User manual
Contents
1. 00 UNSIGNED8 RW 009 VAR Manufacturer Hardware Version 1 00 Vis String const 0 02h VAR Polarity 8_2 00 UNSIGNED8 RW 100A VAR Manufacturer Software Version 1 00 Vis String const 0 6206 ARRAY Error Mode Output 8 bit UNSIGNED8 0 00C VAR Guard Time 0000 UNSIGNED16 RW 0 00h VAR Number of entries 02 UNSIGNED8 RO 100D VAR Life Time Factor 00 UNSIGNED8 RW 0 Oth VAR ErrorMode 8_1 Et UNSIGNED8 RW 010 ARRAY Store Parameters UNSIGNED32 0 02h VAR _ ErrorMode 8_2 FF UNSIGNED8 RW 00h VAR Largest subindex supported 01 UNSIGNED8 RO 6207 ARRAY Error Value Output 8 bit UNSIGNED8 0 Oih VAR Save all parameters 03 UNSIGNED32 RW 00h VAR Number of entries 02 UNSIGNED8 RO 1011 ARRAY Restore Default Parameters UNSIGNED32 RW 0 Oth VAR ErrorValue 8_1 00 UNSIGNED8 RW 00h VAR Largest subindex supported 01 UNSIGNED8 RO 02h VAR _ ErrorValue 8_2 00 UNSIGNED8 RW Oih VAR Restore all default parameters 01 UNSIGNED32 RW 6208 ARRAY Filter Mask Output 8 bit UNSIGNED8 0 1014 VAR COB ID EMCY 80 NodelD UNSIGNED32 RW 0 00h VAR Number of entries 02 UNSIGNED8 RO 1015 VAR Inhibit Time EMCY 0000 UNSIGNED16 RW 0 Oth VAR FilterMask 8_1 FF UNSIGNED8 RW 1017 VAR Producer heartbeat time 0000 UNSIGNED16 RW 0 02h VAR FilterMask 8_2 FF UNSIGNED8 RW 1018 RECORD Identity Object dentity 23h M 00h VAR Number of entries 01 UNSIGNED8 RO Oth VAR Vendor ID 000000E9 UNSIGNED32 RO 1200 RECORD Server SDO Parameters 00h VAR No of entries 02 UNSIGNED8 RO 0 Oth VAR COB ID Client gt Server 600 N2. S2 AL DR45 24 Power Supply 120W 24Vdc 5A AP S2 AL DR120 24 Additional Terminal Block 2x11 AP S2 TB 211 1 Female Plug 11 Screw clamp AP S2 SPINA V11 Female Plug 11 Spring clamp AP S2 SPINA M11 RJ45 terminated cable 14cm AP S2 LOCAL BUS76 RJ45 terminated cable 22cm AP S2 LOCAL BUS152 CAN termination Adapter AP S2 TERM CAN A In order to configure the module it is necessary to connect it to a PC with the CAN interface and the superivisory software installed The configuration can be obtained by writing the desired values to the module s variables listed in the Object Dictionary Object Dictionary structure Index Sub Object Name Default Type Acc MO Index Sub Object Name Default Type Acc MO hex Index hex Attr hex Index hex Attr 1000 VAR Device Type 00020191 UNSIGNED32 RO M 6200 ARRAY Write Output 8 bit UNSIGNED8 M 001 VAR Error Register 00 UNSIGNED8 RO M 00h VAR Number of entries 02 UNSIGNED8 RO 1003 ARRAY Predefined error field 00000000 UNSIGNED32 ROMS KO Oth VAR DigOutput 8_1 00 UNSIGNED8 RW 005 VAR COB ID SYNC 00000080 UNSIGNED32 RW O 02h VAR DigOutput 8_2 00 UNSIGNED8 RW 1006 VAR Communication cycle period 00000000 UNSIGNED32 RW 0 6202 ARRAY Polarity Output 8 bit UNSIGNED8 0 007 VAR Synchrounous window length 00000000 UNSIGNED32 RW 0 00h VAR Number of entries 02 UNSIGNED8 RO 1008 VAR Manufacturer Device Name 16TS Vis String const 0 Oth VAR Polarity 8_1
3. ASCON TECNOLOGIC IS09001 Certified Ascon Tecnologic S r l via Indipendenza 56 27029 Vigevano PV Italia Tel 39 0381 69871 Fax 39 0381 698730 www ascontecnologic com mod 10 CB DO 16TS 00 M U 10 CB D0 16TS 2 07 07 Cod J30 478 1AD0 16TS E User manual Contents Characteristics Functional Block Diagram PDOs used by the module Hardware Set up Parameter configuration Commands CANopen 1 0 module 16 Digital Outputs mod 10 CB D0 16TS 16 digital outputs Each of the output terminals can be Bw BE i Emergency messages E E ESS SEM parameter Store Restore oy eee programmed as Standard optoisolated output Object Dictionary APPLICABLE STANDARDS The DO 16TS module is suited for the CiA DS301 protocol 1 and implements the CiA DS 401 standard Device Profile 2 Characteristics Technical data Single pulse output A WARNING A 1 The product described in this manual should only be installed operated and maintained by qualified application programmers and software engineers who are familiar with automation safety concepts and applicable national standards 2 This product supports the Parameter defaults indicated by CiA standards in addition some para meters have a factory set value present in the module when comes from the factory The default values can be loaded with the restore command but after the restore
4. alue 0000 UNSIGNED16 RW OCh VAR Output Pulse 12 Value 0000 UNSIGNED16 RW ODh VAR Output Pulse 13 Value 0000 UNSIGNED16 RW OEh VAR Output Pulse 14 Value 0000 UNSIGNED16 RW OFh VAR Output Pulse 15 Value 0000 UNSIGNED16 RW 10h VAR Output Pulse 16 Value 0000 UNSIGNED16 RW 200C VAR Operating Mode 01 UNSIGNED8 RW 0 200D VAR Operating Mode 0000 UNSIGNED8 Rw 0 3000 VAR Node Address 7F UNSIGNED8 RO 0 3001 VAR Node Baudrate 06 UNSIGNED8 RO KO The factory set value present in the modules when new for the transmission type is O1h
5. d if Index 200Ch Operating Mode contains the default value 1 1 Oih Operating mode RUN is activated Return to the initialisation ready state The transition is performed e following an operator s command e after assigning the configuration parameter 2003h The error state is automatically assigned by the device 3 FFh and the operating mode value is read only when e an attempt is made to execute an unexpected command This value causes an exit from the error state after 4 00h the error condition is acknowledged The only transition is to the ready state 2 00h The module automatically sends emergency messages including error codes The communication errors are descrided in CiA DS301 1 The error codes are expressed as a DEVICE SPECIFIC ERROR type of code The codes indicating a specific condition are also inserted following the table below Error code Error 0000000000 No error This code is generated when exiting an error contidion to notify the end of one of the error states 0000000007 Error Wrong Command An attempt to execute a command from an illegal state 0 2 3 4 5 6 i Emergency Oth FFh 21h 00h OOh 00h OOh Oyh Message COB ID entry 1014h NodelD FS Error code This module allows parameters to be saved in a non volatile memory In order to avoid storing parameters by mistake storage is only executed when a specif
6. e and Node ID configuration Node ID Baud rate Bus length Hi Lo Valid ID Node kbps m switch switch 20 2500 DE oth address 1 50 1000 EA 02 address 2 100 500 V 125 500 E 7Fh address 127D 250 250 500 100 800 50 Notes Default value 1000 25 Procedure for Node ID and Bit Rate configuration The HI and LO hexadecimal rotary swithches set the module s Bit Rate and CAN Node ID During the configuration the module must be off line and the CAN bus must be physically disconnected To configure the module follow the procedure 1 Z 3 Lyone 8 Turn the Power OFF Set the HI switch to F Select the desired Bit Rate value by setting the LO switch following the table e g 8 for 1 Mbps Turn the Power ON Shift the HI switch to E all the module service LEDs should flash Turn the Power OFF Now configure Node ID Set the HI and LO switches to the desired valid Node ID following the table Turn the Power ON Alternatively at step 7 set the value 00h Then at the next Power ON the last valid stored value will be resumed as Node ID Default values Bit Rate 500 kbps Node ID 127D 0 output not inverted If the object is not supported the device behaves according to the default value e Masking Index 6208h Filter Mask Output 8 bit This object defines an additional output filter mask configurable for 4 outputs 1 output is set to the receiv
7. ed output value 0 do not care the received output value is neglected for the correspon ding output channel and the old output value is kept If the object is not supported the device behaves according to the default value Error mode In error mode the outputs behave according to the following two entries Index 6206h Error Mode Output 8 bit This object indicates whether an output is set to a pre defined error value see 6207h object in the event of an internal device failure or of a Stop Remote Node status 1 output value takes the pre defined condition specified in object 6207h 0 output value is kept if an error occurs Index 6207h Error Value Output 8 bit On condition that the corresponding Error Mode is active device failures set the outputs to the value configured by this object 0 Output is set to 0 in case of fault if object 6206h is enabled 1 Output is set to 1 in case of fault if object 6206h is enabled Proprietary output functions In addition to the expected functions the module provides a proprietary output function option Output option combinations are fixed and determined by the value of the entry in the table below Index 2003h Output options Value Option activated Value Option activated 0 _ No option 9 Pulse on channels from 1 to 9 1 Pulse on channel 1 10 Pulse on channels from 1 to 10 2 Pulse on channels from 1 to 2 11__ Pul
8. factory set values are lost Functional Block Diagram Number of channels 16 Polarity high side Source PNP Output voltage 24 Vdc nominal Output current 0 5A Total continuous output current max 8A ON OFF delay lt 5 ms Output single pulse width Min 5 ms Max 65 s General l PDOs used by the module 3 way isolation Channel to Channel No RPDO Properties Mapped objects Index Sub index Channel to Logic 800 Vp RPDO 1 COBID 200h NodelD Write digital output 1 8 6200h 01h Logic to Serial Bus 800 Vp Transmission Type 01h Write digital output 9 16 6200h 02h Power Supply to Logic 800 Vp RPDO 2 COBID 280h NodelD Start Stop mode 200Dh 00h Power supply 24 Vdc 15 25 Transmission Type 01h P ti W DT a a Vde Note The Transmission Type is configurable Dimensions L 76 H 110 W 65 Oth is the factory set value present in the modules when come from the factory Weight 790 g e FFh is the default value Safety regulations Isolation class Il 50Vrms EN61010 1 Installation cathegory II Pollution degree 2 CE marking EN61131 2 3 way isolation am loge inate diagram 1 16 Power supply 800Vp Environment Operating Storage Temperature 10 4 65 C 40 85 C Relative 5 95 non condensing 5 95 non condensing Humidity Appropriate measures must For a short period slight be taken against humidity condensation may appear gt 85 o
9. ic signature is written to the appropriate subindex The signature is save Similarly the default values of parameters according to the communication or device profile are restored On receipt of the correct signature in the appropriate subindex the device restores the default parameters and then confirms the SDO transmission The signature is load The new configuration becomes active after a reset i e after a Power OFF Power ON cycle or an NMT Reset Node message Byte 0 1 2 3 4 5 6 if Store 22h 10h 10h Oth 73h 61h 76h 65h Parameter S a v e COB ID 600h NodelD Restore 22h 11h 10h oth 6Ch 6Fh 6th 64h Parameter o a d COB ID 600h NodelD The entries of a device Object Dictionary are accessed trough SDO Service Data Object messages The basic SDO messages are as follows as based on the Client Server request and response model wo l olailz2ielalsliol Read request SSE OBE Dron RNR Read response A COB SEAD NodelD oa Wrrereduesi a me COB SETO NodelD i Write response e OE rai WRIA This code is type dependant Please refer to the CIA DS301 Profile for more details List of CiA documents to which the user should refer 1 CiA DS301 CANopen Application Layer and Communication Profile 2 CiA DS401 CANopen Device Profile for generic I O Modules Power Supply 45W 24Vdc 2A AP
10. n the housing Mounting Vertical free air Protection IP20 Vibrations 10 57Hz 0 0375mm 3 axes 57 150Hz 0 5g Shock 3 axes 15g 11ms half sine Bit rate Negative screwdriver 0 4x 2 5 mm Hardware Set up Hexadecimal rotary switches service and I O LEDs Parameter configuration Configuring the Output Channels The Output functional block diagram is consistent with the standard profile CiA DS401 2 Index 6200h Write Output 8 bit This object writes a group of 8 outputs 1 output active 1 output not active The output signalling from a CAN message is processed first Two preprocess items are performed e Polarisation Index 6202h Polarity Output 8 bit This object defines the polarity of a group of 8 output lines Output polarity can be inverted individually 1 output inverted Service Status Meaning LEDs ON Operational RUN Blinking Pre operational CANopen Single flash STOPPED OFF Device in RESET state ON BUS OFF ERR Single flash Warning limit reached Double flash Error Control Event e Triple flash Sync Error CANopen OFF No error Device working ON DIAG Error ST Blinking INIT and DIAG running Single flash Baud rate setting OFF Module OK and ready PWR ON Module Power Supply ON OFF Module Power Supply OFF I O LEDs Status Meaning OUT 1 16 ON _ Output active 6 OFF Output inactive Bit Rat
11. odelD UNSIGNED32 RO 02h VAR COB ID Server gt Client 580 NodelD UNSIGNED32 RO 1400 RECORD 1s Receive PDO Comm Param PDO CommPar 20h M 00H VAR Largest subindex supported 02 UNSIGNED8 RO Oih VAR COB ID used 200 NodelD UNSIGNED32 RW 02h VAR Transmission type Hr UNSIGNED8 RW 1401 RECORD 2 Receive PDO Comm Param PDO CommPar 20h M OOH VAR Largest subindex supported 02 UNSIGNED8 RO Oih VAR COB ID used 300 NodelD UNSIGNED32 RW 02h VAR Transmission type FF UNSIGNED8 RW 1600 RECORD 1 Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application obj 01 UNSIGNED8 RO Oih VAR DigOutput8_1 62000108 UNSIGNED32 RO 02h VAR DigOutput8_2 62000208 UNSIGNED32 RO 1601 RECORD 2 Receive PDO Mapping PDO Mapping 21h M 00h VAR No of mapped application obj 01 UNSIGNED8 RO Oih VAR Start Stop Mode 200D0010 UNSIGNED32 RO 2003 VAR Output Option 00 UNSIGNED8 RW 0 200B ARRAY Value Output Pulse UNSIGNED16 0 00h VAR Number of Entries 10 UNSIGNED8 RO Oth VAR Output Pulse 1 Value 0000 UNSIGNED16 RW 02h VAR Output Pulse 2 Value 0000 UNSIGNED16 RW 03h VAR Output Pulse 3 Value 0000 UNSIGNED16 RW 04h VAR Output Pulse 4 Value 0000 UNSIGNED16 RW 05h VAR Output Pulse 5 Value 0000 UNSIGNED16 RW 06h VAR Output Pulse 6 Value 0000 UNSIGNED16 RW 07h VAR Output Pulse 7 Value 0000 UNSIGNED16 RW 08h VAR Output Pulse 8 Value 0000 UNSIGNED16 RW 09h VAR Output Pulse 9 Value 0000 UNSIGNED16 RW OAh_ VAR Output Pulse 10 Value 0000 UNSIGNED16 RW OBh VAR Output Pulse 11 V
12. se on channels from 1 to 11 3 Pulse on channels from 1 to 3 12 __ Pulse on channels from 1 to 12 4 _ Pulse on channels from 1 to 4 13 _ Pulse on channels from 1 to 13 5 _ Pulse on channels from 1 to 5 14 Pulse on channels from 1 to 14 6 _ Pulse on channels from 1 to 6 15 _ Pulse on channels from 1 to 15 7 Pulse on channels from 1 to 7 16 Pulse on channels from 1 to 16 8 _ Pulse on channels from 1 to 8 Generation of a single pulse of programmable width Index 200Bh Output Pulse Value Assigns the value of the duration of the pulse within a range from 5ms to 65535ms in 5ms steps Please note that the Output Pulse Value has to be expressed in ms Index 200Dh Start Stop Mode In RUN mode this entry determines the trigger of the pulse It should be noted that the pulse function is not subject to polarity and filter mask The generated pulse consists of a Low to High edge and at the end of programmed width of an High to Low edge bit 0 gt Start 1 ch 1 bit 15 gt Start 1 ch 16 Please note that bits 0 15 are automatically reset by the device i e they are ready for any subsequent pulse Index 200Ch Operating mode the device has its own internal state machine It is possible to move through this by sending appropriate values to the Index 200Ch following the table below Transition Operating Storage mode value Init At Power Up the Device is in the ready state Transition 1 is also execute
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