CANopen Slave Device CAN
Contents
1. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length EREECHEN ONE EE 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 43 64 01 01 00 00 00 SDO server CAN 2024C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4j 5 6 7 1 0 1 1 0 0 0 0 0 0 1 O 8 60 43 64 01 SDO server SDO Client be SS CAN 2024C Write object index 0x6443 and subindex 1 to 0x01 means that setting the error mode to 0x01 for enabling the error mode output of channel 0 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length ENER EREECHEN NC OR 1 1 0 0 0 0 0 0 0 0 1 0 8 23 44 64 01 FF 3F 00 00 SDO server CAN 2024C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length ENER EREECHEN NC ER 1 0 1 1 0 0 0 0 0 0 1 0 8 60 44 64 01 SDO server Ger CAN 2024C Write object index 0x6444 and subindex 1 to Ox3FFF means that setting the error value to Ox3FFF for activating the error mode output value of channel 0 If the error event occurs the module will output the safe value Ox3FFF corresponding the object 0x6443 an2. 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 O 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 4 60 11 64 01 SDO server D li rr EE SDO client CAN 2024C Write the Ox2FFF value into the object index 0x6411 with subindex 1 of CAN 2024C and the AO channel 0 will output the 5V if you select the 0 10 V output range CAN 2024C user s manual Revision 1 00 May 26 2010 15 Analogue Output Error Mode 0x6443 This object defines whether an output is set to a pre defined error value see 6444h object in case of an internal device failure or a Stop remote node indication 0 actual value rest 1 reverts to error value integer 6444h others reserved For example if the node ID of the CAN 2024C is 1 the commands are as follows 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length EREECHEN ONE RE EG OU 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 43 64 01 01 00 00 00 SDO server CAN 2024C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length EREECHEN ONE EE 1 0 1 1 0 0 0 0 0 0 1 0 4 60 02 60 01 SDO server DO cli S SDO client CAN 2024C Write object index 0x6443 with subindex 1 to sub
3. Ji Ao BL e BL e JO _ A A Ma Ao HI Figure 2 7 CAN 2024C user s manual Revision 1 00 May 26 2010 2 5 Wire Connection Current Output Wiring Current gt D amp lout D amp AGND External PWR Voltage Output Wiring Figure 2 8 CAN 2024C user s manual Revision 1 00 May 26 2010 3 Object Dictionary 3 1 Object List General Communication Entries Idx Sidx Description Type Attr Default 1000h Oh idevice type UNSIGNED 32 RO 00300191h 1001h Oh error register UNSIGNED 8 RO Oh 1003h Oh llargest sub index supported for UNSIGNED 8 RO Oh predefine error field 1h _ actual error the newest one UNSIGNED 32 RO 5h factual error the oldest one UNSIGNED 32 RO 1005h Oh COB ID of Sync message UNSIGNED 32 RW 80h 1008h Oh manufacturer device name VISIBLE_STRING RO CAN 2024C 1009h Oh manufacturer hardware version VISIBLE_STRING RO 02 100Ah Oh manufacturer software version VISIBLE_STRING RO 1 00 20100201 100Ch Oh guard time UNSIGNED 16 RW Oh 100Dh Oh life time factor UNSIGNED 8 RW Oh 1010h Oh llargest sub index supported for UNSIGNED 8 RO th store parameters 1010h 1h Save all hardware parameter UNSIGNED 32 RW 1011h Oh largest sub index supported for UNSIGNED 8 RO 1h restore default parameters 1011h
4. 14h restore all default parameters UNSIGNED 32 RW 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h x 1017h Oh Groducer heartbeat time UNSIGNED 16 RW 0 1018h Oh _ llargest sub index supported for UNSIGNED 8 RO 4 identity object 1h Wender ID UNSIGNED 32 RO 0x0000013C 2h product code UNSIGNED 32 RO 0x00002024 3h revision number UNSIGNED 32 RO 0x00010001 4h Serial number UNSIGNED 32 RO 0x6cd3683c Table 3 1 Note x is Node ID of the module CAN 2024C user s manual Revision 1 00 May 26 2010 11 SDO Communication Entries Idx Sidx Description Type Attr Default 1200h Oh largest sub index supported for UNSIGNED 8 RO 2 server SDO parameter 1h COB ID form client to server UNSIGNED 32 RO 600h x RxSDO 2h COB ID form server to client UNSIGNED 32 RO 580h x TxSDO Table 3 2 Note x is Node ID of the module RxPDO Communication Entry Idx Sidx Description Type Attr Default 1401h Oh Number of entries UNSIGNED 8 RO 4 1h COB ID used by RxPDO UNSIGNED 32 RW 300h x 2h Transmission type UNSIGNED 8 RW FFh Table 3 3 Note x is Node ID of the module RxPDO Mapping Communication Entry Idx Sidx Description Type Attr Default 1601h Oh Number of entries UNSIGNED 8 RW 4 1h Write AO channel 0 UNSIGNED 16 RW 6411 0
5. 2 1 Structure CAN 2024C Power LED Run LED Error LED Jour LED Vout LED Node ID X10 Node ID X1 120Q Terminator Resistor LED Figure 2 1 Top View Baud rate Rotary Switch CAN V i CAN H CAN Shield CAN L CAN CND 1200 Terminal Resister Switch Ex OFF Figure 2 2 Bottom View CAN 2024C user s manual Revision 1 00 May 26 2010 6 2 2 Node ID amp Baud Rate Rotary Switch The rotary switches of node ID configure the node ID of CAN 2024C module These two switches are for the tens digit and the units digit of the node ID The node ID value of this demo picture is 32 Figure 2 3 Node ID rotary switch The rotary switch of baud rate handles the CAN baud rate of CAN 2024C module The value of baud rate switch from 0 7 are normal CANopen mode The relationship between the rotary switch value and the practical baud rate is presented in the following table Figure 2 4 Baud rate rotary switch Rotary Switch Value Baud Rate k bps 0 10 20 50 125 250 500 800 1000 zl OI oO AJOIN gt Table 2 1 CAN 2024C user s manual Revision 1 00 May 26 2010 7 2 3 LED Description Power LED CAN 2024C allows 10 VDC 30 VDC for working voltage The power consumption is 1 5 W Under the connection of a proper power connection as the unit is turned on the LED will light up in red Run LED
6. Current Output Zero Drift Voltage 30uV C Current 0 2uA C Span Drift 20ppm C Voltage Output Capability 1OV 5mA Max Current Load Resistance external power 24 V 1050 Q Power on Value amp Safe value Yes 4KV ESD Protection Yes Contact for each terminal Intra module Isolation Field to Logic 3000 VDc CANopen Status 3 LEDs for PWR RUN ERR Terminator Resister Yes by DIP switch with 1 LED indicator AO LED 4 LEDs for analog output and 4 LEDs for circuit output Power Supply Unregulated 10 30 VDC Power Consumption 1 5 W Operating Temperature 25 75 C Storage Temperature 40 80 C Humidity 5 to 95 RH Non condensing Dimensions 32 5 mm x 110 mm x 102 mm W x L x H Detail CAN 2024C user s manual Revision 1 00 May 26 2010 4 1 3 Features Standard CANopen general I O slave devices CANopen Version DS 301 v4 02 Device Profile DSP 401 v2 1 Provide 4 single end analog output channels CANopen transfer rate 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1000 kbps Maximum CANopen slave Node JD up to 99 Support NMT PDO SDO EMCY SYNC Guarding and Heartbeat protocol Pass the validation of CANopen conformance test Provide EDS file for CANopen master interface 1 4 Application CANopen Network ER Figure 1 2 Application Structure CAN 2024C user s manual Revision 1 00 May 26 2010 5 2 Hardware
7. 1 0 8 2F 04 20 01 34 00 00 00 SDO server CAN 2024C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 41312 1 0 0111 12 31 41 15 6 7 1 0 1 1 0 0 0 0 0 0 1 O0 4 60042001 SDO server CAN 2024C Write the type code value 0x34 into the object with index 0x2004 and subindex 1 The CAN 2024C responds that it is successful Error Mode and Error Value 0x6443 0x6444 The object 0x6443 and 0x6444 are used to control the safe value when the CAN 2024C is into stop mode or some error happens such as node guarding failure it will check the value of the object 0x6443 If some bits of the subindex 1 of this object are set to 1 the corresponding AO channels will output the error mode output values which are described in the corresponding subindex of the object 0x6444 For example if set the value 1 into the object of 0x6443 with subindex 1 and a value Ox3FFF into the object 0x6444 with subindex 1 respectively when some error event occurs only the channel 0 will output the error mode output value Ox3FFF because the index 0x6443 with subindex 1 is set to 1 The others channels keeps the status as the error event is not happened CAN 2024C user s manual Revision 1 00 May 26 2010 17
8. 110h 2h Write AO channel 1 UNSIGNED 16 RW 6411 0210h 3h Write AO channel 2 UNSIGNED 16 RW 6411 0310h 4h Write AO channel 3 UNSIGNED 16 RW 6411 0410h Table 3 4 Analogue Output Function Idx Sidx Description Type Attr Default 6411h Oh Number of Output 8 Bit UNSIGNED 16 RO 1 1h AO value of channel 0 UNSIGNED 16 RW 0 2h AO value of channel 1 UNSIGNED 16 RW 0 3h AO value of channel 2 UNSIGNED 16 RW 0 4h AO value of channel 3 UNSIGNED 16 RW 0 6443h Oh Number of Analogue Outputs UNSIGNED 8 RO 1 1h Error Mode AO channel 0 UNSIGNED 8 RW 0 2h Error Mode AO channel 1 UNSIGNED 8 RW 0 CAN 2024C user s manual Revision 1 00 May 26 2010 3h Error Mode AO channel 2 UNSIGNED 8 RW 0 4h Error Mode AO channel 3 UNSIGNED 8 RW 0 6444h Oh Number of Analogue Outputs UNSIGNED 8 RO 4 1h AO error value of channel 0 UNSIGNED 32 RW 0 2h AO error value of channel 1 UNSIGNED 32 RW 0 3h AO error value of channel 2 UNSIGNED 32 RW 0 4h AO error value of channel 3 UNSIGNED 32 RW 0 2004h Oh Number of Analogue Outputs UNSIGNED 8 RO 4 1h Type Code of AO Channel 0 UNSIGNED 8 RW 0x33 2h_ Type Code of AO Channel 1 UNSIGNED 8 RW 0x33 3h Type Code of AO Channel 2 UNSIGNED 8 RW 0x33 4h Type Code of AO Channel 3 UNSIGNED 8 RW 0x33 Table 3 8 This object 0x2004 controls the output type of
9. CANopen Slave Device CAN 2024C Application User s Manual Warranty Without contrived damage all products manufactured by ICP DAS are warranted in one year from the date of delivery to customers Warning ICP DAS revises the manual at any time without notice However no responsibility is taken by ICP DAS unless infringement act imperils to patents of the third parties Copyright Copyright 2009 is reserved by ICP DAS Trademark The brand name ICP DAS as a trademark is registered and can be used by other authorized companies CAN 2024C user s manual Revision 1 00 May 26 2010 1 Contents 1 DEVE TE E 3 Tl a TE 3 1 2 Hardware Specifications ccccccceeeseeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeees 4 gOS al GUTT ER 5 1 4 Application icictcncinicinancaiccanninandicacenniaaeanadiaanenanianeanniete 5 ele UE 6 Ch WE Tt iseanan asasena anie aeaea aana aaan ctveaneeunseuneasiensananeeumecntaewe 6 2 2 Node ID amp Baud Rate Rotary Switch csssseeeeeeeeeeeeeeeeeeeeeeees 7 KEREN 8 2A PINASSIJNMEN EE 9 2 5 Wire Connection s sssesesssnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nenna 10 Object Dictionary EE 11 Sid Object List sauce saci eucisticcestancicadiecsiavsrasenendatavaversancannntcuicaccansaenanancdeue 11 3 2 Store and Restore Object ss seeeeeeeeeeeeeeeeeeeeeeeeeeeeeesenneeeeneees 14 3 3 Application Object wvisiciiciiecccieiinecineminnenienesinmenaed 15 3 4 Default PDO Map
10. The Run LED indicates the CANopen operation state The description of LED state is shown below About the detail please refer to the section 2 3 1 of the CAN 2000C user manual LED Signal State Description No Light Non operation Power Supply is not ready Single Flash Stopped The device is in Stopped state Blinking Pre operational Device is in Pre operational state Continuing Light Operational Device is in Operational state Table 2 2 Error LED The Error LED indicates the CANopen error state The description of LED state is shown below About the detail please refer to the section 2 3 2 of the CAN 2000C user manual LED Signal State Description No Light No error Device is working well Single Flash Error Warning At least one CANopen error happened Double Flash Guarding Fail Guarding fail event happened Continuing Light Bus Off The bus off state happened Table 2 3 Terminal Resistor LED When enable the 1200 terminator resistor the LED will turn on Vout LED If the CAN 2024C is applied in voltage mode the Vout LED is turned on while the corresponding channel outputs a non zero voltage value Iout LED If the CAN 2024C is applied in current mode the lout LED is turned on while the corresponding channel outputs a non zero current value CAN 2024C user s manual Revision 1 00 May 26 2010 8 2 4 PIN Assignment HI mos WW PL DW PL DW PL WW
11. d 0x6444 CAN 2024C user s manual Revision 1 00 May 26 2010 18 3 4 Default PDO Mapping RxPDO mapping list ID Len DO D 1 D2 D3 D4 D5 D6 D7 300h x 8 IAO_ A0 IA0 A0 AO_ AO_ AO_ AO_ COL CO H C1_L C1_H C2_L C2 H C3_L C3_H Table 3 9 Default RxPDO list Note x is Node ID of the module Note AO is Analogue Output Note C0 C1 C2 and C3 is channel 0 channel 1 channel 2 and channel 3 Note The L indicates low byte and H indicates high byte CAN 2024C user s manual Revision 1 00 May 26 2010
12. index 4 which can set each channel for actual value rest mode or reverts to error value integer mode Analogue Output Error Value Interger 0x6444 On condition that the corresponding Error Mode is active device failures will set the outputs to the value configured by this object index 0x6444 For example if the node ID of CAN 2024C is 1 the commands are shown below 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8171 61 514131211 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0j 1 0 8 23 44 64 01 FF 3F 00 00 SDO server CAN 2024C CAN 2024C user s manual Revision 1 00 May 26 2010 16 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length EREECHEN OCH UNE 1 0 1 1 0 0 0 0 0 0j 1 0 4 60 44 64 01 SDO server CAN 2024C Write the output value Ox3FFF into the object index 0x6444 with subindex 1 The CAN 2024C responds that it is successful Type Code for CAN 2024C Module index 0x2004 Setting the type code will decide the output ranges of the CAN 2024C If the node ID of the CAN 2024C is 1 the commands are listed as below 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length EREECHEN ONE RE OG OU 1 1 0 0 0 0 0 0 0 0
13. ision 1 00 May 26 2010 3 3 Application Object Analogue Output module 0x6411 User can use the object index 0x6411 with subindex 1 to read a group of 16 bit information For example if the node ID of the CAN 2024C is 1 the commands are listed as below 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length ENER EE HERE Di ZV i Ab 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 40 11 60 01 00 00 00 00 SDO server oe CAN 2024C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 0 1 1 0 0 0 0 0 0 1 0 5 4B 00 60 01 FF 3F SDO server D li leen SDO client CAN 2024C Read the object index 0x6411 with subindex 1 and the value Ox3FFF of the AO channel 0 will be responded by CAN 2024C module User can use the object index 0x6411 with subindex 1 to write output value Hex format into CAN 2024C module The commands are as follows 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Length 10 918 GEIER ONE NO 14 1 0 0 0 0 0 0 0 0 1 0 8 2B 11 64 01 FF 2F 00 00 SDO server aces CAN 2024C
14. ping tsseecctiuthtcahseaisntdiugbtcabinthnushinthiuabieainetdiutieme 19 CAN 2024C user s manual Revision 1 00 May 26 2010 2 1 Introduction 1 1 Overview CANopen is one kind of the network protocols based on the CAN bus and mainly used for embedded network system such as industrial machine control vehicle control system factory automation medical equipments control remote data acquisition environmental monitoring and packaging machines control etc The CAN 2024C module follows the CiA DS 301 version 4 02 and DSP 401 version 2 1 It is easy to access the analogue I O status and set the configuration by using the standard CANopen protocol The CAN 2024C has passed the validation of the CA CANopen Conformance Test tool Therefore the provided EDS file is standard for any other standard CANopen masters Owing to the 4 channel analog output and the CANopen masters of ICP DAS you can quickly build a CANopen network to approach your requirements Ai CAN 20240 RUN 5 ei J Nae V Ka VK ie e D D D e w D ee F D v W Figure 1 1 CAN 2024C user s manual Revision 1 00 May 26 2010 3 1 2 Hardware Specifications Analogue Output Output Channels 4 single end channels Output Type 0 20 mA 4 20 mA 0 5 VDC 5 VDC 5 VDC 0 10 VDC 10 VDC 10 VDC Resolution 14 bit Accuracy 0 1 of FSR for Voltage Output 0 2 of FSR for
15. the CAN 2024C There are six kinds of output ranges for choices These ranges and corresponding values are listed below Type Code Value Output Type Output Range Hexadecimal 0x30 Current 0 20mA 0x0000 Ox7FFF 0x31 Current 4 20mA 0x0000 Ox7FFF 0x32 Voltage O 10 VDC 0x0000 0x7FFF 0x33 default Voltage 10 10 VDC 0x8000 Ox7FFF 0x34 Voltage 0 5 VDC 0x0000 0x7FFF 0x35 Voltage 5 5 VDC 0x8000 0x7FFF CAN 2024C user s manual Revision 1 00 May 26 2010 13 3 2 Store and Restore Object Users can write the value 0x65766173 to the object index 0x1010 with subindex 1 to save application setting or write the value 0x64616F6C to object index 0x1011 with subindex 1 to load the factory default The following table lists the relative objects which will be stored or restored after writing these two objects The factory default for these objects is also shown Index Sub Description Factory Index Default 6443 h 1 Error Mode AO channel 0 0 2 Error Mode AO channel 1 0 3 Error Mode AO channel 2 0 4 Error Mode AO channel 3 0 6444 h 1 AO error value of channel 0 0 2 AO error value of channel 1 0 3 AO error value of channel 2 0 4 AO error value of channel 3 0 2004 h 1 Type Code of AO Channel 0 0x33 2 Type Code of AO Channel 1 0x33 3 Type Code of AO Channel 2 0x33 4 Type Code of AO Channel 3 0x33 CAN 2024C user s manual Rev
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