Part 3 - esd electronics, Inc.
Contents
1. Connect Remote Node Teil 1 2026 04 01 100 gt COB ID cs Node not ID used Connect Remote Node Teil 1 Antwort vom E A Modul 00 00 resvd resvd Connect Remote Node Teil 2 Antwort vom E A Modul 2025 02 Jos Too oo oo loo loo oo COB ID cs Node Jerror spec resvd resvd resvd resvd ID Code Error Prepare Remote Node 03 01 01 07 100 10 102 02 cs Node k resvd resvd resvd resvd resvd ID flag Prepare Remote Node Antwort vom E A Modul 2025 03 014 00 00 J00 00 OO 00 COB ID cs Node error spec resvd resvd resvd resvd ID Code Error Start Remote Node jooo0 01 00 6 After this procedure the I O module is in operational status and is ready to transmit and receive process data objects Furthermore the node guarding is now active so that the node guarding master must request the module status periodically via RTR telegram from now on more details on this in chapter Node Guarding 38 CAN CBM DIO8 Manual Rev 0 83 eT CAN 9 4 Process Data Objects PDOs PDOs are used for the transmission of process data The receive PDO normally transmits the data for the digital outputs of the control system e g static frequency changer to the I O modules The transmit PDO transmits the status of the digital inputs of the I O master module which is always a SLAVE in the CANopen network to the control system or in special cases2. 9 1 The CANopen Object Directory The object directory is mainly a arranged group of objects which can be accessed via the network Each object in this directory is addressed with a 16 bit index which is represented in hexadecimal form in the object directories The index can be a 16 bit parameter according to the CANopen specification CiA Draft DS301 DS401 or a manufacturer specific code By means of the MSB of the index the object class of the parameter is determined Part of the object directory are among others CE EITC 6000 9FFF standardised device profile area here according to DS401 6000 status of 8 inputs CAN CBM DIO8 Manual Rev 0 83 31 CANopen 9 1 1 Communication Profile Area Within this passage the following objects are implemented 1000 Device Type Unsigned32 1001 ErrorRegister U U Predef d Error variable Error History only subindex 0 Number of PDOs U 1005 OB ID of Sync Message Jnsigned32 1008 s Device Name Visible String si Version Manufacturer s Software Visible String Version l100B_ Node ID Guard Time Life Time Factor i rw 1011 in Restore Default Parameters 0 1 Unsigned32 rw preparation 1400 Receive PDO 0 1 2 PDOCommPar 1 max 8 these parameters are to be set only by means of the extended NMT boot up 32 CAN CBM DIO8 Manual Rev 0 83 CANopen 9 1 2 Standardised Device Profile Area The objects implemented are based o
3. new port direction definition into the non transient memory This procedure requires also some time max 20 ms Only after completing programming the I O master module reports the acknowledgement to the control system identifier command index index subindex data 1 data 2 data 3 data 4 code low high 1408 2 0x5F 0 0x00 0x00 0x00 0x00 0x00 1410 OxSF CAN CBM DIO8 Manual Rev 0 83 29 Parameterization The actual reaction time can only be estimated because it depends on the following factors for instance e CAN bit rate e CAN load and part of CAN telegrams with a higher grade of priority e CPU demand in the I O modules by other tasks e g fast status changes at the digital inputs 8 2 2 How to Use the Parameter Channel Generally the following things have to be observed when using the SDOs 30 SDOs are used to configure the I O modules They must not be used to change internal parameters during normal operation This would reduce the lifetime of the EEPROMs used for storing When changing a module configured via SDO or using the module in a different place the configuration should be set to its default values again This concerns especially the change in I O directions mentioned above For parameters which can be configured via DIP switch and via SDO the setting which had been executed last applies Changes of identifier basis addresses by means of write accesses to code positions sta
4. 14 CAN CBM DIO8 Manual Rev 0 83 LEDs 6 1 LED Display Combinations Operating Mode Module Output Function display display error error HE normal operation cae temporary or or A operating mode is not operational aici os oom x o below EE on _ BLINKING OFF programmingmode ox x oF BLINKING CAN error BLINKING protocol error etc see below but module still in operation module not in operation anymore BLINKING BLINKING BLINKING Blinking of the operating display LED green make sure that the CAN connections are correct transmit Start Node servo mode motor controller has to operate as BUS master preoperational short long long short module is configured as I O master preoperational short short short module is configured as I O see above slave preoperational regular slow blinking 1 O master slave cascading is see above switched off CAN CBM DIO8 Manual Rev 0 83 15 LEDs Blinking of the module error LED red Classifying some blinking codes for precise diagnosis Blink code Meaning long short short AI4 only Error of the analog input module long short e g overcharging node guard error node guard RTRs from NMT master fail to arrive timeout by RX monitor long short long short short short short only if internal Master Slave cascading is activated other codes CAL error register is not 0 Error cure no
5. Mode GND green e output error display OUT Error 24 V red e module error display Module Error 24 V red Normally only green LEDs should be on A red LED indicates an error or a very special system status e g programming mode If errors occur during the initialisation phase the operating mode and module error LEDs start blinking at the same time in order to distinguish this error distinctly from normal errors which occur during operation This error can for instance be caused by e wrong setting of the DIP switch e g CAN address 0 e EEPROM defect e other error during initialisation automatic test Errors which occur during normal operation are shown by the red error LEDs As long as the operating LED does not switch off the error is not very serious Among these errors are e g e no periodical messages from the motor controller e ato high error rate on the CAN caused for instance by a faulty CAN termination e extreme busload so that messages cannot be transmitted e temporary overload of individual outputs If serious errors occur the operating LED is switched off Serious errors are for instance e CAN OFF e hardware error In this case the module does not work anymore in other words it does not accept commands by the CAN anymore The module can only if at all be restarted by switching the module supply off and on again The various LED combinations will be explained in the following chapter
6. logical module PDO rx e g digitaloutputs 1 8 512 add 1 48 CAN CBM DIO8 Manual Rev 0 83 Appendix Servo Modus max network management a 1 T O inputs inputs 1 32 767 add 831 from I O master module to motor controller I O outputs outputs 1 32 768 add from motor controller to I O modules 830 internal messages from slave 1 to I O master 896 add 959 internal messages from slave 2 to I O master 960 add 1023 internal messages from slave 3 to I O master 1024 add 1087 internal parameter channel from I O master module to its 1664 add 1727 slaves 1 3 SDO Tx from I O master module to control system 1408 add 1471 SDO Rx from control system to I O master module 1536 add 1599 CAN CBM DIO8 Manual Rev 0 83 49 Appendix 11 2 Code Table Code positions for the fundamental module configuration Access r read Default Data type Setting display Explanations unit 16 bit ms 8 bit ms SFFS port direction definitions 5FF4 debounce time for digital inputs 5FF3 event mask for digital inputs SFF2 filter constants of the analog inputs SFF1 transmit cycle of the digital and analog inputs SFFO minimum transmission break during event controlled transmission SFEF _ enable disable internal master slave compound SFEE _ activate automatic configuration storing hardware model writing into this code posi
7. 2830 04 CAN CBM DIO8 C 2830 02 CAN CBM DIOS T as C 2830 02 but 20 70 C ambient C 2830 05 temperature CAN CBM DIO8 MD User manual in English 1 C 2830 20 this manual Engineering manual in English CAN CBM DIO8 ENG Contents circuit diagrams PCB top overlay C 2830 25 drawing data sheets of significant components 1 If module and manual are ordered together the manual is free of charge 2 This manual is liable of costs please contact our support 8 CAN CBM DIO8 Manual Rev 0 83 o Digital Inputs and Outputs 4 Digital Inputs Outputs Each I O connection is either defined as an input or an output via the DIP switch The status of the I O connections is each indicated by a yellow LED 4 1 Transmission Rates of Digital Inputs The transmission rates for the digital inputs can be distinguished e cyclical but not synchronous The transmission rate interval is only predetermined by the I O module not designed for CANopen standard but useful for simple applications e acyclical synchronous The transmission is made after a SYNC message has been received transmission type 0 e cyclical synchronous The transmission is made after a certain number of SYNC messages each has been received PDO transmission type 1 240 e event controlled asynchronous The transmission is made when the status of certain digital inputs changes PDO transmission type 255 Ifup to four I O modules are linked to form a
8. 40 CAN CBM DIO8 Manual Rev 0 83 CANopen 9 4 2 PDO Transmission Types 9 4 2 1 Synchronous Transmission Types The synchronous transmission rates can be used if a participant in the CANopen network can generate the according SYNC telegrams The I O module DIO8 can only receive those telegrams but cannot generate them The synchronous transmission type is defined by the PDO transmission type in the communication parameter of the according process data object A transmission type of 5 means that e g after five SYNC massages received a process data object is transmitted Details on this can be taken from the CiA Draft Standard 301 9 4 2 2 Event Controlled Transmission Each change of a digital input at master or slaves can trigger a message of the digital inputs Default set this is made by all equipped inputs by changing an event mask this can be changed see appendix Code Table or DS401 If this event mask is set to OXFFFFFFFF all inputs trigger a message If this mask is set to 0x00000000 no event controlled transmission is made In order to prevent a too high busload caused by event controlled transmission two mechanisms have been implemented e debouncing the digital inputs with debounce time which can be set e definition of a minimum break which has to pass between the transmission of two event controlled telegrams The default values are debounce time ms e no minimum break between two event c
9. Canada esd electronics Inc 12 Elm Street Hatfield MA 01038 0048 USA Phone 1 800 732 8006 Fax 1 800 732 8093 E mail _us sales esd electronics com Internet www esd electronics us CAN CBM DIO8 Manual Rev 0 83 Contents Contents Page I Pretacecand General 2 ta tl EAS E A ie See ees oe 3 EDIPO USES lt 2 sin AAA AAA A ee AA eh a ed Bere 3 2 Safety Information A hk ok gh RL A eh bok a aca 5 Se SOFT Descriptio aaa OS BRS ee eA IS ida todas 5 Bol GOMPONCUES a orale Bowed a iedads ee oa he a a Fars ae gee ha esa Sarg ae gd 5 3 2 Mecanica A dr a Ee td ad og Male do a Me 6 39 Elec HIcal Data et pern Doty ee eh ete o e seca el Gin a at ea ae ty tas ee ae IR NA E GA 6 3 3 Digital INp tS sa a5 vate doe ee dle sal oe le dt Cae ele 6 3 3 2 Digital Outputs 435 turd ee ess Mes wa Oe Sereda ae We ee ae ea es 6 33 3 CAN Connection yria rara ae EA ae eee ae Sie 7 3 3 4 Connection of Supply Voltage and I O Connections ooo oooooooo o 7 JA Case TGS OM peor rs Wena yw ek a a eed oe os gt BN a OS 8 OIL 5 toa a toe pikes ates Dae a Rowe a Fee ES Rae a EA a AS 8 3 6 Order Information ss SOS ott we ea eRe et ae is eke 8 4 Digital Inputs Outputs 0 A Ae ES ESE CR OMG A E 9 4 1 Transmission Rates of Digital Inputs 0 0 0 0 eee eee 9 42 Digital OQ tPUTS i ada in a ia a tier ee a hea a hace a teas 9 4 2 1 Restrictions in Defining I O Directions 0 00 10 4 2 2 Reading Back the Digital Outputs coie
10. controller corresponds with the bit rate of all I O modules C0351 Make sure that the motor controller transmits or receives with CAN IN3 and CAN OUT3 in accordance with the CAN identifiers defined in the appendix Set transmit cycle for CAN OUT3 telegram to 100 ms to prevent the monitoring in the I O module from reporting errors Configure motor controller for CAN master operation C0352 CAN CBM DIO8 Manual Rev 0 83 45 Quick Start 10 3 Table of the Most Important Identifiers and Messages for CANopen Identifiers 2 Data ee HEX HEX 01 00 start to all e gt operational ate CI IP a pel 2 eee ee ea a Explanation NodeNo 1 127 decimal Emergency Id emergency data object NMT network management master PDO process data objects Rx receive SDO service data object Sync sync frame telegram Tx transmit 46 CAN CBM DIO8 Manual Rev 0 83 Appendix 11 Appendix 11 1 CAN Identifiers Used add device address in the area of 1 63 or 1 127 as set by means of the DIP switch DS401 mode with internal I O master slave cascading predefined connection set according to DS301 V3 0 chapter 8 4 1 network management Function Identifier Identifier Number ma basic NMT master NMT slave ie network management 2025 2025 ext NMT slave NMT master emergency message 128 Adr PDO transmit e g digital inputs 1 32 from I O
11. enabled provided that it is defined as an output Attempts to enable connections which have not been defined as outputs are ignored by the I O modules CAN CBM DIO8 Manual Rev 0 83 19 CAN 7 3 1 Parameter Channel Each I O master module can be configured by a parameter channel Important parameters are transmitted from the I O master module to the I O slaves A detailed description of the parameter channel will follow on page 28 For standard applications the use ofthe parameter channel is not necessary because the most important parameters can also be set via the DIP switch 7 3 2 Internal Master Slave Communication For the communication between I O master module and its I O slave modules further CAN identifiers are covered which can be taken from the appendix For the CAN transmission from the I O slaves to the I O master each slave has its own identifier because quick process data which must not collide has also to be transmitted via this identifier The telegrams for the monitoring of the transmission from the slave modules to the master module are structured as follows index index sub user user user user low high index data data data data For identification the following codes are used following the SDO channel which however has nothing in common with the internal parameter channel telegram with process data and status write command with data maximum 32 bits response to read command with user data m
12. master 384 Adr module for control PDO receive e g digital outputs 1 32 from control to the 512 Adr I O modules internal messages from slave 1 to I O master 896 Adr internal messages from slave 2 to I O master 960 Adr 1023 internal messages from slave 3 to I O master 1024 Adr 1087 internal parameter channel from I O master module to its 1664 Adr 1727 slaves 1 3 SDO tx from I O master module to the control system 1408 Adr 1471 SDO rx from guidance system to the I O master module 1536 Adr 1599 guarding identifier distribution only by NMT boot up 1792 xxx 2015 e 63 63 ka 63 63 Ed 63 255 191 447 575 959 63 63 63 63 3 63 55 CAN CBM DIO8 Manual Rev 0 83 47 Appendix DS401 mode without internal I O master slave cascading default setting predefined connection set according to DS301 V3 0 chapter 8 4 1 ma network management 1 basic NMT master NMT slave network management 2025 2025 ext NMT slave NMT master 128 add 127 PDO tx c g digital inputs 1 8 SDO tx from I O master module to the control system 1408 add 1535 127 SDO rx from the control system to the I O master module 1536 add 1663 node guarding 1792 xxx 2015 255 identifier distribution only by NMT boot up 127 node IDs are only available if the internal master slave cascading is not used that means if no modules are linked to form a
13. master and I O slaves as described on page 26 is disturbing 8 1 5 4 Examples for Programming by the DIP Switch Servo mode with all I O pins as outputs e voltage supply off e DIP switches 1 to 8 ON e DIP switches 9 to 11 OFF e DIP switch 12 ON e voltage supply on red LED is slowly blinking e DIP switch 12 OFF red LED is slowly flashing programming is finished e voltage supply off again e before switching on again set device number and addresses again see pages 22 23 DS401 mode without internal I O cascading all I O pins as inputs e voltage supply off e DIP switches 1 to 8 OFF e DIP switch9 ON e DIP switch 10 ON e DIP switch 11 OFF e DIP switch 12 ON e voltage supply on red LED is slowly blinking e DIP switch 12 OFF red LED is slowly flashing programming finished e voltage supply off again e before switching on again set device number and addresses again see pages 22 23 CAN CBM DIO8 Manual Rev 0 83 27 Parameterization 8 2 Parameterization by the Parameter Channel SDO By means of a PC with CAN interface and configuration tool or another control system the most important internal parameters of the I O module can be configured For this an SDO channel is available in each I O module defined as master This SDO channel will be explained in detail in chapter CANopen 8 2 1 Access to I O Code Positions Via the Parameter Channe
14. running test of all LEDs and reading back the digital inputs directly after activating the test If there is an error at reading back the red module error LED is additionally driven S11 OFF S12 OFF reserved S11 ON S12 ON reserved S11 OFF S12 ON DIP test Switches 1 10 are linked by software to the outputs 1 8 and both error LEDs CAN CBM DIO8 Manual Rev 0 83 23 Parameterization Manufacturer default settings which have been implemented previously during power ON all DIP switches ON then after about 2 seconds 24 Switch 12 OFF Servo mode no A D converter installed Switch 11 OFF DS401 no A D converter installed Switch 10 OFF DS401 1 channel A D D A voltage feed 10 V Switch 9 OFF DS401 1 channel A D D A current feed 20 mA Switch 8 OFF DS401 input 1 and 2 as counter inputs C0256 CAN CBM DIO8 Manual Rev 0 83 Parameterization 8 1 4 Programming Mode As long as the programming switch S12 is in OFF position the module is in normal operation By switching S12 to ON the module gets into Programming mode no matter which current operating mode it had been in If the programming switch is already on ON during power ON the default settings become active and all possibly stored special configurations will be overwritten If the programming switch is only put to ON after power on however the parameters which can only be set via SDO remai
15. to other I O devices The PDO structure has already been explained for an easy example in chapter Process Data Objects For general use a PDO telegram can be structured in nearly any way however For this the PDO mapping which will be described in the following chapter can be used CAN CBM DIO8 Manual Rev 0 83 39 CANopen 9 4 1 PDO Mapping The variable PDO mapping is used to insert certain objects from the CANopen object directory into a maximum 8 bytes long process data telegram For this object 1800 is responsible for the receive PDO digital inputs and object 1 A00 is responsible for the transmit PDO digital outputs Both objects have principally the same structure These PDO mapping parameter objects comply with a list in which all objects in the PDO are represented Each list entry shows the index of a represented object the subindex of the represented object and the number of data bits inserted by this object in the PDO Example In the transmit PDO only the status of the first 8 digital inputs of an I O module is to be represented The object which contains the digital inputs in groups of 8 inputs each i e byte by byte is object 6000 from DS 401 at the moment only DSP 401 V1 4 chapter 8 1 1 Subindex 1 from object 6000h always contains the status of the first 8 digital inputs ifnecessary it could also be read out via SDO In order to map this object into the PDO index subindex and bi
16. CANbloc Mini I O Modules DIOS For The Use In CANopen Networks Manual CAN CBM DIO8 Manual Rev 0 83 Document file I texte Doku MANUALS CAN CBM DIO8 Englisch DIO8 083 en9 16 03 04 Changes in the chapters The changes in the user s manual listed below effect changes in the hardware as well as changes in the description of the facts only Chapter Changes versus previous version Order information changed Schematic diagram of input and output circuits inserted Further technical changes are subject to change without notice CAN CBM DIO8 Manual Rev 0 83 NOTE The information in this document has been carefully checked and is believed to be entirely reliable esd makes no warranty of any kind with regard to the material in this document and assumes no responsibility for any errors that may appear in this document esd reserves the right to make changes without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part ofa product ofesd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E mail info Wesd electronics com Internet www esd electronics com USA
17. Default Output Fault value Unsigned 8 r unconverted Unsigned 32 6424 When enabled interrupt triggered when 0 Unsigned8 analogue input rises above this value Unsigned 32 not converted ro rw rw rw rw rw rw rw W 34 CAN CBM DIO8 Manual Rev 0 83 OK CAN 9 1 3 Manufacturer Specific Profile Area Important is the manufacturer specific profile area from 0x2000 OxSFFF where special system parameters can be read and set In the I O module CAN CBM DIO8 the index is determined by means of the formula Index OxSFFF code number of the I O module The code numbers of the I O modules can be taken from the appendix on page 47 9 2 Service Data Objects SDOs Service data objects are used to access the object directory of a device Therefore an SDO is a channel which is used to access the parameters of the device The access via this channel is possible in the I O module CAN CBM DIO8 in operational and preoperational status Please observe the notes on page 30 9 2 1 Structure of SDO Telegrams Identifier command index index subindex data 1 data 2 data 3 data 4 code low high The command code consists of the command specifier and the length Combinations often used are for instance 0x40 64 dec read request i e a parameter is to be read 0x23 35 dec write request with 32 bit data i e a parameter is to be set The maximum 4 bytes long data area is generally structured following the r
18. a ia a a a E nade a 41 9 4 2 1 Synchronous Transmission Types 00000 ee eee eee 41 9 4 2 2 Event Controlled Transmission 0000 ee eee eee 4 9 4 3 Cyclical Asynchronous Transmission 0 0000 eee eee 42 9 4 4 Node Guarding Life Guarding 0 0 0 cee eee 42 9 4 5 The Emergency Telegram ys i jus te ek eR ae CR ia 43 10 Q ick Starts 0000020 A LEE GE Nic ple I Eee A NE Geis ag Sn Be 44 10 1 Configuration for the Use in the CANopen Network 0 00000 ee eee 44 10 2 Configuration for the Use in CANopen Network 0 0 00 ee ee eee 45 10 3 Table of the Most Important Identifiers and Messages for CANopen 46 PTs PONE cae ol esha Lo Se taal leat ttn sch la tc cla ee Uc gave el es lee ora waa 47 Lid CAN Mdentiticts Used coralina raras 8 ae hog eh eee ae eo ae de e on 47 WEZ Gode Tablero es ali Tea ere As y 50 2 CAN CBM DIO8 Manual Rev 0 83 Preface 1 Preface and General This manual is a complex technical information about the I O modules of the CANblock Mini series CBM CAN CBM DIO8 A large part of the descriptions is valid also for other CBM modules Special data which concern only one of these CBM modules are described in the additional manual A few words on how to put the module into operation can be found in the chapter Quick Start on page 44 1 1 Purpose of Use If the module described in this manual is to be used with a motor controller it is impo
19. am for the digital outputs is received again the error display switches off The default setting of the according parameter code position 30 see appendix is 0 i e there is no reception monitoring if the default setting is used 4 2 4 Output Failures If a short circuit occurs or the maximum permissible output current of a channel is exceeded only the output concerned is switched off driver internally the other outputs remain unaffected for the time being The output driver used also signalizes errors if an external voltage instead of a load conducting to ground is applied to its outputs This is a fatal error and causes a reset of the whole outputs of the module Therefore it must be avoided to apply an external voltage to an I O line which has been defined as an output Errors occurring at the outputs are shown by the red Out Error LED Furthermore a CANopen standard compliant emergency telegram is transmitted CAN CBM DIO8 Manual Rev 0 83 11 Digital Inputs and Outputs 4 2 5 Input and Output Circuits Outputs Power supply 24 V SUPUT poe Digital O 1 to Microcontroller A Pp 150R GND for module and INPUT 1 outputs to Microcontroller 2k2 ZN5V1 I 5k5 GND for module and outputs Figure 4 2 1 Schematic diagram of input and output circuits 12 CAN CBM DIO8 Manual Rev 0 83 Installation 5 Installation Generally all guidelines regarding EMC compliant installation wiring conductor cro
20. aximum 32 bits acknowledgment for write command acknowledgement error Only one identifier is used for the CAN transmission from the I O master to its I O slaves The slave number is written into the CAN user data in order to save identifiers This way parameters and process data are transmitted which the I O master module passes on to its I O slaves after analysing the PDO telegrams 20 CAN CBM DIO8 Manual Rev 0 83 CAN If the internal communication between I O master module and I O slave module is disturbing or is not required it can be switched offby a special programming option by the DIP switch see page 27 This might be necessary ifno identifiers for the internal master slave communication are available in the CAN network CAN CBM DIO8 Manual Rev 0 83 21 Parameterization 8 Parameterization The module can be parameterized without external aids bit rate CAN addresses Connection to the power supply is only needed for programming the inputs and outputs and further internal parameters 8 1 Parameterization Via DIP S witch 8 1 1 Assignment of the DIP Switch in normal status CAN address bit 5 master slave number L OFF 0 ON 1 OR CAN address bit 6 OFF 0 ON 64 master slave number H OFF 0 ON 2 OR reserve INC INTA INCA programming switch The CAN address results from the addition of the squares see column Description The assignment of switc
21. dean 105 CAN ID basis OFF servo mode software model ON DS401 mode internal I O cascading OFF cascading ON 1 0 M S compound no cascading programming switch normal status OFF 8 1 5 1 Programming the Input Output Functions In programming mode the switches to 8 of the DIP switch have the following special functions The switch position ON defines the according I O line as output the position OFF defines an input For the I O module DIO8 you have to observe the notes in chapter Digital Outputs on page 10 8 1 5 2 Programming the CAN Identifiers and the Software Model In programming mode switch 9 has the following meaning Switch 9 OFF The CAN identifiers listed in the appendix starting on page 47 are used servo mode Switch 9 ON For the time being CAN identifiers from the Predefined Connection Set are used DS 401 mode see appendix 26 CAN CBM DIO8 Manual Rev 0 83 Parameterization 8 1 5 3 Inhibiting the I O Master Slave Compound If the compound of the I O master to three I O slaves is not desired it is possible to inhibit this functionality This can be achieved by switch 10 in programming mode Switch 10 OFF Linking an I O master module with a maximum of three slave modules is possible this is normal Switch 10 ON An I O master Slave compound is not possible special case only required if the internal transmission between I O
22. e and output error e yellow LEDs for the I O signal display e processor SAB 80C515C L e CAN transceiver PCA82C250T SMD electrically insulated CAN CBM DIO8 Manual Rev 0 83 5 Short Description 3 2 Mechanical Data e case UEGM MSTB by Phoenix Contact dimensions height 79 mm depth 90 5 mm 10 mm for I O connector width 25 mm e ambient temperature 0 50 C or extended temperature range 20 70 C e position ofthe DIP switch at the upper case side when snapped open e position of the CAN connector at the lower case side e position ofthe green operation LED below 3 3 Electrical Data e voltage supply 18 to 30 Volts DC typical 24 V e current typical 30 mA max 80 mA when outputs are switched off 3 3 1 Digital Inputs not electrically insulated e input resistance 3kQ lt Ri lt 4kQ input voltage range low 0 5 V e input voltage range high 13 30 V 3 3 2 Digital Outputs e not electrically insulated e type PNP high side driver high side switch e short circuit proof e maximum output current ca 1 A per channel driver specification e short circuit recognition overload from about 4 A per channel e output voltage low 0 V via input resistances with open output e output voltage high gt Ub 1 8 V with maximum load supply with 24 V e the current output status can be read back e shared short circuit status display by a red LED e display by red LED if to
23. h 7 depends on the choice whether the I O modules are to operate with internal master slave cascading see page 26 or not The setting whether the modules operate with or without cascading can be made in the programming mode see page 25 With internal cascading only 63 different node identifiers are possible without internal cascading however 127 Ifthe internal master slave cascading is not used switch 8 has no function at the time being It should be set to OFF so that it does not collide with possibly future extensions 22 CAN CBM DIO8 Manual Rev 0 83 Parameterization 8 1 2 Setting the CAN Bit Rate CAN bit rate 1000 Kbit s 500 Kbit s 250 Kbit s 125 Kbit s 100 Kbit s 50 Kbit s 20 Kbit s 10 Kbit s 8 1 3 Test Mode only for the manufacturer The test mode is used for a fast test of the I O connections and for the default setting Current information can be taken from the special document In order to activate the test mode all DIP switches have to be set to ON before switching on the supply voltage and then max 2 seconds after a power on one of the switches 8 12 has to be set to OFF again The I O module then switches into test mode which can only be left again by switching off the supply voltage Furthermore all EEPROM cells are set to the default values In test mode the two last DIP switches define the test which is to be carried out S11 ON S12 OFF
24. he response of the slaves does not correspond to the response expected the NMT master recognizes an error and reacts accordingly The response telegram contains the module status and a toggle bit Identifier and cycle time are given to the NMT slave during the extended NMT boot up Life guarding The NMT slaves monitor whether they are being requested by the NMT master for the purpose of the node guarding If these requests fail to appear for some time the slave concerned transmits an emergency message In the CAN CBM DIO8 the nonappearance of the node guard requests is also shown by the red module error LED of course only if the node guarding has been activated The time until the error is triggered is the product from the node guarding cycle time and the so called lifetime factor which is also given to the NMT slave during the extended NMT boot up 42 CAN CBM DIO8 Manual Rev 0 83 C ANopen 9 4 5 The Emergency Telegram In case of an internal error the I O module transmits an emergency telegram This is structured as follows Emergency Telegram 128 ADR COB ID The I O module CAN CBM DIO8 supports at least the following emergency error codes Error Code hex module software error error in additional modules monitoring communication error In field error register of the emergency telegram the current contents of CANopen object 1001 is inserted The manufacturer specific error f
25. i oe eee oa A Ze vad 10 4 2 3 Reception Monitoring of the Digital Outputs for Servo Mode 11 4 2 4 Outp t alte vdd ds A e a o le Eg tah ng Us GN es Al 11 4 2 5 Input and Output Circuits a A a ba de A its 12 A AA A oe lates ula an a lo 13 5 1 WO Module ProvecHOn 222402 0d0s os Oe ade ee ela eh oa oe le oh Hea ee eels 13 VW I a ais aces Se cate ra a as Sa o oe etal Mae 13 6 LEDS 0 A A ED atk bates 14 6 1 LED Display Combinations deca ti lid ea a ai ate ede ai cs 15 TECAN clos etc ar te Mo e RA do 17 TLCAN NE ba Loe gt ee et ey SSO da we tee eh a Oa Dados we ados as 17 T2 CAN nares bey a a ea See Sh eas PS ees ee 18 o Brocess Data Objects sel rte cos eee eae oye ell lle oul Gol sual daly 19 hd Parameter Channel sia acu eich ab weg sd he ye ga ee acer be oe ee Be A 20 7 3 2 Internal Master Slave Communication 0 0 00 e eee eee eee 20 8 Parameterization 4 00042 ous a 2 AS AAA A se READ ORK Pea See es 22 8 1 Parameterization Via DIP Switch eich alate te oe aS og ee al el aah es 22 8 1 1 Assignment of the DIP Switch in normal status o ooo oooo 22 8 1 2 Setting the CAN Bit Rate A ES wed 23 8 1 3 Test Mode only for the manufacturer 0 0 0 0 eee eee eee 23 8 1 4 Prosramming Mode cd taa 25 CAN CBM DIO8 Manual Rev 0 83 1 Contents 8 1 5 Assignment of the DIP Switch in Programming Mode 26 8 1 5 1 Programming the Input Output Functions 26 8 1 5 2 P
26. ick Start 10 2 Configuration for the Use in CANopen Network The following steps have to be followed for a quick start with the most basic configuration 1 2 Definition of the outputs of the I O module via DIP switch Switch on power supply of the I O module Switch 12 ON Red module error LED is slowly blinking programming mode Switch 11 OFF future extensions passive Switch 10 OFF 1 O cascading active Switch 9 OFF servo mode Switches 1 8 in accordance with I O direction OFF input ON output Switch 12 OFF The blink pulses of the red module error LED become shorter Switch off power supply of the module The definition of the inputs outputs is completed Setting CAN address master slave number and CAN bit rate in the I O module e g 500 kbit sec motor controller at CAN address 1 I O master module at CAN address 2 standard setting for servo motor controller 93xx 3 Switch 1 OFF switch 2 ON switches 3 to 6 OFF CAN address see also page 22 23 Switch 7 OFF switch 8 OFF module becomes I O master Switch 9 OFF switch 10 OFF switch 11 ON 500 kbit s see also page 23 Establish CAN connection to motor controller Switch on power supply of the module Mode display green constantly on operation display green is blinking Settings at the motor controller see Configuration Systembus in system manual of the servo motor controller Check whether the bit rate of the motor
27. ield is not used at the moment 10 2000 Via the transmitted emergency telegrams an error history is stored in the I O module For this object 1003 in the CANopen object directory is used CAN CBM DIO8 Manual Rev 0 83 43 Quick Start 10 Quick Start 10 1 Configuration for the Use in the CANopen Network The following steps must be followed for a quick start with the most basic configuration 1 Definition of the outputs of the I O module via DIP switch e Switch on power supply of the I O module e Switch 12 ON Red module error LED is slowly blinking programming mode e Switch 11 OFF future extensions passive e Switch 10 ON I O cascading passive e Switch 9 ON DS401 mode e Switches 1 8 in accordance with I O direction OFF input ON output e Switch 12 OFF The blink pulses of the red module error LED become shorter e Switch off module supply The definition of the inputs and outputs is completed 2 Setting CAN address node ID and CAN bit rates at I O module e g 125 kbit sec CAN address 2 e Switch 1 OFF switch 2 ON e Switches 3 to 6 OFF CAN address see also pages22 23 e Switch 7 OFF switch 8 OFF e Switch 9 OFF switch 10 ON switch 11 ON 125 kbit s see also page 23 e Establish CAN connection to control e Switch on module supply Mode display green constantly on operation display green blinks until start node had been received 44 CAN CBM DIO8 Manual Rev 0 83 Qu
28. l The I O module uses its own code positions for accessing internal parameters These code positions can be taken from the appendix The subindex is not used within this manufacturer specific profile CANopen designation and the according telegram field should be set to 0 8 2 1 1 Time Performance at SDO Write Accesses Write accesses to I O modules without internal master slave compound are acknowledged within 30 ms if automatic storing is used A normal write access is much quicker acknowledged if no automatic storage is uses In this case a write access is acknowledged within 10 ms If you want to retain the parameters even after switching off the supply voltage they have to be saved by a special save command to CANopen object 1 The time the save command needs to be executed depends on the number of changed memory cells in the EEPROM In the worst case the EEPROM used needs up to 20 ms per write access however such long delay times have never been witnessed in tests An SDO write access can take especially long time 100 ms if you work with internal master slave compound and code positions have been written on which have to be passed from the I O master module to its I O slaves first The internal procedure during this access will be explained in the following chapter 28 CAN CBM DIO8 Manual Rev 0 83 Parameterization 8 2 1 2 Internal Procedure During SDO Write Accesses The fo
29. llowing example is used to explain the most difficult internal procedure during SDO write accesses with internal master slave compound Example 1 Definition of 32 inputs outputs via the parameter channel All 1 O lines of the master module and the three slave modules connected to it are to be defined as outputs The device address of the master module is 2 The appropriate code position 10 port direction can be taken from the appendix From this the following CAN SDO telegram to be transmitted from the control system results identifier lcommand index index subindex data 1 data 2 data 3 data 4 code low high 1536 2 write OxFF 0x5F 0 0x00 master slavel slave2 slave3 1538 0x23 10i OxSF OxFF OxFF OxFF OxFF OxFS5 Only the I O master module with device address 2 receives this telegram Since this telegram contains also data for the slaves connected to the master however the master then transmits according telegrams to its slaves via the internal master gt slave channel identifiers 1664 2 and waits for the response of the slaves Note Provided that not all three slaves are available the master stops waiting after a certain time 50 ms but does not report an error The slaves store their individual port direction definitions into the non transient memory and acknowledge this after successfully storing via the slave gt master channels Afterwards the master too stores its own
30. logic module the I O slave modules transmit their digital input information first to the I O master The master combines them e g in a 4 byte message PDO for the motor controller or for the master control and then transmits them via the process data object 4 2 Digital Outputs Each output driver has a nominal current of 1 A If about 4 A per output are exceeded the according output is switched off at once and an error is reported Factory set all I O connections are only defined as inputs For the I O module type DIO8 it is advisable to define the inputs and outputs always in pairs of two as will be described on the following page In order to be able to drive them as outputs the connection which is to be an output also has to be defined via DIP switch or parameter channel see chapter Parameterization from page 26 CAN CBM DIO8 Manual Rev 0 83 9 Digital Inputs and Outputs 4 2 1 Restrictions in Defining I O Directions The output driver for the 8 digital outputs has only 4 status lines which means that the error status of two output lines each cannot be distinguished For technical reasons the error status of connections defined as INPUT has to be ignored open load detection of the driver If for instance I O connection is used as digital input and I O connection 2 is used as digital output possible errors e g overload of I O connection 2 cannot be recognized Therefore it is advisable to use the I O lines 1 and 2 3 a
31. n stored The programming mode is signalized as follows e the green operation LED is switched off e the green mode LED is permanently on e the red module error LED blinks slowly as long as the programming switch is ON In programming mode all outputs are switched off During this phase the switches S1 S9 can be set in accordance with the following chapters Each time the switch is turned the green operation LED blinks Only when the programming switch is turned from ON to OFF the set configuration definition of inputs and outputs is taken over into a non transient memory After a successful programming the blinking interval of the red module error LED becomes shorter For safety reasons the programming mode can only be left by switching off the supply voltage Before switching on the supply voltage again the DIP switches for the address setting and the CAN bit rate S1 S11 have to be set to their current values again All parameters which can be set via DIP switch in the programming mode can also be set via SDO see page 28 For this however you need a suitable configuration tool CAN CBM DIO8 Manual Rev 0 83 25 Parameterization 8 1 5 Assignment of the DIP Switch in Programming Mode Note The Assignment of the DIP Switch in Programming Mode is not valid for the CBM AO4 module and the CBM AI4 module see CBM AI4 manual supplement ON at OACI omaro OACI priest yor dean too C omaro yor
32. n the CiA Draft Standard Proposal 401 Version 1 4 Some objects e g the 16 and 32 bit access objects are only available if several CAN CBM DIO8 modules with 8 I O connections each are linked to form a compound 9 1 2 1 Digital Inputs and Outputs Unsigned8 0 1 max 32 Unsigned8 Boolean 0 1 2 Unsigned 16 Unsigned32 z i Unsigned8 1 max 32 Boolean Fault Mode for 1 Output 0 Unsigned8 ine 1 max 32 Boolean i Unsigned8 1 max 32 Boolean 0 Unsigned8 1 max 2 Jnsigned16 CCIC 4 z 0 Jnsigned8 1 max 4 Jnsigned16 0 Jnsigned8 max 1 Jnsigned32 0 Jnsigned8 rw max Jnsigned32 0 Jnsigned8 max 1 Jnsigned32 ada 4 CG 0 Jnsigned8 1 max 2 Jnsigned16 z A E APPEL A atic CAN CBM DIO8 Manual Rev 0 83 33 CANopen 9 1 2 2 Analog Inputs and Outputs Only CBM AI4 and CBM AO4 Subindices channel not converted 1 Unsigned16 converted 1 Jnsigned 16 1 Jnsigned 16 Determines which events cause an 0 Jnsigned 8 interrupt for a specific channel Jnsigned 8 6423 Globally enable disable Interrupt 6425 When enabled interrupt triggered when Jnsigned8 analogue input falls below this value Jnsigned 32 not converted 6426 When enabled interrupt triggered when Jnsigned8 analogue changes by more than this Jnsigned 32 value from previous reading rising or falling not converted 6443 Output Fault Mode 1 Unsigned8 6444
33. nd 4 5 and 6 as well as 7 and 8 always as pair of two with the same direction Example for an advisable combination 1 2 inputs 3 4 outputs 5 6 inputs 7 8 outputs Example for a not advisable combination 1 output 2 input 3 4 outputs 5 6 inputs 7 8 outputs In this example an overload of I O connection 1 e g will not be recognized because I O connection 2 is defined as input and the internal status line of I O 1 2 has therefore to be ignored Errors at outputs 3 4 7 8 however will still be recognized and shown 4 2 2 Reading Back the Digital Outputs Each I O line defined as an output always retains its function as a digital input as well i e if an output is enabled the current status will be transmitted as described in 4 1 10 CAN CBM DIO8 Manual Rev 0 83 Digital Inputs and Outputs 4 2 3 Reception Monitoring of the Digital Outputs for Servo Mode The monitoring which will be described here is normally only useful for the use in servo mode or if for other reasons no node guarding in accordance with CANopen is possible If the telegrams for the digital outputs RX PDO are transmitted periodically the I O module can monitor the receive cycle If no telegrams are received for a certain time e g for 500 ms the modules concerned switch all outputs to the predefined error status e g all outputs off and report an error via the red LED The module remains in its normal operating mode however As soon as a telegr
34. ntents of object 1010h represent the current memory mode e If bit 1 and 2 are set subindex 1 by object 1010 the I O module automatically stores the configuration after each change via SDO channel e If bit 1 is set subindex 1 by object 1010 the I O module does not save the configuration automatically but has to be arranged by writing the characters save 73 61 76 65 arrangement from CAN telegram into object 1010 subindex 1 Note The CANopen standard has no possibility to change into the memory mode The possibility to change via code position 17 has been designed for a greater flexibility of the I O modules If many write accesses via SDO are made when booting a network the automatic saving should be switched off by setting code position 17 to zero and the EEPROM should be updated once after the initialization By doing this the I O module does not always have to determine the EEPROM checksum and the many SDO write accesses can be acknowledged much quicker see also page 28 The EEPROM used has a lifetime of 1 million delete write cycles 36 CAN CBM DIO8 Manual Rev 0 83 CANopen 9 3 NMT Boot Up 9 3 1 Basic Boot Up The I O modules of the DIO8 series can be initialized with the Minimum Capability Device boot up described in the CiA Draft Standard 301 in chapter 8 3 The easiest way would be to send a telegram after switching on to change from preoperational status into operational status Transmit
35. ocess data object the I O module receives programs to enable its digital outputs and transmits the status of its digital inputs In DS 401 mode the contents of the process data telegrams can be set flexibly More on this can be taken from chapter PDO Mapping starting on page 40 In servo mode the PDO mapping is configured in default setting in such a way that the CAN telegrams have the following structure process data telegram e g address 2 transmitted by the I O module in servo mode input input input input not used not used not used not used 1 8 9 16 17 24 25 32 0 0 0 0 Inputs 1 8 are the I O connections of the master module inputs 9 16 are at slave no 1 inputs 17 24 are at slave no 2 inputs 25 32 are at slave no 3 Input 1 is inserted into the LSB of data 1 input 8 into the MSB etc If some slaves are not available the according inputs transmit the value 0 The transmission of digital input information is initiated by the I O module in servo mode event controlled and or time controlled transmissions are possible see chapter Parameterization starting on page 26 process data telegram e g address 2 received by the I O module in servo mode output output output output not used not used not used not used 1 8 9 16 17 24 25 32 0 0 0 0 This telegram is equally structured than the transmitted telegram If a bit is set the according output is
36. of these modules This has to be taken into account at the network planning and installation 7 2 CAN Channels The following channels are available for the data transfer between the control e g motor controller and the I O units e aprocess data object PDO with 8 to 32 bits depending on the number of I O slave modules e aparameter channel SDO to access manufacturer specific code positions Depending on the requirements up to four I O modules with 8 I O connections each can be linked via the CAN to form a big module with 32 I O connections Modules linked in such a way will be called I O master module and I O slaves in this manual The I O master module is not to be confused with a CANopen master For such a module the following channels are used e an internal parameter channel from the I O master module to its I O slave modules e a maximum of three internal parameter and process data objects from the I O slave module to the T O master module Before using the internal module compound you have to check whether the required identifiers are really available in the CAN network see appendix starting on page 47 18 CAN CBM DIO8 Manual Rev 0 83 CAN 7 3 Process Data Objects Each I O module configured as master is connected to the control or the motor controller via a process data object PDO For the I O module each process data object consists of a receive branch PDO RX and a transmit branch PDO TX Via the pr
37. ontrolled transmissions CAN CBM DIO8 Manual Rev 0 83 41 CANopen 9 4 3 Cyclical Asynchronous Transmission The input information can be transmitted cyclically for instance every 100 ms with the process data object The transmission cycle time can be changed via the parameter channel or be switched off It is an additional transmission initiative to the possibilities defined in the CANopen standard and has been especially designed for the use at the servo motor controller In CANopen terminology we could refer to this transmission type as cyclical but not dependent on the SYNC object Default value e Servo mode Cyclical transmission every 100 ms e DS 401 mode Cyclical transmission switched off 0 transmission only depending on PDO transmission type This transmission type can be activated by changing code position 14 in the manufacturer specific object area see appendix 9 4 4 Node Guarding Life Guarding Via the node Life guarding the control and the connected I O modules monitor each other especially in order to recognize connection failures In CANopen terminology the node guarding is the monitoring of the I O modules by the NMT master the Life guarding on the other hand occurs within the I O modules and monitors the NMT master Node guarding The NMT master requests cyclically a special telegram from its NMT slaves here I O modules by means of a special RTR message CAN request If t
38. rogramming the CAN Identifiers and the Software Model 26 8 1 5 3 Inhibiting the I O Master Slave Compound 27 8 1 5 4 Examples for Programming by the DIP Switch 27 8 2 Parameterization by the Parameter Channel SDO 000000 o 28 8 2 1 Access to I O Code Positions Via the Parameter Channel 28 8 2 1 1 Time Performance at SDO Write Accesses o oooooooo 28 8 2 1 2 Internal Procedure During SDO Write Accesses 29 8 2 2 How to Use the Parameter Channel 23 oa Sa i ee aes 30 9 CA NOPOM is STA A Bae BE dee CORO Aa BRS eee be 31 9 1 The CANopen Object Directory wy 2 02 bebe eee Ch ee Ge ee ky 31 9 1 1 Communication Profile Area 2 0 eee 32 9 1 2 Standardised Device Profile Area is A dde 33 9 1 2 1 Digital Inputs and Outputs 2 2 no 33 9 1 2 2 Analog Inputs and Outputs 0 0 00 eee 33 9 1 3 Manufacturer Specific Profile Area ooooooooooomoomooo oo 35 9 2 Service Data Objects SDOs 3 iras as E Ea 35 9 2 Stricture of SDO Telegrams ie e ARLES 35 9 2 2 Non Transient Storing of Parameters 1 eee eee eee eee Lhe RS 36 9 3 NMT Boot UP 5 aic yay 508 hk II Phe EAE e WE He 37 Dol Base Boot Up xis tes GM its a os ee Oe outs ty Une orang LN Ta 37 9 32 Extended Boot UP ara RL AE A A IRA A A 37 9 4 Process Data Objects PDOs nnn aca aia os 39 9 4 T PDO Mapping AA TA A E tai owas ta 40 9 4 2 PDO Transmission Types rit
39. rtant also to follow the definitions regulations and safety information from the manuals of the servo converters used CAN CBM DIO8 Manual Rev 0 83 3 Preface and Safety Information This page is intentionally left blank 4 CAN CBM DIO8 Manual Rev 0 83 Short Description 2 Safety Information The operator or security officers are committed to e controlling that all important regulations information and rules are followed e guaranteeing that only qualified personnel is working at and with the device components e guaranteeing that the manual is available to the personnel for all according operations and forbidding unqualified personnel working at and with the device 3 Short Description electrical isolation Physical CAN Layer 15011898 256 Byte CAN2 0B 2kByte RAM Watchdog Emergency Power Supply pC Digital 24 V DC C515C 1 0 Ports Status Display X2 Plug In Terminal Block Coding switch Digital CAN Bitrate 1 0 Ports ml 1 0 Mode a 8 Digital Outputs 24 V 1 0 A or 8 Digital Inputs Firmware External EPROM SRAM Fig 3 Block circuit diagram of the CAN CBM DIO8 module 3 1 Components e decentral I O unit for CAN with eight connecting terminals which can be freely used as inputs or outputs e top hat rails mounting e connectors screw type plug terminals e two green status LEDs Operation below and Mode e two red error LEDs modul
40. rting from 50 become only active after initializing the modules again for instance by a network management or by switching off the supply voltage This possibility of redefining the CAN ID basis addresses is only to be used if the addresses cannot be set anymore by means of the DIP switch Accessing the code positions does not depend on the status of the module operational preoperational When linking modules to one logical module the I O slave modules should also be connected when parameterizing the I O master module because at SDO accesses it exchanges several parameters via the internal parameter channel with its I O slave modules e g the port direction definition Only if serious errors occurred an SDO access is not possible anymore The automatic storing of parameters into the EEPROM after each write access can be suppressed via access to a manufacturer specific code position This can be requested in object 1010 in the CANopen communication profile The automatic storing of parameters is default set however in other words no save command has to be transmitted CAN CBM DIO8 Manual Rev 0 83 Se 9 CANopen This chapter offers fundamental information on CANopen and the most important information on the functions implemented A complete CANopen description would be too extensive for this manual Interested readers are advised to refer to the CAL CANopen manual which is not easy to understand however
41. ss sections materials to be used minimum clearances lightning protection etc have to be strictly followed This section will only explain a few features in detail 5 1 I O Module Protection Note The I O modules contain components which are electrostatic sensitive e Before working on the area of the connections the personnel has to discharge itself electrostatically e g by touching earthed metal or PE screws e When connecting an I O module first the earth connection is to be made and then the connection of the signal lines in order to degrade possibly existing differences in potential without risk 5 2 CAN Wiring The CAN is wired with lines which are ISO 11898 compliant The following electrical features are required impedance Z 108 Q 120 Q 132 0 natural impedance HF measured between two signal lines specific line has to be added to the delays of the transmit 5 ns m ES delay and receive circuit The CAN has to be terminated at both sides with a correct impedance in other words by a low inductance 120 Q resistor The I O modules of the DIO8 series do not have a terminal resistance The maximum possible bus length depends on the bit rate bit timing This will be explained in the chapter CAN CAN CBM DIO8 Manual Rev 0 83 13 LEDs 6 LEDs 8 1 O status display LEDs 2 operating display LEDs and 2 error display LEDs are used e operating display Operation GND green e mode display
42. t number have to be combined to a 32 bit value unsigned 32 as follows MSB Bits 31 24 Bits 23 16 Bits 15 8 LSB Bits 7 0 01 index high index low number of data bits Before this 32 bit value can be written into the mapping object 1A00h via SDO the list length of the mapping object has to be set to at least 1 This is made by writing a 1 into the mapping object 1A00h subindex 0 Now there is space in the list for exactly one entry which is then written to subindex 1 Attempting to access a list object which does not fit into the list because ofthe contents of subindex 0 causes an error response during SDO access to the mapping object After successfully programming the mapping object it has the following contents object 1A00h subindex 0 01 i e one entry in the list object 1A00h subindex 1 60000108 i e represent 8 bits of object 6000 subindex 1 in the PDO Because of this programming the process data telegram will only consist of one byte which contains the current status of the first eight digital inputs If further information is to be contained in the remaining 7 bytes object 1A00 subindex 0 has to be increased e g to 4 first Then further list entries can be made in object 1A00 subindices 2 3 4 In I O modules DIO8 a maximum of eight different objects can be represented in a PDO For reasons of speed the number of data bits has to be eight or an integral multiple from it
43. tal current is exceeded 6 CAN CBM DIO8 Manual Rev 0 83 Short Description 3 3 3 CAN Connection 3 pole COMBICON connectors male by Phoenix without shroud pitch 5 00 mm designation MSTBA 2 5 3 G 5 00 Assignment of the adaptor cable 3 pole Combicon lt gt DSUB9 Pin3 CAN_H Pin 7 Pin 2 CAN_L Pin 2 Pin 1 CAN_GND Pin 3 3 pol Combicon DSUB9 3 3 4 Connection of Supply Voltage and I O Connections Digital I O 1 Digital I O 2 Digital I O 3 Digital I O 4 Digital I O 5 Digital I O 6 Digital I O 7 Digital I O 8 Outputs Power Supply 18V 30V Module Power Supply 18V 30V GND For Module And Outputs GND For Module And Outputs m m 3 32183 5 REJER CAN CBM DIO8 Manual Rev 0 83 7 Short Description 3 4 Case Design e Case type UEGM MSTB by Phoenix Contact 3 5 Software e CANopen with special extensions e one receive and one transmit PDO e one SDO expedited protocol max 4 user data bytes e node and life guarding emergency messages e linking up to four modules to form a logical module with 32 I O lines e SYNC frame evaluation which is restricted when modules are linked e operating mode DS401 or Servo can be selected via DIP switch 3 6 Order Information CANbloc Mini module with 8 digital inputs outputs 24 V 1 A 24 VDC CANopen 0 50 C ambient temperature CAN CBM DIO8 12V__ as C 2830 02 but 12 VDC power supply C 2830 04
44. te 50 5FCD PDO RX 16 bit rw see CANopen depending on dig outputs mode servo SFCC_ PDO TX dig inputs SFCB I E ae s3 srca savo bice fr o sa seco staves i bie lr ss srcs master gt slaves is bit lr 1664 o eN Setting display Default Explanations dec i possibilities settings references 101 5F9A internal error 1 EAM error _ flags internal errors and status 2 EAM_slave_error and status only codes 3 IOP_status for internal use 4 CAL comm pha 102 5F99 connected bit vector the test is only slaves 0 recogn no slave carried out when 1 slave 1 ok reading of this 2 slave 2 ok code position 4 slave 3 ok CAN CBM DIO8 Manual Rev 0 83 51 Code CANopen No dec Access Data type r read Setting display Default Explanations w possibilities settings references write Contents majority loop 16 bit r provides loops sec depending on speed e g 3000 CPU demand 32 set A D 8 bit w 0 7 CPU internal converter multiplexer number channel read A D 10 bit r 0 0V ONLY for the converter 307 1 5 V internal digital 11 2 5 V input levels 1023 5 0 V CAN register 8 bit r reads content of the ONLY for access 256 CAN controller diagnosis register CAN CBM DIO8 Manual Rev 0 83
45. tes check CAN connection switch off RX monitor of I O module code no 30 servo mode activate periodical transmission of CAN OUT3 of the motor controller check clamp connections check if the analog input signals lie in the defined range check CAN connection increase lifetime factor according to DS203 2 see description Extended NMT Boot up correct bit rate for all bus users CAN terminated correctly CAN shielded correctly The I O master module has detected an error at one of its I O slave modules check CAN lines and supply lines read out CAL error register and keep on investigating object 1001 see CANopen Operation Mode and Error are blinking at the same time 4 blinking EEPROM error check voltage supply maybe a hardware defect see page 25 maybe hardware defect see page 22 5 blinking error at DIP configuration 16 e g set CAN address gt 0 CAN CBM DIO8 Manual Rev 0 83 CAN 7 CAN This chapter will describe physical features ofthe CAN and the most important protocols required for the use of the module implemented into the I O modules Further information on the higher protocol layers can be taken from the CAL CANopen documentation CIA Draft Standard 201 207 CiA Draft Standard 301 and CiA Draft Standard Proposal 401 There the communication profile 301 and the device profile 401 will be explained If you want to know exactly to what e
46. ting the 2 bytes telegram 01 00 start remote node to the CAN identifier 0000 should be sufficient 9 3 2 Extended Boot Up Additionally the extended boot up with node guarding activation is available For this the NMT master can transmit the sequence which will be shown on the following page to the NMT slave here module ID 1 COB IDs decimal CAN data hexadecimal The parameters entered in the CAN telegrams have the following meaning node ID node identifier in the CAN CBM DIO8 this is the CAN address set via DIP switch in the area of 1 63 without I O cascading 1 127 req guard time Guard time in milliseconds requested by the slave The CANbloc Mini module CAN CBM DIO8 does not request a guard time and the entry is therefore 0 req lifetime factor Lifetime factor requested by the slave Is being overwritten by the assigned lifetime factor node class flags Represents the features of the I O module as NMT slave In CAN CBM DIO8 2 In bit 7 of this byte the NMT slave could request a configuration download This is not possible on the CAN CBM DIO8 and therefore bit 7 is always 0 mod ID In CAN CBM DIO8 identical with the node ID guard COB ID The CAN identifier for the node guarding protocol assigned from the master to the slave Has to be between 1761 and 2015 CAN CBM DIO8 Manual Rev 0 83 37 CANopen NMT Master NMT Slave Disconnect Remote Node joooo jo3 00
47. tion remains inactive until rebooted 50 w write r r possibilities 0 65000 ms OxFFFF no boot message bit vector 0 input 1 output bit vector 0 no IRQ 1 interrupt see manual supplement for analog inputs 0 only by event 65000 ms 0 no break 255 ms no cascading cascading possible storing only after instruction storing after each writing settings references time interval between power ON and transmitting the boot message 00000000b LSB master MSB slave3 1111 1111 bin similar to CANopen object 6006 0 no filtering 100 ms independent from the transmission 1 object 1010h o only for manufacturer oo TN only for manufacturer CAN CBM DIO8 Manual Rev 0 83 Appendix Code positions for the definition of monitoring and display times of the module without influence on the normal operation PDO RX monitor monitoring time r read Setting display Default Code No CANopen Contents Index dec possibilities settings 0 no monitoring 25500 ms Explanations references resolution 100 ms when no Life guarding Code positions for definition of CAN identifier basis addresses for which the device address set at the DIP switch area 1 63 has still to be added Access Code CANopen Datatype r read Setting display Default Explanations No Contents in dee unit w possibilities settings references wri
48. ule LSB first MSB last The LSB is always in data 1 in 16 bit values the MSB bits 8 15 is in data 2 and in 32 bit values the MSB bits 24 31 is in data 4 The I O module responds to every telegram received with a response telegram which can consist of the following command codes 0x42 66 dec read response this telegram contains the desired parameter 0x60 96 dec write response i e a parameter has been set successfully 0x80 128 dec error response i e the I O module reports a communication error Further information can be taken from the CiA specifications CAN CBM DIO8 Manual Rev 0 83 35 CANopen 9 2 2 Non Transient Storing of Parameters All communication relevant parameters PDO mapping communication can be saved in the EEPROM generally The objects in the device profile which determine the behaviour of the module in the error case can be stored to the EEPROM as well The value of the digital and analog outputs cannot be saved At each write access the parameters are stored into a non transient memory via default setting without the need to send a special save command to object 1010h The response to an SDO telegram then follows only after the non transient memory has been updated If this automatic storing and the delay this is causing should be bothering the automatic storing can be switched off by reprogramming the manufacturer specific code position 17 The co
49. xtent the objects described in these documentation are implemented in the I O module family DIO8x please consult the data sheets of the special modules The objects generally implemented will be described starting from page 31 The CAN identifiers used for the data transfer are listed in the appendix 7 1 CAN Timing The CAN timing has been set in compliance with the CiA guidelines certain deviations are due to the hardware used Depending on the CAN bit rate set see also page 23 the CAN controller is programmed according to the following table Furthermore the specified maximum bus lengths apply depending on the bit rate aie S00 Kb s 16001 250 Kit 250 E O The values Tsync Tsegl and Tseg2 refer to the CAN specification of the CAN controller used they signify time intervals within a bit from the CAN telegram Tsyne Time of the synchronization segment Tsegl The sum from propagation time segment and phase buffer segment 1 Tseg 1 is the time between the Sync segment and the sample point of a bit Tseg2 The remaining time after the sample point phase buffer segment 2 to the beginning of the next bit CAN CBM DIO8 Manual Rev 0 83 17 Attention The maximum reachable bus length of the CAN CBM DIO8 CAN CBM AI4 CAN CBM AO4 CAN CBM DIO8 Counter and CAN CBM OP1 modules is shorter than the reachable bus length of other esd CAN modules because of the type of optocoupler in the CAN interface
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