FFF
communication profile area
1001 = error register
2000 ... 5FFF
manufacturer-specific profile area
5FF5 = port directions
6000 ... 9FFF
standardised device profile area
(here : according to DS401)
6000 = status of 8 inputs
A000 ... FFFF
reserved
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9.1.1 Communication Profile Area
Within this passage the following objects are implemented :
Index (hex) Name
Subindices
Type
Access
1000
1001
1003
variable
Unsigned32
Unsigned8
Unsigned32
0,1,2
-
Unsigned32
Unsigned32
Visible String
Visible String
ro
ro
r, w
(only subindex 0)
ro
rw (*)
ro
ro
-
Visible String
ro
0,1
Unsigned32
Unsigned16
Unsigned8
Unsigned32
Unsigned32
ro (=DIP-switch)
rw (*)
rw (*)
rw (*)
0,1
Unsigned32
rw
0,1,2
PDOCommPar rw
1004
1005
1008
1009
100A
100B
100C
100D
100
1010
Device Type
Error Register
Predef’d Error...
(Error History)
Number of PDOs
COB-ID of Sync Message
Manufacturer’s Device Name
Manufacturer’s Hardware
Version
Manufacturer’s Software
Version
Node-ID
Guard Time
Life Time Factor
Node Guarding ID
Store Parameters
1011 in
Restore Default Parameters
preparation
1400
Receive PDO
Communication Parameter
1600
Receive PDO Mapping
Parameter
1800
Transmit PDO
Communication Parameter
1A00
Transmit PDO Mapping
Parameter
0, 1...max.8 PDOMapping
rw
rw
0,1,2
PDOCommPar rw
0,
1...max.8
PDOMapping
rw
(*) these parameters are to be set only by means of the ‘extended NMT-boot up’.
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9.1.2 Standardised Device Profile Area
The objects implemented are based on the ‘CiA Draft Standard Proposal 401’ Version 1.4. Some
objects, e.g. the 16- and 32-bit-access objects are only available, if several CAN-CBM-DIO8 modules
with 8 I/O-connections each are linked to form a compound.
9.1.2.1 Digital Inputs and Outputs
Index (hex)
6000
6006
6020
6100
6120
6200
6206
6207
6220
6250
6260
6300
6306
6307
6320
6326
6327
Name
Read State [of] 8 Input Lines
Input Interrupt Mask [for] 8
Input Lines, any change
Read State [of] 1 Input Line
Subindices
0,1...max.4
0, 1...max.4
Type
Unsigned8
Unsigned8
0, 1...max.32 Unsigned8,
Boolean
Read State [of] 16 Input Lines 0, [1, 2]
Unsigned16
Read State [of] 32 Input Lines 0, max. 1
Unsigned32
Write State [for] 8 Output
0, 1...max.4 Unsigned8
Lines
Fault Mode [for] 8 Output
0, 1...max 4 Unsigned8
Lines
Fault State [for] 8 Output
0, 1...max 4 Unsigned8
Lines
Write State [for] 1 Output Line 0,
Unsigned8,
1... max.32
Boolean
Fault Mode [for] 1 Output
0,
Unsigned8,
Line
1...max.32
Boolean
Fault State [for] 1 Output Line 0,
Unsigned8,
1...max.32
Boolean
Write State [for] 16 Output
0,
Unsigned8,
Lines
1...max.2
Unsigned16
Fault Mode [for] 16 Output
0,
Unsigned8,
Lines
1...max 2
Unsigned16
Fault State [for] 16 Output
0,
Unsigned8,
Lines
1...max 4
Unsigned16
Write State [for] 32 Output
0,
Unsigned8,
Lines
max.1
Unsigned32
Fault Mode [for] 32 Output
0,
Unsigned8,
Lines
max 1
Unsigned32
Fault State [for] 32 Output
0,
Unsigned8,
Lines
max 1
Unsigned32
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Access
ro
rw
ro
ro
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
rw
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9.1.2.2 Analog Inputs and Outputs
(Only CBM-AI4 and CBM-AO4)
Index (hex)
6401
6411
6420
6421
6423
6424
6425
6426
6443
6444
34
Name
Reads value of the input
channel (not converted)
Writes value of the output channel (not
converted)
Set Analogue Input Range
Determines which events cause an
interrupt for a specific channel
Globally enable/disable Interrupt
When enabled, interrupt triggered when
analogue input rises above this value
(not converted)
When enabled, interrupt triggered when
analogue input falls below this value
(not converted)
When enabled, interrupt triggered when
analogue changes by more than this
value from previous reading (rising or
falling) (not converted)
Output Fault Mode
Default Output Fault value
(unconverted)
Subindices
0
1
0
1
0
1
0
1
0
0
1
Type
Unsigned 8
Unsigned16
Unsigned8
Unsigned 16
Unsigned8
Unsigned 16
Unsigned 8
Unsigned 8
Boolean
Unsigned8
Unsigned 32
Access
ro
0
1
Unsigned8
Unsigned 32
rw
0
1
Unsigned8,
Unsigned 32
rw
0,1
0
1
Unsigned8
Unsigned 8
Unsigned 32
rw
rw
rw
rw
rw
rw
rw
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9.1.3 Manufacturer-Specific Profile Area
Important is the manufacturer-specific profile area from 0x2000-0x5FFF, where special system
parameters can be read and set.
In the I/O-module CAN-CBM-DIO8 the index is determined by means of the formula
Index = 0x5FFF - code_number_of_the_I/O-module
The code numbers of the I/O-modules can be taken from the appendix on page 47.
9.2 Service-Data Objects (SDOs)
Service-data objects are used to access the object directory of a device.
Therefore an SDO is a channel which is used to access the parameters of the device.
The access via this channel is possible in the I/O-module CAN-CBM-DIO8 in ‘operational’ and
‘preoperational’ status. Please observe the notes on page 30!
9.2.1 Structure of SDO Telegrams
Identifier
command
code
index
(low)
index
(high)
subindex
data 1
data 2
data 3
data 4
The command code consists of the command specifier and the length. Combinations often used are for
instance:
0x40 = 64 dec: read request, i.e. a parameter is to be read
0x23 = 35 dec: write request with 32 bit data, i.e. a parameter is to be set
The maximum 4 bytes-long data area is generally structured following the rule ‘LSB first, MSB last’.
The LSB is always in ‘data 1’, in 16-bit values the MSB (bits 8...15) is in ‘data 2’, and in 32-bit values
the MSB (bits 24...31) is in ‘data 4’.
The I/O-module responds to every telegram received with a response telegram, which can consist of the
following command codes:
0x42 = 66 dec: read response, this telegram contains the desired parameter
0x60 = 96 dec: write response, i.e. a parameter has been set successfully
0x80 = 128 dec: error response, i.e. the I/O-module reports a communication error.
Further information can be taken from the CiA-specifications.
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9.2.2 Non-Transient Storing of Parameters
All communication relevant parameters (PDO mapping + communication) can be saved in the EEPROM
generally. The objects in the device profile, which determine the behaviour of the module in the error
case, can be stored to the EEPROM as well. The value of the digital and analog outputs cannot be
saved.
At each write access the parameters are stored into a non-transient memory via default-setting without
the need to send a special ‘save’ command to object 1010h. The response to an SDO-telegram then
follows only after the non-transient memory has been updated.
If this ‘automatic’ storing and the delay this is causing should be bothering, the ‘automatic’ storing can
be switched-off by reprogramming the manufacturer-specific code position 17.
The contents of object 1010h represent the current memory mode:
•
•
If bit 1 and 2 are set subindex 1 by object 1010h, the I/O-module automatically stores the
configuration after each change via SDO-channel.
If bit 1 is set subindex 1 by object 1010h, the I/O-module does not save the configuration
‘automatically’, but has to be arranged by writing the characters ‘save’ (73h 61h 76h 65h,
arrangement from CAN telegram) into object 1010h, subindex 1.
Note:
36
The CANopen standard has no possibility to change into the memory mode. The
possibility to change via code position 17 has been designed for a greater flexibility of the
I/O-modules.
If many write accesses via SDO are made when booting a network, the ‘automatic’
saving should be switched off by setting code position 17 to zero and the EEPROM
should be updated once after the initialization. By doing this the I/O-module does not
always have to determine the EEPROM checksum and the many SDO-write accesses can
be acknowledged much quicker (see also page 28).
The EEPROM used has a lifetime of 1 million delete/write cycles.
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9.3 NMT-Boot-Up
9.3.1 Basic Boot-Up
The I/O-modules of the ‘DIO8’-series can be initialized with the ‘Minimum Capability Device’-boot-up
described in the CiA-Draft Standard 301 in chapter 8.3. The easiest way would be to send a telegram
after switching-on to change from preoperational status into operational status. Transmitting the 2-bytes
telegram ‘01 00’ (=start remote node) to the CAN identifier 0000h should be sufficient.
9.3.2 Extended Boot-Up
Additionally the extended boot-up with node guarding activation is available.
For this the NMT-master can transmit the sequence which will be shown on the following page to the
NMT-slave.
( here: module-ID = 1, COB-IDs decimal, CAN data hexadecimal ):
The parameters entered in the CAN telegrams have the following meaning:
node-ID:
‘node identifier’; in the CAN-CBM-DIO8 this is the ‘CAN address’ set via DIPswitch in the area of 1...63 (without ‘I/O-cascading’ 1...127).
req. guard time:
Guard time in milliseconds requested by the slave. The CANbloc-Mini-module
CAN-CBM-DIO8 does not request a guard time, and the entry is therefore 0.
req. lifetime factor: Lifetime factor requested by the slave. Is being overwritten by the assigned
lifetime factor.
node class+flags:
Represents the features of the I/O-module as NMT-slave. In CAN-CBM-DIO8
‘2’. In bit 7 of this byte the NMT-slave could request a configuration download.
This is not possible on the CAN-CBM-DIO8, and therefore bit 7 is always ‘0’.
mod. ID:
In CAN-CBM-DIO8 identical with the node-ID.
guard COB-ID:
The CAN identifier for the node-guarding protocol assigned from the master to
the slave. Has to be between 1761 and 2015.
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NMT-Master
NMT-Slave
After this procedure the I/O-module is in operational status and is ready to transmit and receive processdata objects. Furthermore the node guarding is now active so that the node-guarding master must
request the module status periodically via RTR-telegram from now on (more details on this in chapter
‘Node Guarding’).
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9.4 Process-Data Objects (PDOs)
PDOs are used for the transmission of process data.
The ‘receive’ PDO normally transmits the data for the digital outputs of the control system (e.g. static
frequency changer) to the I/O-modules.
The‘transmit’ PDO transmits the status of the digital inputs of the I/O-master module (which is always
a SLAVE in the CANopen network!) to the control system (or - in special cases - to other I/O-devices).
The PDO structure has already been explained for an easy example in chapter ‘Process-Data Objects’.
For general use a PDO telegram can be structured in (nearly) any way, however. For this the PDO
mapping, which will be described in the following chapter, can be used.
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9.4.1 PDO Mapping
The variable PDO mapping is used to ‘insert’ certain objects from the CANopen-object directory into
a maximum 8 bytes long process-data telegram.
For this, object 1800h is responsible for the receive PDO (digital inputs) and object 1A00h is responsible
for the transmit PDO (digital outputs). Both objects have principally the same structure. These PDO
mapping parameter objects comply with a list in which all objects in the PDO are represented.
Each list entry shows the index of a represented object, the subindex of the represented object and the
number of data bits inserted by this object in the PDO.
Example:
In the transmit PDO only the status of the first 8 digital inputs of an I/O-module is to be represented.
The object which contains the digital inputs in groups of 8 inputs each (i.e. ‘byte by byte) is object 6000h
from ‘DS 401’ (at the moment only ‘DSP 401 V1.4’, chapter 8.1.1).
Subindex 1 from object 6000h always contains the status of the first 8 digital inputs, if necessary it could
also be read out via SDO. In order to map this object into the PDO, index, subindex and bit number have
to be combined to a 32-bit value (‘unsigned 32’) as follows:
MSB, Bits 31...24
index (high)
60
Bits 23...16
index (low)
00
Bits 15...8
subindex
01
LSB, Bits 7...0
number of data bits
08
Before this 32-bit value can be written into the mapping object 1A00h via SDO, the list length of the
mapping object has to be set to at least ‘1’. This is made by writing a ‘1’ into the mapping object 1A00h,
subindex 0.
Now there is space in the list for exactly one entry which is then written to subindex 1. Attempting to
access a list object which does not fit into the list (because of the contents of subindex 0) causes an error
response during SDO access to the mapping object.
After successfully programming the mapping object it has the following contents:
object 1A00h, subindex 0: 01h
(i.e. one entry in the list)
object 1A00h, subindex 1: 60000108h (i.e. represent 8 bits of object 6000h, subindex 1 in the PDO)
Because of this programming the process-data telegram will only consist of one byte, which contains
the current status of the first eight digital inputs.
If further information is to be contained in the remaining 7 bytes, object 1A00h subindex 0 has to be
increased (e.g. to 4) first. Then further list entries can be made in object 1A00h subindices 2, 3, 4.
In I/O-modules ‘DIO8’ a maximum of eight different objects can be represented in a PDO. For reasons
of speed the number of data bits has to be eight or an integral multiple from it.
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9.4.2 PDO Transmission Types
9.4.2.1 Synchronous Transmission Types
The synchronous transmission rates can be used, if a participant in the CANopen network can generate
the according SYNC telegrams. The I/O-module ‘DIO8’ can only receive those telegrams but cannot
generate them.
The synchronous transmission type is defined by the ‘PDO transmission type’ in the communication
parameter of the according process-data object.
A transmission type of 5 means that e.g. after five SYNC massages received a process-data object is
transmitted. Details on this can be taken from the CiA Draft Standard 301.
9.4.2.2 Event-Controlled Transmission
Each change of a digital input at master or slaves can trigger a message of the digital inputs.
Default-set this is made by all equipped inputs, by changing an event mask this can be changed (see
appendix ‘Code Table’ or DS401).
If this event mask is set to 0xFFFFFFFF, all inputs trigger a message. If this mask is set to 0x00000000,
no event-controlled transmission is made.
In order to prevent a too high busload caused by event-controlled transmission, two mechanisms have
been implemented:
• debouncing the digital inputs (with debounce time which can be set)
• definition of a minimum break which has to pass between the transmission of two event-controlled
(!) telegrams.
The default values are:
debounce time 1 ms
• no minimum break between two event-controlled transmissions
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9.4.3 Cyclical Asynchronous Transmission
The input information can be transmitted cyclically (for instance every 100 ms) with the process-data
object. The transmission cycle time can be changed via the parameter channel or be switched off.
It is an additional transmission initiative to the possibilities defined in the CANopen standard and has
been especially designed for the use at the servo-motor controller. In CANopen terminology we could
refer to this transmission type as ‘cyclical but not dependent on the SYNC object’.
Default value:
•
•
‘Servo mode’:
‘DS 401 mode’:
Cyclical transmission every 100 ms
Cyclical transmission switched off (0), transmission only depending on
‘PDO transmission type’.
This transmission type can be activated by changing code position 14 (in the manufacturer-specific object
area, see appendix).
9.4.4 Node Guarding / Life Guarding
Via the node/Life guarding the control and the connected I/O-modules monitor each other (especially
in order to recognize connection failures).
In CANopen terminology the node guarding is the monitoring of the I/O-modules by the NMT-master,
the Life guarding, on the other hand, occurs within the I/O-modules and monitors the NMT-master.
Node guarding:
The NMT-master requests cyclically a special telegram from its NMT-slaves (here: = I/Omodules)by means of a special RTR-message (CAN request). If the response of the slaves does
not correspond to the response expected, the NMT-master recognizes an error and reacts
accordingly. The response telegram contains the module status and a toggle bit. Identifier and
cycle time are given to the NMT-slave during the extended NMT-boot up.
Life guarding:
The NMT-slaves monitor whether they are being requested by the NMT-master for the purpose
of the node guarding. If these requests fail to appear for some time, the slave concerned
transmits an emergency message. In the CAN-CBM-DIO8 the nonappearance of the node-guard
requests is also shown by the red module-error LED (of course only, if the node guarding has
been activated).
The time until the error is triggered is the product from the node guarding-cycle time and the socalled lifetime factor, which is also given to the NMT-slave during the extended-NMT-boot up.
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9.4.5 The Emergency Telegram
In case of an internal error the I/O-module transmits an ‘emergency telegram’.
This is structured as follows:
Emergency Telegram
128 + ADR
00
23
00
00
00
00
00
00
COB-ID
error
code
(low)
error
code
(high)
error
register
manu.
spec.
field
manu.
spec.
field
manu.
spec.
field
manu.
spec.
field
manu.
spec.
field
The I/O-module CAN-CBM-DIO8 supports (at least) the following (emergency-) error codes:
Error Code (hex)
Meaning
00xx
error disappeared or no error
10xx
general error
23xx
output current too high
50xx
module-hardware error
60xx
module software error
70xx
error in additional modules
80xx
monitoring
81xx
communication error
In field ‘error register’ of the emergency telegram the current contents of CANopen object 1001h is
inserted.
The ‘manufacturer-specific error field’ is not used at the moment (10/2000).
Via the transmitted emergency telegrams an error history is stored in the I/O-module. For this object
1003h in the CANopen-object directory is used.
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Quick Start
10. Quick Start
10.1 Configuration for the Use in the CANopen Network
The following steps must be followed for a quick start with the most basic configuration:
1. Definition of the outputs of the I/O-module via DIP-switch
•
•
•
•
•
•
•
•
Switch on power supply of the I/O-module.
Switch 12 ON. Red module-error LED is slowly blinking. (programming mode)
Switch 11 OFF (future extensions passive)
Switch 10 ON (I/O-cascading passive)
Switch 9 ON (‘DS401-mode’)
Switches 1...8 in accordance with I/O-direction: OFF=input, ON=output
Switch 12 OFF. The blink pulses of the red module-error LED become shorter.
Switch off module supply. The definition of the inputs and outputs is completed.
2. Setting CAN address (=’node ID’) and CAN-bit rates at I/O-module
(e.g.: 125 kbit/sec, CAN address 2)
•
•
•
•
•
•
44
Switch 1 OFF, switch 2 ON,
Switches 3 to 6 OFF (CAN address, see also pages22, 23)
Switch 7 OFF, switch 8 OFF
Switch 9 OFF, switch 10 ON, switch 11 ON (125 kbit/s, see also page 23)
Establish CAN connection to control
Switch on module supply.
Mode display (green) constantly on, operation display (green) blinks until ‘start node’ had been
received.
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10.2 Configuration for the Use in CANopen Network
The following steps have to be followed for a quick start with the most basic configuration:
1. Definition of the outputs of the I/O-module via DIP-switch:
•
•
•
•
•
•
•
•
Switch on power supply of the I/O-module.
Switch 12 ON. Red module-error LED is slowly blinking. (programming mode)
Switch 11 OFF (future extensions passive)
Switch 10 OFF (I/O-cascading active)
Switch 9 OFF (‘servo mode’)
Switches 1...8 in accordance with I/O-direction: OFF=input, ON=output
Switch 12 OFF. The blink pulses of the red module-error LED become shorter.
Switch off power supply of the module. The definition of the inputs/outputs is completed.
2. Setting CAN address, master/slave number and CAN-bit rate in the I/O-module
(e.g. 500 kbit/sec, motor controller at CAN address 1, I/O-master module at CAN address 2) (standard
setting for servo-motor controller 93xx)
•
•
•
•
•
Switch 1 OFF, switch 2 ON, switches 3 to 6 OFF (CAN address, see also page 22, 23)
Switch 7 OFF, switch 8 OFF (module becomes I/O-master)
Switch 9 OFF, switch 10 OFF, switch 11 ON (500 kbit/s, see also page 23)
Establish CAN connection to motor controller.
Switch on power supply of the module. Mode display (green) constantly on, operation display
(green) is blinking.
3. Settings at the motor controller
(see ‘Configuration’, ‘Systembus’ in system manual of the servo-motor controller)
•
•
•
•
Check whether the bit rate of the motor controller corresponds with the bit rate of all I/O-modules
(C0351).
Make sure that the motor controller transmits or receives with CAN-IN3 and CAN-OUT3 in
accordance with the CAN identifiers defined in the appendix.
Set transmit cycle for CAN-OUT3 telegram to 100 ms to prevent the monitoring in the I/O-module
from reporting errors.
Configure motor controller for CAN master operation (C0352).
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Quick Start
10.3 Table of the Most Important Identifiers and Messages for CANopen
Identifiers
[HEX]
Designation
Length
Data
[HEX]
$0
NMT
2
01 00
start to all
(preoperational -> operational)
$0
NMT
2
80 00
operational -> preoperational
$80
NMT
0
-
$80 + NodeNo
SDO
0...8 bytes
user data
emergency message from CBM
$600 + NodeNo
SDO
0...8 bytes
user data
to the CAN-CBM-DIO8 (Rx)
$580 + NodeNo
SDO
0...8 bytes
user data
to the CAN-CBM-DIO8 (Tx)
$200 + NodeNo
PDO
0...8 bytes
user data
to the CAN-CBM-DIO8 (Rx)
$180 + NodeNo
PDO
0...8 bytes
user data
to the CAN-CBM-DIO8 (Tx)
Description
sync to all
Explanation:
NodeNo. ...
1...127 (decimal)
Emergency-Id...
NMT...
PDO...
Rx...
SDO...
Sync...
Tx...
emergency data object
network management (master)
process data objects
receive
service data object
sync (frame) telegram
transmit
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Appendix
11. Appendix
11.1 CAN Identifiers Used
( ‘add’ = device address in the area of 1...63 or 1...127 as set by means of the DIP-switch)
‘DS401’ mode with internal I/O-master/slave cascading
(predefined connection set according to DS301 V3.0 chapter 8.4.1)
Function
network management
(basic, NMT-master ® NMT-slave)
network management
(ext., NMT-slave ® NMT-master)
emergency message
PDO (transmit) (e.g. digital inputs 1...32) from I/O-master
module for control
PDO (receive) (e.g. digital outputs 1...32) from control to the
I/O-modules
internal messages from slave 1 to I/O-master
internal messages from slave 2 to I/O-master
internal messages from slave 3 to I/O-master
internal parameter channel from I/O-master module to its
slaves 1...3
SDO (tx) from I/O-master module to the control system
SDO (rx) from guidance system to the I/O-master module
node guarding (identifier distribution only by NMT-boot up)
CAN-CBM-DIO8 Manual Rev. 0.83
Identifier
0
Identifier Number
max
0
1
2025
2025
1
128 + Adr
384 + Adr
191
447
63
63
512 + Adr
575
63
896 +Adr
960 + Adr
1024 +Adr
1664 + Adr
959
1023
1087
1727
63
63
63
63
1408 + Adr
1536 + Adr
1792 + xxx
1471
1599
2015
63
63
255
47
Appendix
‘DS401’ mode without internal I/O-master/slave cascading (default setting)
(predefined connection set according to DS301 V3.0 chapter 8.4.1)
Function
network management
(basic, NMT-master ® NMT-slave)
network management
(ext., NMT-slave ® NMT-master)
emergency message
PDO (tx) (e.g. digital inputs 1...8)
PDO (rx) (e.g. digitaloutputs 1...8)
SDO (tx) from I/O-master module to the control system
SDO (rx) from the control system to the I/O-master module
node guarding
(identifier distribution only by NMT-boot up)
Identifier
0
Identifier Number
max
0
1
2025
2025
1
128 + add
384 + add
512 + add
1408 + add
1536 + add
1792 + xxx
255
511
639
1535
1663
2015
127(*)
127
127
127
127
255
(*)
127 node-IDs are only available, if the ‘internal master/slave cascading’ is not used (that means if no modules
are linked to form a ‘logical module’).
48
CAN-CBM-DIO8 Manual Rev. 0.83
Appendix
‘Servo’ Modus
Function
network management
I/O - inputs
(inputs 1...32)
from I/O-master module to motor controller
I/O - outputs (outputs 1...32)
from motor controller to I/O-modules
internal messages from slave 1 to I/O-master
internal messages from slave 2 to I/O-master
internal messages from slave 3 to I/O-master
internal parameter channel from I/O-master module to its
slaves 1...3
SDO (Tx) from I/O-master module to control system
SDO (Rx) from control system to I/O-master module
CAN-CBM-DIO8 Manual Rev. 0.83
Identifier
Identifier
max
Number
0
767 + add
0
831
1
63
768 + add
830
63
896 +add
960 + add
1024 +add
1664 + add
959
1023
1087
1727
63
63
63
63
1408 + add
1536 + add
1471
1599
63
63
49
Appendix
11.2 Code Table
Code positions for the fundamental module configuration
Code CANope
No. n-Index
[dec]
[hex]
5
5FFA
Contents
boot up time
Data type
[unit]
16 bit,
[ms]
Access
r = read
w=
write
r,w
Setting / display
possibilities
0...65000 ms,
Default
settings
0
0xFFFF = no boot
message
10
5FF5
port direction
definitions
32 bit
r,w (*)
11
5FF4
8 bit,
[ms]
r,w
12
5FF3
debounce time
for digital
inputs
event mask for
digital inputs
32 bit
r,w
13
5FF2
16 bit
r,w
14
5FF1
16 bit,
[ms]
r,w
15
5FF0
8 bit, [ms]
16
5FEF
17
5FEE
filter constants
of the analog
inputs
transmit cycle
of the digital
and analog
inputs
minimum
transmission
break during
event-controlled
transmission
enable/disable
internal
master/slave
compound
activate
‘automatic’
configuration
storing
18
19
5FED
5FEC
Explanations,
references
time interval
between
power-ON and
transmitting the
boot message
LSB=master
MSB=slave3
bit vector:
0 = input,
1 = output
0=off ...
255 ms
00000000b
bit vector:
0 = no IRQ
1 = interrupt
see manual
supplement for
analog inputs
0 = only by event
...
65000 ms
1111...1111 bin similar to
CANopen
object 6006h
0 = no
filtering
r,w
0 = no break
...
255 ms
0
8 bit
r,w
0 = no cascading
1 = cascading
possible
1
8 bit
r,w
0 = storing only
after
instruction
1 = storing after
each writing
1
hardware model 8 bit
model options 8 bit
r...
r...
1 ms
100 ms
independent
from the
transmission
break
see also
CANopen
object 1010h
only for manufacturer
only for manufacturer
(*) writing into this code position remains inactive until rebooted.
50
CAN-CBM-DIO8 Manual Rev. 0.83
Appendix
Code positions for the definition of monitoring and display times of the module without influence on the
normal operation
Code
CANopenNo.
Index
[dec]
30
5FE1
Contents
PDO-RX
monitor
Access
Data type, r = read
[unit]
w=
write
16 bit,
[ms]
r,w
(monitoring time
when no Life
guarding)
Setting / display
possibilities
0= no monitoring
...
25500 ms
Default
settings
0
Explanations,
references
resolution
100 ms
Code positions for definition of CAN-identifier basis addresses for which the device address set at the DIPswitch (area 1..63) has still to be added.
Code CANopenNo.
Index
[dec]
[hex]
Contents
Access
Data type r = read
[unit]
w=
write
Setting / display
possibilities
Default
settings
Explanations,
references
50
5FCD
PDO-RX
16 bit
r,w (*)
see CANopen
depending on
mode (servo,
DS401)
(dig. outputs)
51
5FCC
PDO-TX
16 bit
r,w (*)
see CANopen
dep. on mode
(dig. inputs)
52
5FCB
slave1
16 bit
r
-
896
53
5FCA
slave2
16 bit
r
-
960
54
5FC9
slave3
16 bit
r
-
1024
55
5FC8
master->slaves 16 bit
r
-
1664
Code positions for purposes of displaying and diagnosing
Code CANopenNo.
Index
[dec]
[hex]
Contents
Access
Data type r = read
[unit]
w=
write
Setting / display
possibilities
93
5FA2
drive ident
16-bit
number
r
e.g. DIO8
99
5F9C
B/W version
string[4]
r
e.g. ‘0.01’
101
5F9A
internal error
and status
codes
32 bit
r
(1) EAM_error_flags
(2) EAM_slave_errors
(3) IOP_status
(4)
CAL_comm_pha.
connected
slaves
16 bit
102
5F99
CAN-CBM-DIO8 Manual Rev. 0.83
r
bit vector:
0 = recogn. no slave
+1 = slave 1 ok,
+2 = slave 2 ok,
+4 = slave 3 ok
Default
settings
-
-
Explanations,
references
internal errors
and status only
for internal use
the test is only
carried out when
reading of this
code position
51
Appendix
Code CANopenNo.
Index
[dec]
[hex]
Contents
Access
Data type r = read
[unit]
w=
write
Setting / display
possibilities
103
5F98
majority loop
speed
16 bit
r
provides loops/sec
e.g. 3000
120
5F87
set A/Dconverter
channel
8 bit
w
0 ...7 (CPU-internal
multiplexer number)
121
5F86
read A/Dconverter
10 bit
r
0 = 0 V ...
307 = 1.5 V...
511 = 2.5 V...
1023 = 5.0 V
CAN register
access
8 bit
123
52
5F84
r
Default
settings
-
-
reads content of the
256 CAN controller
register
Explanations,
references
depending on
CPU-demand
ONLY for the
internal ‘digital’
input levels
ONLY for
diagnosis
CAN-CBM-DIO8 Manual Rev. 0.83
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