User`s Manual - ICP DAS USA`s I
Contents
1. Idx Gids Description Type Attr Default 1200h Oh largest sub index supported UNSIGNED 8 RO 2 for server SDO parameter th COB ID form client to server UNSIGNED 32 RO 600h Node ID RxSDO 2h COB ID form server to client UNSIGNED 32 RO 580h Node ID TxSDO Table 3 2 RxPDO Communication Entries Idx Gids Description Type Attr Default 1400h Oh Number of entries UNSIGNED 8 RO 2 1h COB ID used by RxPDO UNSIGNED 32 RW 200h Node ID 2h Transmission type UNSIGNED 8 RW FFh Table 3 3 RxPDO Mapping Communication Entries Idx Gids Description Type Attr Default 1600h Oh Number of entries UNSIGNED 8 RW 0 ih Write Output channels UNSIGNED 32 RW 6200 0108h Table 3 4 TxPDO Communication Entries 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 Node ID 2h Transmission type UNSIGNED 8 RW FFh 3h Inhibit time UNSIGNED 16 RW 0 4h_ Reversed Se oe 5h Event timer UNSIGNED 16 RW 0 Table 3 5 TxPDO Mapping Communication Entries Idx Gids Description Type Attr Default 1A00h Oh Number of entries UNSIGNED 8 RO 0 ih DI channel 0 7 UNSIGNED 32 RW 6000 0108h Table 3 6 CAN 2055C User s Manual Version 1 00 May 2013 Digital Input Function2. Idx Gids Description Type Attr Default 6000h Oh Number of entries UNSIGNED 8 RO 1 ih Di value of ch0 ch7 UNSIGNED 8 RO 0 6002h Oh Number of entries UNSIGNED 8 RO 1 ih Change polarity DI chO ch7 UNSIGNED 8 RW 0 Table 3 7 Digital Output Function Idx Gids Description Type Attr Default 6200h op Number of Output 8 Bit UNSIGNED 8 RO 1 ih DO value of chO ch7 UNSIGNED 8 RW 0 6202h oh Number of Output 8 Bit UNSIGNED 8 RO 1 4h Change polarity DO cht ch7 UNSIGNED 8 RW 0 6206h op Number of Output 8 Bit UNSIGNED 8 RO 2 dh EE UNSIGNED 8 RW OxFF 6207h oh Number of Output 8 Bit UNSIGNED 8 RO 2 up Error value DO oh ch7 UNSIGNED 8 RW 0 Table 3 8 Power on Value Function Idx Gids Description Type Attr Default 2010i Oh Number ot upu a b UNSIGNED 8 RO 1 1h Set DO power on value of ch0 UNSIGNED 8 RW 0 ch7 Table 3 9 CAN 2055C User s Manual Version 1 00 May 2013 3 2 Store and Restore Object User can write the value 0x65766173 to the object index 0x1010 to save configuration setting or write the value 0x64616F6C to object index 0x1011 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 Store and Restore functions
3. SDO client am SDO server CAN 2055C Write object index 0x6207 and subindex 1 to OxF8 means set the error value to OxF8 for activating the error mode output value of DO 3 DO 7 If the error event in this module the module will output the safe value 0x30 0x31 amp OxF8 0x30 corresponding the object 0x6206 and 0x6207 Set Power On Value 0x2010 This object 0x2010 with subindex 1 defines the power on value of a group of 8 output lines Power on value can be set individually For example if the node id of CAN 2055C is 1 the commands are as below 11 bit COB ID bit EEA byte Data byte Func Code Node ID Rra pata Length 1019 8171615 4 3121110 0 1 1213 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 10 20 01 FO 00 00 00 CAN 2055C CAN 2055C User s Manual Version 1 00 May 2013 21 11 bit COB ID bit FEN 8 byte Data byte Func Code Node ID Sa pene Length 10 9 8 7 6 5 4 3 2 1 0 0 11 2 3101415 6 7 17 1 0 0 0 0 0 0 0 0 1 0 8 60 10 20 01 SDO client K SDO server CAN 2055C Write object index 0x2010 with subindex 1 to OxFO means that set the ChO Ch3 of DO channels to 0 and set the Ch4 Ch7 to 1 when the CAN 2055C power on 3 4 Default PDO Mapping RxPDO mapping list
4. 19 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 1 0 0 0 0 0 0 0 0 1 0 8 2F 02 62 01 FO 00 00 00 CAN 2055C 11 bit COB ID bit Se Dane byte Data byte Func Code Node ID DEE Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 60 02 62 01 SDO client E SDO server CAN 2055C Write object index 0x6202 with subindex 1 to OxFO means that set the ChO Ch3 of DO channels to normal and set the Ch4 Ch7 to be inverted Error Mode and Error Value 0x6206 0x6207 The object 0x6206 and 0x6207 are used to control the safe value when error happens When some error event of this module happens such as node guarding failure the module will check the value of the object 0x6206 If some bits of this value are set to 1 the corresponding DO channels will be into error mode output The error mode output values are concerned to the object 0x6207 For example if the subindex 01 in the object with 0x6206 and 0x6207 are 0x31 and OxF8 respectively when some error event occurs only the DO5 DO4 DOO will be changed to error mode output because the bit 5 bit 4 and bit 0 of the value 0x31 is 1 The others channels keeps the status as the error event
5. Index Subindex Function 1010h 1 Store application and communication setting 1010h o Store communication setting only 1010h 3 Store application setting only 1011h 1 Restore application and communication setting 1011h o Restore communication setting only 1011h 3 Restore application setting only Communication Setting Please refer to above table 3 3 3 4 3 5 and 3 6 Application Setting Index Subindex Description Factory Default 2010h 1 Set digital output power on value for channel 8 15 0x00 6002h 1 Change polarity digital input for channel 0 7 0x00 6202h 1 Change polarity digital output for channel 0 7 0x00 6206h 1 Error mode digital output for channel 0 7 OxFF 6207h 1 Error value digital output for channel 0 7 0x00 CAN 2055C User s Manual Version 1 00 May 2013 3 3 Application Object Digital Input module 0x6000 User can use the object index 0x6000 with subindex 1 to read a group of 8 bit information For example if the node id of CAN 2055C is 1 the commands are as below 11 bit COB ID bit DEE 8 byte Data byte Func Code Node ID Are paa Length 10 9 8 7 6 5 4 3 2 1 0 0o 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 40 00 60 01 00 00 00 00 SDO client ec SDO server CAN 2055C 11 bit COB ID bit bye Dan Gna byte Da
6. 1003h oh largest sub index supported for UNSIGNED 8 RO Oh predefine error field 1h_ actual error the newest one UNSIGNED 32 RO 5h actual 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 2055C 1009h Oh manufacturer hardware version VISIBLE_STRING RO ee 100Ah Oh manufacturer software version VISIBLE_STRING RO 10020180407 100Ch Oh guard time UNSIGNED 16 RW 0 100Dh Oh life time factor UNSIGNED 8 RW 0 1010h Oh largest subindex supported UNSIGNED 8 RO 1 1010h ih save all parameters UNSIGNED 32 RW 0 1011h Oh largest subindex supported UNSIGNED 8 RO 1 1011h 1h restore all default parameters UNSIGNED 32 RW 0 1014h Oh COB ID of EMCY UNSIGNED 32 RW 80h Node ID 1015h Oh Inhibit time of EMCY UNSIGNED 16 RW 0 1017h Oh Heartbeat time UNSIGNED 16 RW 0 CAN 2055C User s Manual Version 1 00 May 2013 1018h Oh largest sub index supported for UNSIGNED 8 RO 4 identity object 1h_ vender ID UNSIGNED 32 RO 0x0000013C 2h Produce Code UNSIGNED 32 RO 0x00002055 3h Revision number UNSIGNED 32 RO 0x00030001 4h Serial number UNSIGNED 32 RO Ox6cd3683c Table 3 1 CAN 2055C User s Manual Version 1 00 May 2013 SDO Communication Entries
7. ID Len DO 200h x 1 DOG DO7 Note x is node id of CAN 2055C module TxPDO mapping list ID Len DO 180h x 1 DIO DI7 Note x is node id of CAN 2055C module CAN 2055C User s Manual Version 1 00 May 2013 22
8. series 7540D series l 7565 series PISO CM100 series and PISO CAN series Support NMT PDO SDO EMCY SYNC Guarding and Heartbeat protocol Pass the validation of CANopen conformance test Provide EDS file for CANopen master interface Application Measuring Temperature Medical technology Utility vehicles CAN 2055C User s Manual Version 1 00 May 2013 5 CAN 2055C CAN 2055C User s Manual Version 1 00 May 2013 6 2 Hardware 2 1 Structure CAN 2055C Power LED d Run LED Oe Zei Error LED I 1g 2S ak oP Ar D gt DIO LED ces es eds 2S CHE e EK Node ID Rotary Switch Ex 32 leel eee sees 252 ch S2s 1200 Terminator Resistor LED d oA E Top View Baud rate Rotary Switch CAN_VS CAN_H CAN Shield CAN L CAN GND 120Q Terminal Resister Switch Ex OFF Botton View CAN 2055C User s Manual Version 1 00 May 2013 T 2 2 Node ID amp Baud Rate Rotary Switch The rotary switches for node ID configure the node ID of the CAN 2055C 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 x10 x1 Node ID rotary switch The rotary switch for baud rate handles the CAN baud rate of the CAN 2055C module The relationship between the rotary switch value and the practical baud rate is presented in the fo
9. 55C CAN 2055C 888 s H ao o 3 i oO E el E E CH Pd ote AF Sle CAR ay et La a CAN L The node IDs of these two CAN 2055Cs are 1 and 2 respectively Both of these two module s baud rate switch are selected to D 500 kbps CANopen baud rate with I O pair connection mode and these two modules will into Operational state automatically When the DI channel of one CAN 2055C receives a DI ON signal another CAN 2055C will output the ON signal at the corresponding DO channel CAN 2055C Users Manual Version 1 00 May 2013 10 2 4 LED Description Power LED The CAN 2055C needs a 10 L 30V e power supply Under a normal connection a good power supply and a correct voltage selection as the unit it turned on the LED will light 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 section 2 3 1 of the CAN 2000C user manual LED Signal State Description No Light Non power Power Supply is not ready Single Flash Stopped The device is in Stopped state The device is in the pre operation state The device is in the operational state Blinking Pre operation Continuing Light Operation 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 o
10. CANopen Slave Device CAN 2055C Application User s Manual Warranty All products manufactured by ICP DAS are under warranty regarding defective materials for a period of one year from the date of delivery to the original purchaser Warning ICP DAS assumes no liability for damages resulting from the use of this product ICP DAS reserves the right to change this manual at any time without notice The information furnished by ICP DAS is believed to be accurate and reliable However no responsibility is assumed by ICP DAS for its use or for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 2012 is reserved by ICP DAS Trademark The names used for identification only may be registered trademarks of their respective companies CAN 2055C User s Manual Version 1 00 May 2013 1 Table of Contents Dee TPO GUCUHON aisee aeae aaaea a aa E EE a EAEE a a EROL Aaa AEAEE Ena 3 1 1 Overview es ete see eect eos teed pecs ested bees a ss med pee soe eee 3 1 2 Hardware Specifications eee eee eeeeeeeeeeeeeeeeeteees 4 1 3 Eer 5 1 4 e le EE 5 2 APA TE 7 2 1 SUWUGtUIG 2 aie teu a aoe a aa ETO a aie aie 7 2 2 Node ID amp Baud Rate Rotary Switch 8 2 3 UO Pair Connection Mode ccc ceeeeeee cette eee eeeeeeeeeeeeeeeeeteeee 9 2 4 LED Descrpton cece eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 11 2 5 PIN Assignment EE 12 2 6 Wire Connecthon 12 x E ee er oa EE 13 3 1 O
11. bject Dictionary cceeccceeeeee cece eee eeeeeeeeeeeeeeeeeeeeessneeeeeeeees 13 3 2 Store and Restore Obiect AA 17 3 3 Application Obert 18 3 4 Default PDO Mapping teers eeeeeeeeeeeeeeeeeeeeeees 22 CAN 2055C User s Manual Version 1 00 May 2013 2 1 Introduction 1 1 Overview CANopen is one kind of the network protocols based on CAN bus and mainly used for embedded system such as industrial machine control vehicle control system factory automation medical equipments control remote data acquisition environment monitoring and package machines control The CAN 2055C is a CANopen slave which follows the CiA 301 version 4 02 and CiA 401 version 2 1 It is easy to access the digital I O status and set the configuration by using standard CANopen protocol CAN 2055C has passed the validation of the CA CANopen Conformance Test tool Therefore the provided EDS file is standard for any other standard CANopen masters CAN 2055C has _ 8 channel isolated sink source input and 8 channel isolated source output and it can be used to various applications such as PNP NPN TTL relay contact and so forth By owing to the CANopen masters of ICP DAS you can quickly build a CANopen network to approach your requirements Figure 1 1 CAN 2055C CAN 2055C User s Manual Version 1 00 May 2013 3 1 2 Hardware Specifications Digital Output Output channels 8 Source DO Load Voltage 5 30 Vp
12. c Output Max Load Current Output Type Open emitter Intra module isolation 3750 Vrms Reaction Time m DO Message to rising edge 55 us m DO Message to falling edge 170 us ESD Protection 4 KV Contact for each channel Digital lutput Input channels 8 Sink Source DI On Level 3 5 30 Vpc DI Off Level 1 Vpc Max Input Impedance 3kQ 0 3W Intra module isolation 3750 Vrms Response Time H Rising edge to DI response 75 us m Falling edge to DI response 180 us ESD Protection 4 KV Contact for each channel Others CANopen Status 3 LEDs for PWR RUN ERR Terminal Resister 1 LED as terminal resister indicator DI LED 8 LEDs as digital input indicator DO LED 8 LEDs as digital output indicator Power supply Unregulated 10 30 Vpc Power Consumption 1 5W Operation Temperature 25 75 C Storage Temperature 35 80 C Humidity 10 90 RH Non condensing Dimensions 32 5mm x 110mm x 102 mm WxLxH Detail CAN 2055C User s Manual Version 1 00 May 2013 1 3 1 4 Features Standard CANopen general I O slave devices CANopen Version CiA 301 ver4 02 CiA 401 ver2 1 Support I O pair connection mechanism Provide normal polarity 8 DI channels and 8 DO channels CANopen transfer rate 10k bps 20k bps 50k bps 125k bps 250k bps 500k bps 800k bps 1000k bps Support maximum CANopen slave device Node ID up to 99 Set Node ID 0 for firmware update m Firmware update tools I 7530
13. ent lt lt SDO server CAN 2055C Write object index 0x6002 with subindex 1 to OxFO means that set the ChO Ch3 of DI channels to normal and set the Ch4 Ch7 to be inverted Digital Output module 0x6200 User can set a group of 8 output lines as a byte of information and sent it into the object index 0x6200 with subindex 1 of CAN 2055C For example if the node id of CAN 2055C is 1 the commands are as below 11 bit COB ID bit ayebaye Data byte Data byte Func Code Node ID RTR Length 1019 871615 41 131211 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 00 62 01 OF 00 00 00 CAN 2055C 11 bit COB ID bit cians Data byte Data byte Func Code Node ID RTR Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 14 5 6117 11 1 0 0 10 0 10 01 1001 0 8 60 00 62 01 SDO client SDO server lt CAN 2055C Write the OxOF of digital output value into the object index 0x6200 with subindex 1 and its response success by CAN 2055C Change Output polarity 0x6202 The object 0x6002 with subindex 1 defines the polarity of a group of 8 output lines Output polarity can be inverted individually 1 input inverted 0 input not inverted For example if the node id of CAN 2055C is 1 the commands are as below CAN 2055C User s Manual Version 1 00 May 2013
14. f the CAN 2000C user manual LED Signal State Description No Light Non error Device is in working condition At least one error of the CAN controller has occurred Blinking Guarding fail Guard event happened Continuing Light Bus Off The CAN controller is bus off Single Flash Error Warning Terminal Resistor LED When the switch of the 120Q terminal resistor is turned on the terminal resistor LED will be lightening CAN 2055C User s Manual Version 1 00 May 2013 11 2 5 PIN Assignment Terminal No Pin Assignment 2 6 Wire Connection ON State LED ON OFF State LED OFF input Type Readback as 1 Readback as 0 Relay On Relay Off Relay Contact E Fal 08 l fost Close De DI X fies oS DI X Voltage gt 3 5 V Voltage lt 1 V TTL CMOS ogc rower Logic Power loaic o 8 DLCOM o 06 DCOM g Logic Level Low Logic Level High D 6 DIX gt 06 DIX Open Collector On Open Collector Off rH oS ocom ri 06 DL COM FEHR Tog ov Eelo Collector On Open Collector Off tge Di com HgS Di com polo JE Ea 3 3 1 Resistance Load Application Object Dictionary General Communication Entries Readbact SLC D OFF as 0 Relay On Idx Sidx Description Type Attr Default 1000h Oh device type UNSIGNED 32 RO 1001h Oh error register UNSIGNED 8 RO
15. is not happened The bit 5 bit 4 and bit O of the value OxF8 are 1 1 and 0 therefore the error mode output value of DO5 DO4 and DOO are active active and inactive respectively 11 bit COB ID bit SES byte Data byte Func Code Node ID ATA Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 02 62 01 31 00 00 00 CAN 2055C CAN 2055C User s Manual Version 1 00 May 2013 20 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 WERNER WERNER 1 1 0 0 0 0 0 0 0 0 1 0 8 60 02 62 01 SDO client E SDO server CAN 2055C Write object index 0x6206 and subindex 1 to 0x31 means set the error mode to 0x31 for enabling the error mode output of DO 0 DO 4 and DOS 11 bit COB ID bit eet byte Data byte Func Code Node ID E ength 1019 8171615 4 3121110 O 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 2F 07 62 01 F8 00 00 00 CAN 2055C 11 bit COB ID bit sitio Det byte Data byte Func Code Node ID RTRs Length 10 9 8 7 6 5 4 3 2 1 0 0 1 2 3 4 5 6 7 1 1 0 0 0 0 0 0 0 0 1 0 8 60 07 62 01
16. llowing table Baud rate rotary switch Rotary Switch Value Baud rate k BPS 0 10 1 20 2 50 3 125 4 250 5 6 7 B 500 800 1000 aud rate and rotary switch CAN 2055C User s Manual Version 1 00 May 2013 8 2 3 I O Pair Connection Mode The CAN 2055C module provides the I O pair connection function Before using this function you need to prepare one CAN 2055C module and an 8 bit DO and 8 bit DI CAN 2000 series module such as CAN 2055C When applying this function the DI channels of one CAN 2055C and the DO channels of another CAN 2055C are mapping with each other That is to say that when the DI channels of one CAN 2055C get the ON signal the corresponding DO channels of another CAN 2055C will be turned on When you completed the connection of these two CAN 2055Cs by CAN bus you need to set the baud rate rotary switch of these two modules to 0x8 OxF and configure the node ID of them by the special rule Set the node ID to be odd for one module and set the node ID of another module to be the value which is equal to the node ID increased one of the former Therefore they are the couple as the following figure Node ID A Couple A Couple A Couple A Couple For example user uses two CAN 2055Cs to do I O pair connection The connection structure is as follows CAN 2055C User s Manual Version 1 00 May 2013 9 CAN 20
17. ta byte Func Code Node ID RTR Data ength 1019 8171615 4 3121 110 011 21 13 41 516 7 171 0 0 0 0 0 0 0 0 1 0 8 4F 00 60 01 OF SDO server SDO client 4 CAN 2055C Read the object index 0x6000 with subindex 1 and the digital value OxOF will be responded by CAN 2055C module The DI channels of DI3 DI2 DI and DIO are turn on and others are turn off Change Input polarity Ox6002 User can configure the object index 0x6002 with subindex 1 to set the polarity of DI channels The object 0x6002 with subindex 1 defines the polarity of a group of 8 input lines Input polarity can be inverted individually 1 input inverted 0 input not inverted For example if the node id of CAN 2055C is 1 the commands are as below 11 bit COB ID bit Ser byte Data byte Func Code Node ID RTR ist ength 10 9 8 7 6 5 4 3 2 11 0 OG 2 84 15 6 1 7 1 1lololololololololi o 8 2F 02 60 01 FO 00 00 00 SDO client SDO server CAN 2055C CAN 2055C User s Manual Version 1 00 May 2013 18 cb 11 bit COB ID bit fen Data 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 11 1 0 0 0 0 0 0 0 0 1 0 8 60 02 60 01 SDO cli
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