SPICAN, CANopen I/O-system (for analog inputs)
Contents
1. The upper limit of all channels can be set to the same value by writing the limit value to channel number OxFF SDO message databyte 3 In general an upper limit is read like this Host gt SPICAN Byte POR 0 1 2 3 4 5 6 7 0x600 0x40 Object Object Node_ID Index Subindex 0x6424 channel SPICAN gt Host 0x580 0x4B Object Object ADC value Node_ID Index Subindex LSB first 0x6424 channel In general an upper limit is set like this Host SPICAN Byte ae 0 1 2 3 4 5 6 7 0x600 0x2B Object Object ADC value Node_ID Index Subindex LSB first 0x6424 channel SPICAN gt Host 0x580 0x60 Object Object Node_ID Index Subindex 0x6424 channel SPICAN CANopen v2 1 14 Jan 2000 2 5 Storing Parameters Parameters and settings can be stored permanently onboard in an EEPROM by writing the string save to OD index 0x1010 Again the CANopen SDO mechanism is used to do this Host SPICAN node 5 Byte clair 1 2 3 4 5 6 7 0x605 0x23 0x10 0x10 subindex 0x73 0x61 0x76 0x65 C s a v e with OD index 0x1010 in byte 1 2 and subindex in byte 3 with subindex store all parameters as listed for subindex 2 3 and 4 2 store communication parameters i e OD index 0x1801 subindex 2 3 3 store analog channels upper limits i e2. For completeness it should be mentioned that individual analog input channels can at any time also be read out by reading the corresponding Object Dictionary entries OD index 0x6404 see Table 3 using the CANopen SDO mechanism Whether a locally stored value is retrieved or an analog to digital conversion takes place again depends on whether the node is continuously scanning its input channels or not 2 3 Over Limit Notification Upper limits are implemented for the first 64 analog input channels firmware versions 4 0 and up How to set the limits is described in the next section When a channel s ADC count exceeds its upper limit a PDO message is generated by the controller when the count goes again below the upper limit another PDO message is generated To be implemented How ever when the upper limit is exceeded it is temporarily decreased by 16 ADC counts to add some hysteresis in order to prevent an unstable on off condition The PDO message contains the upper limit state of 64 channels It is possible that one PDO notification message contains a state change for more than 1 channel so all 64 bits in the mes sage have to be checked by the receiver of the PDO The upper limit interrupt mechanism is active when the analog channels are scanned peri odically by the controller to be set in OD index 0x1801 subindex 3 2 transmit PDO in hibit time and the interrupt is enabled in OD index 0x6423 A special
3. 0 transmission type 254 253 gt conversion PDO2 transmission of all channels after an RTR transmission type 1 if inhibit time gt 0 transmission type 254 transmission type 253 transmission type 1 gt conversion PDO2 transmission of all channels after a SYNC gt scan ADC s a PDO2 transmission after every conversion gt scan ADC s PDO2 transmission of all channels after an RTR gt scan ADC s PDO2 transmission of all channels after a SYNC 15 SPICAN CANopen v2 1 14 Jan 2000 The Manufacturer Status Register Object Dictionary index 0x1002 a 32 bit object provid ing 4 bits per ADC of status information per ADC The layout of this Register is as follows Bits 31 28 27 24 23 20 19 16 15 12 11 8 7 4 3 0 ADC 7 6 5 4 3 2 1 0 The individual ADC status bits have the following meaning Bit 3 Bit 2 Bit 1 Bit 0 not used Calibration error Conversion error Reset error error during cali timeout waiting for reset bit not set bration procedure conversion ready and or error in default reg ister contents Statuses for other ADCs if more than 8 are present can be found in OD index 0x2E00 An ADC status of Oxf all 4 bits are 1 s denotes that the ADC is not present in the configu ration setting OD index 0x2F00 Number of ADCs 16 SPICAN CANopen v2 1 14 Jan 2000 Standardised Device Profile Area
4. 4 bytes Firmware version 3 1 has the following limitations OD entries related to the analog in limit interrupt OD entries 0x1800 0x1A00 0x6421 to 0x6424 are not supported OD entries related to parameter storage OD entries 0x1010 and 0x1011 are not supported The CRYSTAL CAN CANopen hard and firmware any version does not support Object Dictionary entry 0x1010 store parameters and 0x1011 restore default parameters due to the absence of an EEPROM 13 SPICAN CANopen v2 1 14 Jan 2000 Communication Profile Area SPICAN Index Sub Name Data Attr Default Comment hex Index Object hex 1000 Device type U32 RO 00040191 Meaning DSP 401 device pro file analogue inputs on device 1001 Error register U8 RO 0 Error bits according to DS 301 error status overview 1002 Manufacturer status reg U32 RO 0 Error time out status of 8 ADCs 1004 PDOs supported Array 0 Total PDOs supported U32 RO 00000002 O receive 2 transmit PDO 1 PDOs sync U32 RO 00000001 PDO after SYNC 2 PDOs async U32 RO 00000002 PDO after RTR or event 1008 Manufacturer device name VisStr RO SPIC SPICAN module 100A Manufacturer software VisStr RO SC30 SPICAN Version 3 0 version 100B Node identifier U32 RO set by frontpanel hex switches 100E Node Guarding COB ID U32
5. PDO parame Record Data type PDOCommPar ters 0 Number of entries U8 RO 2 1 COB ID used by PDO U32 RO 0x180 According to CANopen Prede Node ID fined Connection Set 2 Transmission type U8 RO FE 254 decimal 1801 2 Transmit PDO parame Record Data type PDOCommPar ters 0 Number of entries U8 RO 3 1 COB ID used by PDO U32 RO 0x280 According to CANopen Prede Node ID fined Connection Set 2 Transmission type U8 RW FD 253 decimal 3 Inhibit time U16 RW 0x3E8 If gt 0 node scans inputs with cor in units of 100 us responding frequency per ADC Limitation 0 2 Hz lt frequency lt 25 Hz 50000 gt inhibit time gt 400 1A00 1 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Interrupt source U32 RO 64220120 OD index 6422 sub index 1 channel 1 32 bitmask Interrupt_Source_Bank_1 see DSP 401 Size 32 bits 2 Interrupt source U32 RO 64220220 OD index 6422 sub index 2 channel 33 64 bitmask Interrupt_Source_Bank_2 see DSP 401 Size 32 bits 1A01 2 Transmit PDO mapping Record Data type PDOMapping 0 Number of entries U8 RO 2 1 Multiplexor 1 U32 RO 6F100108 OD index 6F10 sub index 1 Multiplexor 1 see DSP 404 Size 8 bits 2 24 bit analogue input U32 RO 6404FD18 OD index 6404 sub index 253 Analogue input via multiplexor Size 24 bits Table 2 SPICAN Communication Profile Area of the CANopen Object Dictionary continued if inhibit time
6. Start_Remote_Node or 0 all nodes There is no reply to this message The analog inputs are read out using the CANopen PDO mechanism A PDO message is a non confirmed CAN message with one sender and one or more receivers containing no pro tocol overhead only data 1 to 8 bytes It is assumed that receivers of a PDO message know the meaning of the data content of a PDO message The SPICAN application uses a PDO containing 4 bytes for every analog input The CAN identifier used for this PDO is the socalled 2 transmit PDO of the CANopen Predefined Connection Set which is the default PDO used for analog inputs according to CANopen meaning COB ID 0x280 Node_ID SPICAN CANopen v2 1 14 Jan 2000 Node 5 will produce the following 4 databyte PDO SPICAN node 5 gt Host COB ID Byte 0 Byte 1 Byte 2 3 0x285 Channel Number Channel status ADC value with Channel Number runs from 1 to 30 and from 33 to 62 skipping the calibration inputs at channel 31 32 and at 63 64 if the node is configured as described ear lier Channel status Oxf0 OKAY Oxf1 Oxf2 Oxf3 Oxff ERROR ADC value 16 bits value LSB in byte 2 MSB in byte 3 ADC value 0x8000 in com bination with channel status Oxfl means no sensor is connected to the particular input The way in which all 60 analog inputs of the example CAN node can now be read out de pend s on the transmission type of the PDO Th
7. a 19 crate connected via a backplane A CRYSTAL CAN node must get its power via the CAN cable A SPICAN node has a power supply in its crate or optionally can be powered via the CAN cable the SPICAN controller card contains an EEPROM for storing settings and configuration data the CRYS TAL CAN is not equipped with an EEPROM so that settings configurations cannot be stored if settings different from the power on default are required on the CRYSTAL CAN node they have to be reconfig ured at every power up reset of the node or the controller has to be reprogrammed to use appropriate de faults Of course it is the software that determines the functionality of this device and this docu ment describes the application firmware that has been developed for a SPICAN system with multiple analog inputs from multiple CS5525 ADC based I O cards It can monitor up to 192 analog input channels connected to up to 24 Crystal CS5525 ADCs It features a mechanism whereby up to 64 analog inputs are checked against a per channel configurable upper limit A CAN message is generated if a limit is crossed from under to overlimit as well as from over to underlimit This application is currently in use for monitoring temperature sensors B field sensors and voltages and currents only the signal conditioning hardware is different in each of these ap plications Monitoring and other communication takes place via the CAN bus using the standardized high lev
8. inputs mapped to up to 6 12 or 24 ADCs over limit interrupt on first 64 channels can be extended to all 192 channels control and configuration of individual ADCs non volatile storage of parameters and settings T SENSOR module e 30 NTC sensor inputs e operating range 0 100 C e power requirement ca 1 5 mA 5V e conversion table ADC count temperature provided in ASCII format accuracy 0 3 C 0 1 C calibration precision 0 2 C spread in NTC sensor DC95 F 503 W 5kQ e resolution ranging from ca 1m C at 5 C to 25m C at 100 C e drift 1m C C when regularly applying calibration e g once per hour otherwise 5m C C SPICAN CANopen v2 1 14 Jan 2000 1 Introduction From a hardware point of view the SPICAN system is a modular CAN node consisting of a controller card and one or more I O cards or modules which are controlled and read out via a serial connection SPI or MicroWire type The controller card Eurocard format contains the microcontroller and CAN interface It is built around a 16 MHz Philips 80C592 8 bit microcontroller with on chip CAN controller It provides 48 kByte of user program memory and 63 5 kByte of user RAM 1 Program code in standard Intel Hex format can be downloaded directly via the RS232 port A T SENSOR I O card Eurocard format has been developed suitable for connecting 30 NTC sensors The T SENSOR card is built around the 16 bit CS5525 ADC 2 which is con trolle
9. version of the SPICAN application firmware has been made for monitoring Low Voltage powersupplies in the HERMES experiment In this system there are 24 ADCs with 8 multiplexed analog inputs each monitoring voltage current and temperature in the over limit check of this application only one of the inputs of each ADC is considered this is a tempera ture sensor input If an over limit situation is detected one of the CS5525 ADC s output sig nals is set which in this particular system causes the powersupply to be switched off So in this application although there are a total of 192 input channels there are only 24 channels that have an upper limit and over limit check SPICAN CANopen v2 1 14 Jan 2000 The transmit PDO message generated COB ID 0x180 Node ID contains 8 data bytes with the following syntax SPICAN node 5 gt Host COB Byte ID 0 1 2 3 4 5 6 7 0x185 ch1 8 ch9 16 ch17 24 ch25 32 ch33 40 ch41 48 ch49 56 ch57 64 limit limit limit limit limit limit limit limit status status status status status status status status with a bit set to 1 signifying the upper limit has been exceeded by the corresponding channel Within a byte channels are mapped as follows 1 bit per channel Bit 7 6 5 4 3 2 1 0 ch n 7 ch n 6 ch n 5 ch n 4 ch n 3 ch n 2 ch n 1 ch n 2 4 Setting Upper Limits At power o
10. OD index 0x6424 subindex 1 to 192 4 store ADC configurations i e OD indices 0x2A00 to 0x2A18 subindex 1 to 4 0x2B00 to 0x2B18 subindices 2 to 5 0x2F00 0x2F10 and 0x6423 If the store operation succeeded the controller sends the following reply SPICAN node 5 gt Host Byte COR 0 1 2 3 4 5 6 7 0x585 0x60 0x10 0x10 subindex If the store operation did NOT succeed the controller sends the following reply SDO Abort Domain Transfer error reason hardware fault for details see 6 SPICAN node 5 gt Host Byte eon 0 1 2 3 4 5 6 7 0x585 0x80 0x10 0x10 subindex 0 0 6 6 Error Code Error Class Parameters can be reset to their default values by invalidating the corresponding contents of the EEPROM by writing to OD index 0x1011 using this time the string load Ox6C Ox6F 0x61 0x64 in bytes 4 to 7 of the SDO Note that the default values take effect only after a subsequent reset of the node Default values are listed in the OD tables in section 3 10 SPICAN CANopen v2 1 14 Jan 2000 2 6 ADC Reset and Calibration At every power on the controller including its CAN interface and connected ADCs are re set configuration parameters are read from EEPROM if valid and a calibration sequence is performed on all connected ADCs The following NMT message wi
11. RO 0x700 According to CANopen Prede Node ID fined Connection Set 100F SDOs supported U32 RO 00000001 Oclient 1 server SDO 1010 Store parameters Array Save stuff in onboard EEPROM 0 Highest index supported U8 RO 4 1 Save all parameters U32 RW 1 read 1 write save store all 2 Save communication pa U32 RW 1 read 1 rameters write save store PDO par s 3 Save application parame U32 RW 1 read 1 ters write save store analog limits 4 Save application parame U32 RW 1 read 1 ters write save store ADC configs 1011 Restore default parameters Array Invalidate stuff in onboard EEPROM 0 Highest index supported U8 RO 4 1 Restore all parameters U32 RW 1 read 1 write load invalidate all stored 2 Restore communication U32 RW 1 read 1 write load invalidate parameters stored PDO par s 3 Restore application pa U32 RW 1 read 1 write load invalidate rameters stored analog limits 4 Restore application pa U32 RW 1 read 1 write load invalidate rameters stored ADC configs Table 1 SPICAN Communication Profile Area of the CANopen Object Dictionary See text for the layout of the Manufacturer Status Register 14 SPICAN CANopen v2 1 14 Jan 2000 Communication Profile Area SPICAN continued Index Sub Name Data Attr Default Comment hex Index Object hex 1800 1 Transmit
12. Reset ADC n 0 lt n lt 23 2E00 ADC status Array 0 Number of status words U8 RO 3 Space for 24 ADCs 4 bits ADC 1 status ADC 0 7 U32 RO Object 0x1002 ADC error time out etc 2 status ADC 8 15 U32 RO ADC error time out etc 3 status ADC 16 23 U32 RO 4 s 2F00 Number of ADCs U8 RW 6 To be set to highest number of ADC connected NB OD index 2F00 OD index 2F10 lt 192 2F10 Reserved number of chan U8 RW 32 One number for all ADCs nels per ADC determines channel numbering scheme can be set to 8 16 or 32 only actual number of channels in use to be set for each ADC individu ally in entry 0x2Axx sub 1 Table 5 Manufacturer specific Profile Area of the CANopen Object Dictionary for a device with CS5525 ADCs continued write access allowed only when ADC input scanning not active 2 transmit PDO inhibit time 0 19 SPICAN CANopen v2 1 14 Jan 2000 References 1 20CN592 80C592 based micro module with on board CAN bus controller User s Manual Rev1 3 Micro key B V 1996 2 CS5525 CS5526 16 bit 20 bit multi range ADC with 4 bit latch data sheet Crystal Semiconductor Corporation Sep 1996 3 CAN in Automation CANopen CAL based Communication Profile for Industrial Systems CiA DS 301 Version 3 0 Oct 1996 4 CAN in Automation CANopen Device Profile for I O Modules CiA DSP 401 Version 1 4 Dec 1996 5 CAN in Automation CANopen Device Profile for Measuring Device
13. SPICAN Index Sub Name Data Attr Default Comment hex Index Object hex 6404 Read analogue input Record Here 8 bits status 16 bits ana Manufacturer specific logue value 0 Number of entries U8 RO 192 Fixed but actual hardware con figuration may vary 1 Input 1 124 RO 1 analog input 24 bit 2 Input 2 124 RO gera a 192 Input 192 124 RO too r 252 Multiplexor number U8 RO 1 Defines which mux in the OD is used DSP 404 but in this pro file we don t define the mux itself 253 Input via multiplexor 124 RO Read input lt mux1 gt DSP 404 6421 Interrupt Trigger Selection Array Reference to ways in which in terrupts may be triggered here available for completeness only 0 Number of analog inputs U8 RO 192 Upper limit interrupt supported on all input channels in principle 1 Input 1 U8 RO 1 Bit 0 upper limit exceeded 64 Input 64 U8 RO 1 i 65 Input 65 U8 RO 0 i y X 192 Input 192 U8 RO 0 y 6422 Interrupt source Array Determines which channel has produced interrupts which channel has exceeded upper limit 0 Number of bit banks U8 RO 6 Space for 192 input channels 1 Interrupt Source Bank 1 U32 RO Bitmask for chan 1 32 6 Interrupt Source Bank 6 U32 RO Bitmask for chan 160 192 6423 Global Interrupt Enable Bool RW_ TRUE Interrupt gt PDO1 transmission 6424 Input Interrupt Upper Array Limi
14. SPICAN CANopen v2 1 14 Jan 2000 SPICAN CANopen I O system for analog inputs applies to SPICAN CRYSTAL CAN and CRYSTAL CAN 2 modules with SPICAN CANopen firmware H Boterenbrood NIKHEF Amsterdam January 2000 USER DOCUMENTATION Version 2 1 ABSTRACT This document describes the SPICAN system of controller and signal conditioning mod ule s e g T SENSOR in combination with CANopen application firmware for monitoring up to 192 analog input channels The CRYSTAL CAN hardware is electronically almost identical CRYSTAL CAN 2 is electronically fully identical to SPICAN and the same CANopen firmware with some limita tions in case of CRYSTAL CAN is available for these systems SPICAN CANopen v2 1 14 Jan 2000 Contents TECHNICAL SPECIFICATIONS ccccccssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssssseces 2 1 UINTRODUC TION wresescccscccccccccccsictscdesccetecssctecsccscsescssslecesccsessccsssecessecscsescssstsescsscsoassssdcessecs 3 2 gt OPERATION sescccisdacocccsicscecedatecescaicscocsdascccccaasccocscasssceosdiocscscodcsoecdbdacsescoveseecsseotseseavorouedosssss 5 Ded UNITIALISA TIONG 255255 cicheecae8 nar a a aaa bac a aa a Sees a 5 2 2 READING ANALOG INPUT CHANNELS ccsssssececccccccessssssceccccceceusssesesccescessuuesenescesceeees 5 2 3 OVER EMIT NOTIFICATION lt 2 2ccsce scot chekcds veces oh see tiew te hess seas os E eed 7 2 4 SSETTING UPPER LIMITS ies csced
15. d through a 3 wire serial interface SPI The SPICAN controller card has been designed specifically to control any number of SPI controlled I O modules that it can select individually using an 8 bit select port as shown in Figure 1 SPI Serial Peripheral Interconnect is a simple serial point to point connection be tween devices There are many types of chips with SPI like interfaces available on the market SPI SDI SDO j v SCLK ChipSelect signals SPICAN CAN bus controller l module i i ees 3 19 crate Sensors Sensors Figure 1 SPICAN system SPICAN CANopen v2 1 14 Jan 2000 Apart from the signals used to control a number of external SPI devices several other sig nals provided by the on board microcontroller are available on the SPICAN controller card connector e g eight 10 bit ADC inputs connected to the 80C592 on chip ADC These sig nals can be used by applications if appropriate application software is written using a devel opment toolset for 8051 microcontrollers The hardware differences between the SPICAN system and the CRYSTAL CAN module with its matching T sensor and B sensor conditioning modules are e the mechanical format A CRYSTAL CAN node consists of individual boxes one controller box and one or more signal conditioning boxes connected by flatcable A SPICAN node consists of one controller card single Eurocard format and one or more signal conditioning cards sitting in
16. e user reads out the analog inputs according to the PDO transmission type the node has after power up Alternatively the user can set the transmission type to the required value by writing to the node s Object Dictionary OD index 0x18 trans 01 subindex 2 see Table 2 and possibly stores it onboard so that it will be the default mission type after every subsequent reset or power up The following transmission types are supported PDO transmission type 1 after every socalled SYNC message issued on the CAN bus the node sends 60 PDO messages one message for every configured analog input channel If the PDO s inhibit time is gt 0 OD index 0x1801 subindex 3 the PDOs containing lo cally stored conversion values will be sent in quick succession If the PDO s inhibit time is equal to zero a conversion has to be done for every channel so it can take up to sev eral seconds before all PDOs have been sent the ADC conversion rate can be as low as 3 Hz The SYNC message is a CAN message with a fixed COB ID and no data bytes Host all SYNC slave nodes COB ID 0x080 Note that all nodes configured to respond to a SYNC will react to a SYNC message PDO transmission type 253 after every socalled Remote Transmission Request RTR for the PDO the node sends 60 PDO messages one message for every configured analog input channel Concerning the PDO s inhibit time the same applies as for transmission ty
17. el CAN bus protocol CANopen 3 4 5 For a concise description and overview of the CANopen protocol see 6 SPICAN CANopen v2 1 14 Jan 2000 2 Operation The following sections show examples of the CANopen CAN messages required to control and operate a SPICAN or CRYSTAL CAN system In the examples below the following assumptions are made CAN Node ID of the controller is 5 two ADCs are connected i e two T SENSOR modules each ADC serves 32 input channels the last two of which are the 100 C and 0 C cali bration inputs but the number of used ADC channels has been set to 30 thus skipping read out of the calibration inputs 2 1 Initialisation After power up watchdog reset manual reset or CANopen initiated reset actions the SPI CAN node sends a so called Bootup message defined by the CANopen standard as soon as it has finished its initialization this is a CAN message with the following syntax SPICAN NMT Slave Host NMT Master COB ID Byte 0 0x700 Node_ID 0 In case of a watchdog or manual reset the Bootup message is followed by a CANopen Emer gency message as listed in the table in section 2 8 2 2 Reading Analog Input Channels Before any input channels can be read the connected CANopen nodes have to be set into Operational state using the following 2 databyte NMT message Host NMT Master gt SPICAN NMT Slave COB ID Byte 0 Byte 1 0x000 1 5 Node ID
18. ion Byte 5 CANSTA CAN controller status register error Byte 6 7 0 Local CAN 0x8100 0x10 Byte 3 3 message buffer Byte 4 counter modulo 256 overflow Byte 5 CANSTA CAN controller status register message lost Byte 6 7 0 EEPROM 0x5000 0x80 Byte 3 1 write failed Byte 4 5 6 7 0 EEPROM read 0x5000 0x80 Byte 3 2 CRC error Byte 4 parameter block for which CRC failed 2 3 4 according to OD 0x1010 subindex 2 3 or 4 Byte 5 6 7 0 ADC OxFF00 0x80 Byte 3 1 conversion Byte 4 ADC number 0 23 timeout Byte 5 6 7 0 ADC OxFF00 0x80 Byte 3 2 reset failed Byte 4 ADC number 0 23 Byte 5 6 7 0 ADC OxFF00 0x80 Byte 3 3 offset calibra Byte 4 ADC number 0 23 tion failed Byte 5 6 7 0 ADC OxFFO00 0x80 Byte 3 4 gain calibration Byte 4 ADC number 0 23 failed Byte 5 6 7 0 12 SPICAN CANopen v2 1 14 Jan 2000 3 Object Dictionary Table 1 to Table 5 shows in detail the CANopen Object Dictionary OD of the Analog Input SPICAN CANopen CAN node with firmware version 4 0 and later The OD is based on the CANopen Device Profile for I O modules 4 with device specific OD entries to cover additional and specific features of the SPICAN system Column Attr shows the access rights attribute of an object RO read only RW read or write WO write only All entries in the SPICAN OD are accessed using the CANopen SDO mechanism with expe dited transfer object data content always lt
19. ler scans the analog inputs conversions are only performed for the set number of inputs Configuring the settings for a particular system is typically done just once probably offline after which the settings are stored onboard This enables flexible interfacing to systems with different and variable numbers of CS5525 ADC based modules NB if settings cannot be stored because no EEPROM is present a customized firmware version can be made with default settings to match the application 11 SPICAN CANopen v2 1 14 Jan 2000 2 8 Emergency Objects Emergency messages are triggered by the occurrence of a SPICAN internal fatal error situation An emergency message has the following general syntax SPICAN Host COB ID Byte 0 1 Byte 2 Byte 3 7 0x080 Emergency Error Register Manufacturer specific error field Node_ID Error Code Object 0x1001 The following Emergency messages are defined for SPICAN Error See TnL Manufacturer specific Error Field Description oe ern byte 3 7 Watchdog or 0x6000 0x01 Byte 3 4 5 6 Manufacturer Device Name manual front Object Dictionary index 0x1008 panel reset Byte 7 0 CAN controller 0x8 100 0x10 Byte 3 1 overrun mes Byte 4 counter modulo 256 sage lost Byte 5 CANSTA CAN controller status register Byte 6 7 0 CAN controller 0x8100 0x10 Byte 3 2 error Byte 4 counter modulo 256 communicat
20. n or reset the upper limits for the analog channels are read from the onboard EEPROM if valid data is found there otherwise the limit is set to the maximum ADC value 32767 The analog inputs upper limits can be read and written by accessing OD index 0x6424 using the CANopen SDO mechanism Note that the interrupt message feature using the transmit PDO is currently only im plemented for channels 1 to 64 Enabling this for more channels requires the addi tion implementation in the controller firmware of one PDO for every additional block of 64 channels Reading the upper limit of channel 3 requires the host to send the following message OD index in byte 1 2 subindex in byte 3 Host SPICAN node 5 Byte ORI 0 1 2 3 4 5 6 7 0x605 0x40 0x24 0x64 0x03 Assuming the upper limit is equal to 0x1234 the controller will reply with SPICAN node 5 gt Host Byte CORE 0 1 2 3 4 5 6 7 0x585 0x4B 0x24 0x64 0x03 0x34 0x12 SPICAN CANopen v2 1 14 Jan 2000 Setting the upper limit of channel 3 to OxABCD requires the host to send the following message Host SPICAN node 5 Byte gE ID 0 1 2 3 4 5 6 7 0x605 0x2B 0x24 0x64 0x03 0xCD 0xAB The controller will reply with SPICAN node 5 gt Host Byte con 0 1 2 3 4 5 6 7 0x585 0x60 0x24 0x64 0x03
21. ntries U8 RO 7 1 Conversion word rate dur U8 RO 0 3 bit code 7 ing calibration always set to 15 02 Hz 2 Offset calibration type U8 RW 5 3 bit code 3 Offset calib input channel U8 RW 31 0 31 and lt OD index 0x2F10 4 Gain calibration type U8 RW 6 3 bit code 5 Gain calib input channel U8 RW 30 0 31 and lt OD index 0x2F10 6 Offset value U32 RO 24 bits significant 7 Gain value U32 RO 24 bits significant 2B01 ADC calibration Record configuration ADC 1 2B17 ADC calibration Record Max 24 ADCs allowed configuration ADC 23 Table 4 Manufacturer specific Profile Area of the CANopen Object Dictionary for a device with CS5525 ADCs write access allowed only when ADC input scanning not active 2 transmit PDO inhibit time 0 000 15 02 Hz 001 30 06Hz 010 60 01 Hz 011 123 18 Hz 100 168 9 Hz 101 202 27 Hz 110 3 76Hz 111 7 51 Hz gt 000 100 mV 001 55 mV 010 25 mV 011 1 V 100 5 V 4 001 offset self calibration 101 offset system calibration 010 gain self calibration 110 gain system calibration 18 SPICAN CANopen v2 1 14 Jan 2000 Manufacturer specific Profile Area SPICAN continued Index Sub Name Data Attr Default Comment hex Index Object hex 2C00 ADC reset and calibrate U8 WO In Reset ADC n 0 lt n lt 23 and perform a calibration sequence 2D00 ADC reset U8 WO n
22. pe 1 see above The CAN Remote Frame that constitutes the RTR has no data bytes and looks like this Host SPICAN node 5 COB ID 0x285 0x280 Node_ID SPICAN CANopen v2 1 14 Jan 2000 Note that an RTR is sent to and received by only one particular node e PDO transmission type 254 same as transmission type 253 except when the PDO s inhibit time is gt 0 OD index 0x1801 subindex 3 because then the node autonomously scans its analog input channels with a frequency per ADC determined by the inhibit time and a PDO is sent after every completed conversion So after the node has been set into Operational state it continu ously sends PDO messages This can be stopped by putting the node into Pre operational state send an NMT message see above with byte 0 128 Enter Pre operational state For all supported transmission types assuming the SPICAN controller module is continu ously scanning its analog input channels i e inhibit time gt 0 OD index 0x1801 subindex 3 the ADC value retrieved is the locally stored value of the last conversion of that channel With a conversion frequency of 10 Hz per ADC and 30 input channels per ADC the last conver sion could be up to 3 seconds old how old exactly is not known If this is undesirable the user should set the inhibit time to zero a conversion is then started only after a request has been received either through a SYNC or an RTR message
23. rnal watchdog enable selector 80C592 pin P1 1 to MAX691 open watchdog dis abled J5 reset jumper closed system will reset J6 J7 serial port signal connection disconnection 21 SPICAN CANopen v2 1 14 Jan 2000 SPICAN solder side Power options Local power supply via backplane J8 J9 closed J10 J11 open DC DC convertor and fuse NOT placed wire bridges in place Ext 5V power supply via CAN connector J8 J9 open J10 J11 closed DC DC convertor NOT placed wire bridges in place fuse placed Ext 9 36V power s via CAN connector J8 J9 open J10 J11 closed DC DC convertor and fuse placed Additional power option Battery backup J13 open APPENDIX B Connector Layout 9 pin D sub male CAN connector Pin Signal 1 2 CAN Low 3 V_gnd 4 5 6 2 7 CAN High 8 2 9 V backpanel connector layout to be provided 22
24. s and Closed Loop Control lers CiA DSP 404 Revision 1 13 Nov 2 1998 6 H Boterenbrood CANopen high level protocol for CAN bus Version 2 0a NIKHEF Amsterdam April 7 1999 http www nikhef nl pub departments ct po doc CANopen20 pdf 20 SPICAN CANopen v2 1 14 Jan 2000 APPENDIX A LEDs Switches and Jumpers SPICAN Frontpanel Red LED CAN controller error SPICAN Green LEDs CAN and SYS bus errors buffer overflow Me 5V power supply indications for 5V CAN bus driver and other onboard een OCAN electronics resp Green LED Red LED CAN bus activity error occurred on an ADC receiving sending check for received Emergency Objects and or ADC statuses Node ID and CAN baudrate setting 0x01 0x7F Node ID 1 to 127 125 kbit s 0x81 OxFF Node ID 1 to 127 250 kbit s top switch high nibble bottom switch low nibble Green LED TO activity e g ADC conversion read out Hole for access to reset button CAN bus connector RS232 connector 4800 baud 8 N 1 for code download and display of debug information by node SPICAN component side backplane connector space for DC DC convertor space for fuse Micro key 20CN592 microcontroller module NB wire bridges in place as shown in case of local power supply Ji 80C592 internal watchdog J1 1 2 closed disabled J1 2 3 closed enabled J3 powerfail interrupt request via P1 0 INT2 pin open interrupt disabled J4 exte
25. scesidecdsedeuisdcesteecdcacesesscds ses olde dicsde ss idacteavesccscasegeedtesdeedbest seee 8 2 5 STORING PARAMETERS i i ccisiissssexcecchcnsteves bane one ccaelslesdaseduchcaeeebussasecuecensseduabesceashaneasdesbers 10 2 6 ADC RESET AND CALIBRATION ccccccccccccccccsssssscsccccceccuussseeccescesessuaesescesceseeauanensececcs 11 2 7 ADC CHANNEL NUMBERING SCHEME ccccssssssececcccccccssssssceccesceseususesssceccesesauenensseescs 11 28 EMERGENCY OBJECTS a cicdieedsholeisetectecdue hawks shodea ede Shes iceeeaas tars aes 12 3 OBJECT DICTIONARY cesssiccsccisiccccciccctsssdesdcsccdscctceceasccsecdccedsesceadesccddaesceceasescocdecadecdcsnase 13 REFERENCES wocsscccccdsccsceccvesccsctssssceccceacesesvesssecesescsscdscesseccsesdeseeseceseccncodesedsacscocesesdesadsocedessseace 20 APPENDIX A LEDS SWITCHES AND JUMPERS csssssscssssssccsssssccscsssscccsssseceees 21 APPENDIX B CONNECTOR LAYOUT ccccccssscsssssssssssssscssssscsssssssssssssssssssssssssssscees 22 Technical Specifications SPICAN controller module e microcontroller Philips P80C592 8 bit 16 MHz e in system programmable via RS232 port available user memory 63 5 kByte flash ROM 48 kByte RAM e power requirement ca 200 mA 5V e firmware versions SPICAN v4 0 and up CANopen device profile according to CIA DSP 401 CAN node id between 1 and 127 CAN baudrate 125 or 250 kbit s minimum boot up default CANopen COB ID distribu tion 192 analog
26. t 0 Number of analogue inputs U8 RO 192 1 Upper limit input 1 U32 RW 32767 Default max ADC value gt no interrupt generated 192 Upper limit input 192 U32 RW 32767 5 i 255 Set upper limit all channels U32 WO Convenient entry for setting one limit for all channels Table 3 Standardised Device Profile Area of the CANopen Object Dictionary for a device with CS5525 ADCs providing 192 input channels sufficient for six 32 channel ADCs twelve 16 channel ADCs or twenty four 8 channel ADCs 17 SPICAN CANopen v2 1 14 Jan 2000 Manufacturer specific Profile Area SPICAN Index Sub Name Data Attr Default Comment hex Index Object hex 2A00 ADC configuration Record ADC 0 0 Number of entries U8 RO 8 1 Number of input channels U8 RW _ 32 0 32 and lt OD 0x2F10 2 Conversion Word Rate U8 RW 0 3 bit code 3 Input Voltage Range U8 RW 0 3 bit code 4 Unipolar Bipolar U8 RW 0 0 bipolar 1 unipolar Measurement Mode 5 Power Save Mode U8 WO 1 power save 6 Offset Register U32 RW CS5525 Offset Register 7 Gain Register U32 RW CS5525 Gain Register 8 D3 D0 pins U8 RW part of CS5525 Config Register 2A01 ADC configuration Record ADC 1 2A17 ADC configuration Record Max 24 ADCs allowed ADC 23 2B00 ADC calibration Record configuration ADC 0 0 Number of e
27. th command Reset_Node causes a full reset of the node in cluding a reset and calibration sequence for all connected ADCs Host NMT Master gt SPICAN NMT Slave COB ID Byte 0 Byte 1 0x000 129 5 Node ID Reset_Node or 0 all nodes In addition it is possible to perform a reset and calibration sequence on an individual ADC by writing the number of the ADC to be reset to OD index 0x2C00 using the SDO mecha nism See OD Table 5 2 7 ADC Channel Numbering Scheme At maximum 192 analog input channels are supported These can be divided over a number of ADCs The range of channel numbers reserved for one ADC is set in OD index 0x2F10 this number has to be one of 8 16 or 32 for reasons of computational convenience E g if set to 16 ADC 0 carries channel numbers 1 to 16 ADC 1 channels 17 to 32 etc etc and ADC 12 channels 177 to 192 If set to 8 ADC 0 carries channels 1 to 8 ADC 1 channels 9 to 16 etc etc and ADC 23 channels 185 to 192 In OD index 0x2F00 can be set up to which ADC number is actually in use it is not neces sary to set this parameter because the node detects which ADC numbers are connected and which are not and skips these when initiating conversions Setting this parameter properly can speed up some of the node s actions The number of channels actually in use for each individual ADC can be set in the ADC configuration object in OD index 0x2Ann subindex 1 when the SPICAN control
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