User`s Manual - ICP DAS USA`s I
Contents
1. ID Len DO D 1 D 2 D 3 D 4 D 5 D 6 D 7 200h x 0 Reserved 300h x 0 Reserved 400h x 0 Reserved 500h x 0 Reserved TxPDO mapping list ID Len DO D 1 E 2 TES Da Se TES AIME ST 180h x 0 Reserved 280h x 8 AI cho AI chi AI ch2 AI ch3 380h x 8 AI ch4 AI ch5 AI che AI ch7 480h x 0 Reserved CAN 2017C user s manual Revision 1 0 Nov 2011 3 5 EMCY Communication The data format of the emergency object data follows the structure bellows Byte 0 1 2 3 4 5 6 7 Content Emergency Error Code Error register Manufacturer specific Error Field Each bit on the error register is defined as follows Bit Meaning generic error current voltage temperature communication error overrun error state device profile specific reserved always 0 NOIR manufacturer specific The emergency error codes and the error register are specified in the following table Emergency Error Manufacturer Specific Error Field Description Error Code Register High Low First Last Four Bytes Byte Byte Byte 00 00 00 00 00 00 00 00 Error Reset or No Error 10 00 81 01 00 00 00 00 CAN Controller Error Occur 50 00 81 02 00 00 00 00 EEPROM Access Error 81 10 11 04 00 00 00 00 Soft Rx Buffer Overrun 81 10 11 02. SDO server D li _ ____ eo gt SDO client CAN 2017C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR 555 Length TF 1019 81716154 31 2 110 011213141516 7 110111101010 010 0 1 O 4 60 04 20 01 SDO server ai CAN 2017C Writing object with index 2004h and subindex 1 with 09h means to change the type code of the AI channel 0 with 09h the Al measurement range is 5V 5V 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Lengt 1098171654321 O h 0 1 23141516 7 111101010000 01011 0 8 40 01 64 01 00 00 00 00 SDO server D li oo SDO client CAN 2017C 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Lengt 10191817 6 5 4 3 2 1 0 h 10111213 4 516 7 110111110000 01011 O 4 4B 01 64 01 FF 3F SDO server CAN 2017C Reading object with index 6401h and subindex 1 means to get the value of the AI channel 0 According to the type code 09h set before the replied value of the Al channel 0 is SFFFh 2 5V CAN 2017C user s manual Revision 1 0 Nov 2011 18 3 4 Default PDO Mapping RxPDO mapping list
3. Note Please refer to Appendix B for Al upper limit range Analog Input Interrupt Lower Limit Integer Idx Sidx Description Type Attr Default 6425h Oh Number of entries UNSIGNED 8 RO 8 1h Al lower limit of channel O INTEGER 32 RW 8h Al lower limit of channel 7 INTEGER 32 RW Note Please refer to Appendix B for Al lower limit range Analog Input Interrupt Delta Unsigned Idx Sidx Description Type Attr Default 6426h Oh Number of entries UNSIGNED 8 RO 8 1h Al delta value of channel 0 UNSIGNED 32 RW 3E8h 8h Al delta value of channel 7 UNSIGNED 32 RW 3E8h Note These values are used to define the acceptable Al change ranges for each Al channels The default for these values is 1000 and may have different range for the physical value because of the settings of the type code Please refer to the appendix B for the type code definition CAN 2017C user s manual Revision 1 0 Nov 2011 16 3 2 Store and Restore Object The users can write the value 65766173h to object with index 1010h and subindex 1 to save the application setting or write the value 64616F6Ch to object with index 1011h and subindex 1 and reboot the module 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
4. CAN 2017C user s manual Revision 1 0 Nov 2011 3 Application 3 1 Object Dictionary General Communication Entries Idx Sidx Description Type Attr Default 1000h Oh device type UNSIGNED 32 RO 00040191h 1001h Oh error register UNSIGNED 8 RO Oh 1003h Oh largest subindex supported for UNSIGNED8 RO Oh predefine error field 1h actual error the newest one UNSIGNED 32 RO 5h actual error the oldest one UNSIGNED 32 RO Hu 1005h Oh COB ID of Sync message UNSIGNED 32 RW 80h 1008h Oh manufacturer device name VISIBLE STRING RO CAN 2017C 1009h Oh manufacturer hardware version VISIBLE STRING RO 1 2 100Ah Oh manufacturer software version VISIBLE STRING RO 1 00 20111101 100Ch Oh guard time UNSIGNED 16 RW Oh 100Dh Oh life time factor UNSIGNED 8 RW Oh 1010h Oh largest subindex supported for UNSIGNED 8 RO 1h store parameters 1010h 1h save all hardware parameter UNSIGNED 32 RW Rae 1011h Oh largest subindex supported for UNSIGNED 8 RO th restore default parameters 1011h 1h restore all default parameters UNSIGNED 32 RW 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h x 1015h Oh Inhibit time of EMCY UNSIGNED 16 RW Oh 1017h Oh producer heartbeat time UNSIGNED 16 RW Oh 1018h Oh largest subindex supported for UNSIGNED 8 RO 4h identity object 1h vender ID UNSIGNED 32 RO 0000013Ch 2h
5. Configuration Yes Intra module Isolation Field to Logic 3000 Vpc ESD Protection 4 kV Contact for each terminal Others Power LED PWR red CANopen Status LED RUN green ERR orange 8 LEDs as Upper Limit Alarm Indicators 8 LEDs as Lower Limit Alarm Indicators Power Supply Unregulated 10 30 Vpc Power Consumption 2 W Operating Temperature 25 75 C Storage Temperature 30 80 C Humidity 10 to 90 RH Non condensing Dimensions 33 mm x 99 mm x 78 mm W x L x H Detail CAN 2017C user s manual Revision 1 0 Nov 2011 1 3 Features Standard CANopen general I O slave devices CANopen Version DS 301 v4 02 Device Profile DSP 401 v2 1 Provide 8 differential analog input channels CANopen transfer rate 10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800 kbps 1000 kbps Maximum CANopen slave Node ID up to 99 e Support NMT PDO SDO EMCY SYNC Guarding and Heartbeat protocol e Pass the validation of the CANopen Conformance Test Provide EDS file for the CANopen master interfaces 1 4 Application CAN 2017 E CANopen CAN card Protocol vw Air sens or Yr CAN 2017C user s manual Revision 1 0 Nov 2011 5 2 Hardware 2 1 Structure E canzone Power LED PWRCG RES Run LED it Error LED LE mi Upper Limit f i Lis Alarm LED CAN Baudrate Ms i
6. Nov 2011 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 eguipments control remote data acguisition environmental monitoring and packaging machines control etc The CAN 2017C module follows the CiA DS 301 version 4 02 and DSP 401 version 2 1 It is easy to access the differential analog input status and set the configuration by using the standard CANopen protocol The CAN 2017C has passed the validation of the CiA CANopen Conformance Test tool Therefore the provided EDS file is standard for any other standard CANopen masters By using the 8 channel analog input and the CANopen masters of ICP DAS you can quickly build a CANopen network to approach your reguirements mm dm Cd Fd nr ED ana God ED un EDD rien as Li V a n e lt R E A La ER CAN 2017C user s manual Revision 1 0 Nov 2011 3 1 2 Hardware Specifications Analog Input Input Channels 8 Input Type 10V 5V 1V 500mV 150mV 20mA 20mA External 125Q Resistor is Required Resolution 16 bit Accuracy 0 1 FSR Sampling Rate 10 Samples sec Total Zero Drift 10uV C Span Drift 25 ppm C Common Mode Rejection 86 dB Normal Mode Rejection 100 dB Input Impedance gt 2 MO Over voltage Protection 240 Vrms Individual Channel
7. product code UNSIGNED 32 RO 00002017h 3h revision number UNSIGNED 32 RO 4h serial number UNSIGNED 32 RO Note x is Node ID of the module CAN 2017C user s manual Revision 1 0 Nov 2011 11 SDO Communication Entries Idx Sidx Description Type Attr Default 1200h Oh largest subindex 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 Note x is Node ID of the module RxPDO Communication Entry Idx Sidx Description Type Attr Default 1400h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 200h x 2h Transmission type UNSIGNED 8 RW FFh 1401h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 300h x 2h Transmission type UNSIGNED 8 RW FFh 1402h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 400h x 2h Transmission type UNSIGNED 8 RW FFh 1403h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 500h x 2h Transmission type UNSIGNED 8 RW FFh 1404h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW C000 0000h 2h Transmission type UNSIGNED 8 RW 1409h Oh Number of entri
8. 401 0710h 4h Al value of channel 7 UNSIGNED 32 RW 6401 0810h 1A03h Oh Number of entries UNSIGNED 8 RO 0 1A04h Oh Number of entries UNSIGNED 8 RO 0 1A05h Oh Number of entries UNSIGNED 8 RO 0 1A09h Oh Number of entries UNSIGNED 8 RO 0 Al Channel Type Code Function ldx Sidx Description Type Attr Default 2004h Oh Number of entries UNSIGNED 8 RO 8 1h Al type code of channel 0 UNSIGNED 8 RW 8 8h Al type code of channel 7 UNSIGNED 8 RW 8 Note Please refer to Appendix B for all supported AI type code CAN 2017C user s manual Revision 1 0 Nov 2011 Analog Input Function Idx Sidx Description Type Attr Default 6401h Oh Number of entries UNSIGNED 8 RO 8 1h The AI value of channel 0 INTEGER 16 RO 8h The Al value of channel 7 INTEGER 16 RO Note Please refer to Appendix B for Al value range When the Al global interrupt trigger enable SDO 6423h is enabled CAN 2017C will start to feedback the TxPDO while the Al value reaches the conditions configured in the Al interrupt trigger selection SDO 6421h Users can set up the upper limit lower limit and the delta for each Al channel by SDO 6424h 6425h and 6426h Analog Input Global Interrupt Trigger Enable Idx Sidx Description Type Attr Default Analog Input
9. 5 00 00 00 00 Soft Tx Buffer Overrun 81 10 11 06 00 00 00 00 CAN Controller Overrun 81 30 11 07 00 00 00 00 Lift Guarding Fail 81 40 11 08 00 00 00 00 Recover From Bus Off 82 10 11 09 00 00 00 00 PDO Data Length Error FF 00 80 0A 00 00 00 00 Request To Reset Node Or Communication FF 00 2E 0B 00 00 00 00 Upper Low Limit Alarm For Upper limit Low limit Each Channel alarm alarm CAN 2017C user s manual Revision 1 0 Nov 2011 20 Appendix A Dimension CAN 2017C dimension Li e au W P ipo z Right Side View Top View Back View Bottom View Unit mm CAN 2017C user s manual Revision 1 0 Nov 2011 21 Appendix B Type Code Definition Type Code Definition for CAN 2017C Type Min Max Code Input Range Data Format Value Value Engineer Unit 10V 10V 08h 10 to 10V 2 s Complement HEX 8000h 7FFFh Engineer Unit 5V 5V 09h 5 to 45V 2 2 2 s Complement HEX 8000h 7FFFh Engineer Unit 1V 1V OAh 1to 1V 2 s Complement HEX 8000h 7FFFh oBh EOG Tn Engineer Unit 500mV 500mV 5 2 s Complement HEX 8000h 7FFFh Engineer Unit 150mV 150mV OCh 150 to 150 mV 2 s Complement HEX 8000h 7FFFh oDh 20 to 20 mA Engineer Unit 20mA 20mA w
10. CANopen Slave Device CAN 2017C 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 2011 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 2017C user s manual Revision 1 0 Nov 2011 1 Contents T IMFOGLICHOD one croce tees nee Reese eee eee 3 TA OVervieW vein UY rre rcc io NWY Y WY 3 1 2 Hardware Specifications es 4 13 CAMUS cc AA A AAA A AA 5 14 Applicatior cst Gin tsi en en ai nets 5 2 MHardw r uuiueiuuuuuuuiu UN UN HNN dante 6 2 1 SUCER ilaele 6 2 2 Node ID 8 Baud Rate Rotary Switch 7 2 3 LEDDEScHDUOTL uisi aa 8 2 4 PIN Assignmiant isis WY YNYR re er cei eee 9 2 5 Wire Connection siria 10 3 APplCA ON ii 11 3 1 Object DICUON A Vanina 11 3 2 Store and Restore Object nn 17 3 3 Application Object uva 18 3 4 Default PDO Mapping ennnnes 19 3 5 EMCY Communication scan ren rior aec chin Ge a 20 Appendix A DimenslIOon rear rere reri ima ee ir i 21 Appendix B Type Code Definition eese 22 CAN 2017C user s manual Revision 1 0
11. D 32 RW 480h x 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h Reversed 5h Event timer UNSIGNED 16 0 1804h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 8000 0000h 2h Transmission type UNSIGNED 8 RW CAN 2017C user s manual Revision 1 0 Nov 2011 3h Inhibit time UNSIGNED 16 0 4h Reversed 5h Event timer UNSIGNED 16 0 1809h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 8000 0000h 2h Transmission type UNSIGNED 8 RW 3h Inhibit time UNSIGNED 16 0 4h Reversed 5h Event timer UNSIGNED 16 0 Note x is Node ID of the module TxPDO Mapping Communication Entry Idx Sidx Description Type Attr Default 1A00h Oh Number of entries UNSIGNED 8 RO 0 1A01h Oh Number of entries UNSIGNED 8 RO 4 1h Al value of channel 0 UNSIGNED 32 RW 6401 0110h 2h Al value of channel 1 UNSIGNED 32 RW 6401 0210h 3h Al value of channel 2 UNSIGNED 32 RW 6401 0310h 4h Al value of channel 3 UNSIGNED 32 RW 6401 0410h 1A02h Oh Number of entries UNSIGNED 8 RO 4 1h Al value of channel 4 UNSIGNED 32 RW 6401 0510h 2h Al value of channel 5 UNSIGNED 32 RW 6401 0610h 3h Al value of channel 6 UNSIGNED 32 RW 6
12. Global Interrupt 6423h Oh Trigger Enable Boolean RW 0 Analog Input Interrupt Trigger Selection Idx Sidx Description Type Attr Default 6421h Oh Number of entries UNSIGNED 8 RO 8 th Al interrupt trigger selection UNSIGNED 8 RW 7 of channel 0 8h Al interrupt trigger selection UNSIGNED 8 RW 7 of channel 0 Bitno Analog interrupt trigger selection 0 The AI value exceeds the upper limit 1 The AI value is less than the lower limit 2 The change of the AI value is more than the delta 3 to 7 Reversed If you set the bit O of the interrupt trigger selection to 1 the CAN 2017C would feedback the Al value automatically while this Al value exceeds the upper limit The eight Upper Lower Limit Alarm Indicators on the panel of CAN 2017C user s manual Revision 1 0 Nov 2011 15 CAN 2017C will be lightening respectively By the way if AI upper limit or lower limit leads CAN 2017C to send too many TxPDO messages in a quite short time you could modify the Inhibit time of the TxPDO It will change the minimum period between the consequent CAN messages and the bigger Inhibit time value you set the longer time period between the two TxPDO messages you get Analog Input Interrupt Upper Limit Integer Idx Sidx Description Type Attr Default 6424h Oh Number of entries UNSIGNED8 RO 8 1h Al upper limit of channel O INTEGER 32 RW 8h Al upper limit of channel 7 INTEGER 32 RW
13. es UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW C000 0000h 2h Transmission type UNSIGNED 8 RW Note x is Node ID of the module CAN 2017C user s manual Revision 1 0 Nov 2011 RxPDO Mapping Communication Entry Idx Sidx Description Type Attr Default 1600h Oh Number of entries UNSIGNED 8 RW 0 1601h Oh Number of entries UNSIGNED 8 RW 0 1602h Oh Number of entries UNSIGNED 8 RW 0 1609h Oh Number of entries UNSIGNED 8 RW 0 TxPDO Communication Entry Idx Sidx Description Type Attr Default 1800h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 180h x 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h Reversed bh Event timer UNSIGNED 16 0 1801h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 280h x 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h Reversed 5h Event timer UNSIGNED 16 0 1802h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNED 32 RW 380h x 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 0 4h Reversed 5h Event timer UNSIGNED 16 0 1803h Oh Number of entries UNSIGNED 8 RO 5 1h COB ID used by TxPDO UNSIGNE
14. i Rotary Switch inl 3 Lower Limit f Ex 10Kbps Tis Alarm LED Zn ES a amp Model ID i otary Switc ge CAN Shield Ex 32 Na CAN_L CANL CAN_GND 1200 Terminal Resister Switch Top View Bottom View CAN 2017C user s manual Revision 1 0 Nov 2011 6 2 2 Node ID amp Baud Rate Rotary Switch The rotary switches for node ID configure the node ID of the CAN 2017C module These two switches are for the tens digit and the units digit of node ID The node ID value of this demo picture is 32 Node ID rotary switch The rotary switch for baud rate handles the CAN baud rate of the CAN 2017C module The relationship between the rotary switch value and the practical baud rate is presented in the following table Baud rate rotary switch Rotary Switch Value Baud rate k BPS 0 10 20 50 125 250 500 800 1000 Baud rate and rotary switch NOIR Pp CAN 2017C user s manual Revision 1 0 Nov 2011 2 3 LED Description Power LED The CAN 2017C needs a 10 30 Vpc power supply Under a normal connection a good power supply and a correct voltage selection as the unit is turned on the LED will be lighted up in red Run LED The Run LED indicates the CANopen operation state The description of the LED state is shown below About the details please refer to the sectio
15. is also shown below Index Sub Description Factory Index Default 2004 h 1 8 Al type codes for channel 0 7 08h 6421 1 8 Al interrupt trigger selections for channel 0 7 07h 6423 0 Al global interrupt enable 0 6424 158 Al interrupt upper limits for channel 0 7 7FFFh 6425 1 8 Al interrupt lower limits for channel 0 7 E99Ah 6426 1 8 Al interrupt delta vlues for channel 0 7 3E8h 1400h 1 2 RxPDO1 parameter 1409h 1 2 RxPDO10 parameter 1600h 0 8 RxPDO1 mapping information 1609h 0 8 RxPDO10 mapping information 1800h 1 5 TxPDO1 parameter HE 1809h 1 5 TxPDO10 parameter 1A00h 0 8 TxPDO1 mapping information 7 1A09h 0 8 TxPDO10 mapping information CAN 2017C user s manual Revision 1 0 Nov 2011 3 3 Application Object The users can read the object with index 6401h and subindex 1 8 to get the analog value of the channel 0 7 and the range for each AI type codes are listed in Appendix B If the users wants to change the analog input type write the type code to the object with index 2004h and subindex 1 8 For example if the node ID of CAN 2017C is 1 the following command would be used 11 bit COB ID bit Data 8 byte Data byte Func Code Node ID RTR Lengt 10191817 615413121110 h 0 1121314156 7 111101010000 01011 0 8 2F 04 20 01 09 00 00 00
16. ith 1250 resistor 2 s Complement HEX 8000h 7FFFh CAN 2017C user s manual Revision 1 0 Nov 2011 22
17. n 2 3 1 of the CAN 2000C user manual LED Signal State Description OFF No power Power Supply is not ready Single Flash Stopped The device is in Stopped state Blinking Pre operation Device is in pre operational state Always ON Operation Device is in operational state Error LED The Error LED indicates the CANopen error state The description of the LED state is shown below About the details please refer to the section 2 3 2 of the CAN 2000C user manual LED Signal State Description OFF No error Device is in working condition Single Flash Error Warning At least one error of the CAN controller has occurred Double Flash Guarding fail Guard event happened Always ON Bus Off The CAN controller is bus off Terminal Resistor LED When the switch of the 1200 terminator resistor is turned on the terminal resistor LED will be lightening Upper Lower Limit Alarm LED First all the Analog Input global interrupt enable SDO 6423h must be enabled If the analog input is more or less than the value of the Analog Input global interrupt Upper Lower Limit Integer SDO 6424h 6425h of the channel the Upper Lower Limit Alarm LED of the channel will be lightening CAN 2017C user s manual Revision 1 0 Nov 2011 8 2 4 PIN Assignment Terminal No Pin Assignment CAN 2017C 20 pin Connector CAN 2017C user s manual Revision 1 0 Nov 2011 2 5 Wire Connection
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